Driver assistance devices and driver assistance systems.

Abstract

To provide a driving assistance device and a driving assistance system that can reduce a possibility of a deviation alarm or a deviation control being issued, thereby reducing a possibility of interfering with an intentional driving operation of a driver when the driver intentionally causes a vehicle to deviate from a reference line without activating a direction indicator.SOLUTION: In a driving assistance device that performs a deviation alarm regarding deviation of a vehicle from a boundary of a traveling area of the vehicle, or a deviation control for returning the vehicle within the boundary, the driving assistance device identifies a deviation amount of another vehicle from the boundary in the traveling area corresponding to a current position of the vehicle, the driving assistance device sets a reference line so that the larger the deviation amount is, the more outside the boundary is located, and when the vehicle deviates from the reference line, the driving assistance device executes the deviation alarm or the deviation control.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a driving assistance device and a driving assistance system that perform departure warning regarding departure of a vehicle from a boundary of a traveling area or departure control for suppressing departure of the vehicle from the boundary. Background Art

[0002] Conventionally, driving assistance devices that perform departure warning or departure control have been known. For example, the driving assistance device described in Patent Document 1 (hereinafter referred to as "conventional device") does not issue a departure warning or perform departure control even if the vehicle deviates from a reference line in the actuation direction of a direction indicator while the direction indicator is being actuated. Accordingly, while the direction indicator is actuated, the conventional device can prevent an intentional driving operation by the driver from being hindered due to performing the departure warning or the departure control. Prior Art Documents Patent Documents

[0003] Patent Document 1 Japanese Unexamined Patent Application Publication No. 2012-252500 Summary of the Invention

[0004] However, there are cases where a driver performs "an intentional driving operation that causes the vehicle to deviate from a reference line" without actuating the direction indicator. An example of such a case is when the driver performs a driving operation that causes the vehicle to deviate from the reference line in order to avoid contact with an object such as a falling object located on the traveling area of the vehicle. In such cases, since the direction indicator is not actuated, the conventional device performs departure warning or departure control, which may hinder the driver's intentional driving operation.

[0005] The present invention has been made to address the aforementioned problems. Specifically, one of the objectives of the present invention is to provide a driver assistance device and driver assistance system that can reduce the possibility of interfering with the driver's intentional driving actions by reducing the possibility of deviation warnings or deviation control being activated when the driver intentionally deviates the vehicle from the reference line without activating the turn signals.

[0006] The driver assistance device of the present invention (hereinafter referred to as "the present invention device") is In a driving assistance device (10) that performs a departure warning regarding the vehicle's departure from the boundary of the vehicle's driving area or departure control to suppress the vehicle's departure from the boundary (step 445), The aforementioned driving support device, The amount of deviation of other vehicles from the boundary in the driving area corresponding to the current position of the vehicle is identified (step 525), The larger the deviation, the more the reference line is set so that it is outside the boundary (step 530). If the vehicle deviates from the reference line (step 440 "Yes", step 4455 "Yes"), the departure warning or departure control is executed (step 445). A driver assistance system configured in such a way.

[0007] The more a vehicle deviates from the boundary of the driving area corresponding to the vehicle's current position, the further the baseline is set to extend beyond the boundary. For example, if there is a fallen object in the driving area, other vehicles that have previously traveled through that area will deviate from the boundary to avoid the object. In this case, as described above, the baseline is set to extend beyond the boundary. This reduces the likelihood of a departure warning or departure control being triggered even if the driver performs an intentional driving maneuver to avoid contact with the fallen object without activating the turn signal, thereby reducing the possibility of interfering with the driver's intentional driving maneuvers. [Brief explanation of the drawing]

[0008] [Figure 1]This is a schematic diagram of a driver assistance system according to an embodiment of the present invention. [Figure 2] This is a diagram illustrating the operation of a driver assistance system according to an embodiment of the present invention. [Figure 3] This is a flowchart of the routines executed by the CPU of the driver assistance system. [Figure 4] This is a flowchart of the routines executed by the CPU of the driver assistance system. [Figure 5] This is a flowchart of the subroutines executed by the CPU of the driver assistance system. [Modes for carrying out the invention]

[0009] As shown in Figure 1, the driver assistance system according to this embodiment comprises a plurality of vehicles VA1 to VAn and a cloud CL. The plurality of vehicles VA1 to VAn are connected via a network NW. When there is no need to distinguish between vehicles VA1 to VAn, they are referred to as vehicle VA.

[0010] The vehicle VA is equipped with a driver assistance device 10. The driver assistance device 10 comprises the components shown in Figure 1. The driver assistance ECU 20 is referred to as "ECU20". ECU20 is an electronic control device that mainly comprises a microcomputer. ECU20 is also referred to as a controller or computer. The microcomputer includes a CPU (processor), ROM, RAM, and interface (I / F), etc. At least one function of ECU20 may be realized by multiple ECUs.

[0011] The front camera 22 acquires image data by capturing the scenery in front of the vehicle VA. Based on the image data, the front camera 22 identifies the boundary BL of the vehicle VA's driving area and acquires the boundary distance D, which represents the distance to boundary BL. The front camera 22 transmits information regarding the boundary distance D to the ECU 20.

[0012] The steering torque sensor 24 detects the steering torque Tr, which represents the torque acting on the steering shaft (not shown) connected to the steering wheel (not shown) of the vehicle VA. The ECU 20 acquires the value detected by the steering torque sensor 24. The GNSS receiver 26 receives signals from multiple satellites and determines the current position of the vehicle VA based on the received signals. The wireless communication device 28 is a device for communicating wirelessly with the network NW.

[0013] The steering motor 30 is incorporated into the steering mechanism 32. The steering mechanism 32 is a mechanism for steering the steering wheels in response to the operation of the steering wheel. The steering motor 30, in response to instructions from the ECU 20, generates assist torque in the steering mechanism 32 to assist the operation of the steering wheel, and also generates automatic steering torque in the steering mechanism 32 to change the steering angle of the steering wheels.

[0014] The display device 34 displays a departure warning screen, which is a type of warning related to a vehicle VA deviating from the boundary BL.

[0015] The cloud CL comprises a management server 42 and multiple storage devices 44A to 44N. When there is no need to distinguish between them, the storage devices 44A to 44N are referred to as "storage device 44". The management server 42 comprises a CPU, ROM, RAM, and an interface (I / F), etc. The management server 42 searches for and reads data stored in the storage devices 44 and writes data to the storage devices 44. The storage devices 44 store a boundary distance table 50 (see Figure 2), which will be described later.

[0016] (Operation) The operation of the driver assistance system will be explained with reference to Figure 2.

[0017] A vehicle VA (VA1 and VA2) specifies the current position of the vehicle VA, and specifies a link ID corresponding to the current position. The link ID is an identifier of a "link between a start node and an end node". Furthermore, the vehicle VA acquires a right boundary distance DR, which is the distance to the right boundary RBL, and a left boundary distance DL, which is the distance to the left boundary LBL. The vehicle VA transmits "boundary distance information including the link ID, the ID of the vehicle VA2 (vehicle ID), the right boundary distance DR, the left boundary distance DL, and the acquisition date and time" to the cloud CL. When the management server 42 receives the boundary distance information, it registers the received boundary distance information in the boundary distance table 50. When there is no need to distinguish between the right boundary RBL and the left boundary LBL, these are referred to as a boundary BL. When there is no need to distinguish between the right boundary distance DR and the left boundary distance DL, these are referred to as a boundary distance D.

[0018] For example, when the vehicle VA is located inside the boundary BL, the boundary distance D takes a negative value, and when the vehicle VA is located outside the boundary BL, the boundary distance D takes a positive value.

[0019] The vehicle VA1 specifies a link ID corresponding to the current position, and acquires boundary distance information corresponding to this link ID from the cloud 40.

[0020] The vehicle VA1 sets a first right reference line RLth1 at a position of a predetermined first right threshold distance DRth1 based on the right boundary RBL. Similarly, the vehicle VA1 sets a first left reference line LLth1 at a position of a predetermined first left threshold distance DLth1 based on the left boundary LBL. In the example shown in Fig. 2, the values of the first right threshold distance DRth1 and the first left threshold distance DLth1 are set to negative values. The first right reference line RLth1 and the first left reference line LLth1 may also be referred to as "initial reference lines".

[0021] Then, the vehicle VA1 acquires, based on the acquired boundary distance information, a deviation amount from the right boundary RBL of another vehicle (VA2) (right deviation amount RDA) and a deviation amount from the left boundary LBL of the other vehicle (left deviation amount LDA). The vehicle VA1 acquires a second right threshold distance DRth2 such that the greater the average value RAV of the right deviation amounts RDA is, the more outward the second right threshold distance DRth2 is located relative to the right boundary RBL, and sets a second right reference line RLth2 at the position of the second right threshold distance DRth2 from the right boundary RBL. Similarly, the vehicle VA1 acquires a second left threshold distance DLth2 (not shown) based on the average value LAV of the left deviation amounts LDA, and sets a second left reference line LLth2 (not shown). The second right reference line RLth2 and the second left reference line LLth2 may also be collectively referred to as "reference lines".

[0022] In the example shown in FIG. 2, the average value LAV of the left deviation amounts LDA is "0". In this case, the vehicle VA1 sets the second left reference line LLth2 at the same position as the first left reference line LLth1. The vehicle VA1 sets the average value AVR of the right deviation amounts RDA as the second right threshold distance DRth2, and sets the second right reference line RLth2.

[0023] Note that when the vehicle VA1 deviates from the second right reference line RLth2 or the second left reference line LLth2, the vehicle VA1 executes a deviation warning regarding deviation from the right boundary RBL of the vehicle VA1 or deviation control for suppressing deviation from the right boundary RBL of the vehicle VA1.

[0024] In the example shown in FIG. 2, the vehicle VA2 is traveling while avoiding the falling object OB present in the traveling area to the right side, so the average value RAV of the right deviation amounts RDA becomes greater than 0. Therefore, the vehicle VA1 sets the second right reference line RLth2 to be located more outward relative to the right boundary RBL as the average value RAV increases. Accordingly, even if the vehicle VA1 also travels while avoiding the falling object OB to the right side and deviates from the first right reference line RLth1 and the right boundary RBL, no deviation warning or deviation control is performed until the vehicle VA1 deviates from the second right reference line RLth2. This reduces the possibility that the deviation warning or deviation control interferes with the driver's intentional driving operation.

[0025] (Specific Operation) <Boundary distance table update> The CPU of the management server 42 (hereinafter referred to as "the first CPU") executes the routine shown in the flowchart in Figure 3 at predetermined intervals. When an appropriate time arrives, the first CPU starts processing from step 300 in Figure 3, and determines in step 305 whether or not boundary distance information has been received.

[0026] If the first CPU receives boundary distance information (step 305 "Yes"), it executes steps 310 and 315. Step 310: The first CPU registers the received boundary distance information into the boundary distance table 50. Specifically, the first CPU adds a new record to the boundary distance table 50 and registers the "link ID, vehicle ID, right boundary distance DR, left boundary distance DL, and acquisition date and time included in the boundary distance information" in the added record. Step 315: The first CPU determines whether there are any records (elapsed records) for which a predetermined deletion time has elapsed since the acquisition date and time of the boundary distance table 50.

[0027] If there are elapsed records (step 315 "Yes"), the first CPU deletes the elapsed records in step 320. Then, the first CPU proceeds to step 395 and terminates this routine. As a result, the elapsed records are deleted from the boundary distance table 50, thereby reducing the amount of storage capacity used by the boundary distance table 50 in the storage device 44.

[0028] If boundary distance information has not been received (step 305 "No"), the first CPU proceeds to step 315. If no progress records exist (step 315 "No"), the first CPU proceeds to step 395 and terminates this routine.

[0029] <Deviation Control Routine> The CPU of the vehicle VA's ECU20 (hereinafter referred to as the "second CPU") executes the routine shown in the flowchart in Figure 4 at predetermined intervals. When the appropriate time arrives, the second CPU starts processing from step 400 in Figure 4 and executes steps 405 to 425.

[0030] Step 405: The second CPU obtains the current position identified by the GNSS receiver 26. Step 410: The second CPU obtains the link ID corresponding to the current location. Step 415: The second CPU executes a threshold distance setting subroutine that sets the second right threshold distance DRth2 and the second left threshold distance DLth2. The threshold distance setting subroutine will be explained using Figure 5.

[0031] Step 420: The second CPU obtains the right boundary distance DR and the left boundary distance DL based on the image data. Step 423: The second CPU sends boundary distance information to the cloud CL. Step 425: The second CPU determines the steering torque Tr based on the detected value of the steering torque sensor 24. Step 430: The second CPU determines whether the magnitude of the steering torque Tr is less than or equal to a predetermined threshold torque Trth.

[0032] If the magnitude of the steering torque Tr is less than or equal to the threshold and look Trth (step 430 "Yes"), the second CPU proceeds to step 430. In step 430, the second CPU determines whether the right boundary distance DR is greater than or equal to the left boundary distance DL. That is, the second CPU determines whether the vehicle VA1 is closer to the right boundary RBL or the left boundary LBL.

[0033] If the right boundary distance DR is greater than or equal to the left boundary distance DL (step 430 "Yes"), that is, if vehicle VA1 is close to the right boundary RBL, the second CPU proceeds to step 435. In step 435, the second CPU determines whether the right boundary distance DR is greater than or equal to the first right threshold distance DRth1. That is, the second CPU determines whether vehicle VA1 has deviated from the first right reference line RLth1.

[0034] If the right boundary distance DR is greater than or equal to the first right threshold distance DRth1 (step 435 "Yes"), that is, if vehicle VA1 has deviated from the first right reference line RLth1, the second CPU proceeds to step 440. In step 440, the second CPU determines whether the right boundary distance DR is greater than or equal to the second right threshold distance DRth2. That is, the second CPU determines whether vehicle VA1 has deviated from the second right reference line RLth2.

[0035] If the right boundary distance DR is greater than or equal to the second right threshold distance DRth2 (step 440 "Yes"), that is, if the vehicle VA1 has deviated from the second right reference line RLth2, the second CPU proceeds to step 445. In step 445, the second CPU executes a deviation warning or deviation control. If the second CPU executes deviation control, it obtains a "target steering angle θtgt to move the vehicle VA1 inward from the right boundary RBL with the aim of suppressing the vehicle VA1's deviation from the right boundary RBL" based on the amount of deviation of the vehicle VA1 from the second right reference line RLth2. The second CPU then transmits the target steering angle θtgt to the steering motor 30 if the magnitude of the target steering angle θtgt is less than or equal to a predetermined upper limit value θup. If the magnitude of the target steering angle θtgt is greater than the upper limit value θup, the second CPU changes the magnitude of the target steering angle θtgt to the upper limit value θup and transmits the changed target steering angle θtgt. The steering motor 30 generates an automatic steering torque in the steering mechanism 32 so that the steering angle θ matches the target steering angle θtgt.

[0036] Subsequently, the second CPU proceeds to step 495 and terminates this routine.

[0037] If the right boundary distance DR is less than the left boundary distance DL (step 430 "No"), that is, if vehicle VA1 is close to the left boundary LBL, the second CPU proceeds to step 450. In step 450, the second CPU determines whether the left boundary distance DL is greater than or equal to the first left threshold distance DLth1.

[0038] If the left boundary distance DL is greater than or equal to the first left threshold distance DLth1 (step 450 "Yes"), the second CPU proceeds to step 455. In step 455, the second CPU determines whether the left boundary distance DL is greater than or equal to the second left threshold distance DLth2.

[0039] If the left boundary distance DL is greater than or equal to the second left threshold distance DLth2 (step 455 "Yes"), the second CPU executes step 445 and proceeds to step 495 to terminate this routine.

[0040] If the steering torque Tr is greater than the threshold torque Trth (step 425 "No"), if the right boundary distance DR is less than the first right threshold distance DRth1 (step 435 "No"), if the right boundary distance DR is less than the second right threshold distance DRth2 (step 440 "No"), if the left boundary distance DL is less than the first left threshold distance DLth1 (step 450 "No"), or if the left boundary distance DL is less than the second left threshold distance DLth2 (step 455 "No"), the second CPU proceeds to step 495 and terminates this routine.

[0041] <Threshold distance setting subroutine> When the second CPU proceeds to step 415 in Figure 4, it starts processing from step 500 in Figure 5 and proceeds to step 505. In step 505, the second CPU determines whether or not it has already obtained the boundary distance information for the link ID identified in step 410 shown in Figure 4.

[0042] If boundary distance information for the above link ID has not yet been obtained (step 505 "No"), the second CPU executes steps 510 and 515 in order.

[0043] Step 510: The second CPU sends a request to the cloud CL to obtain boundary distance information for the above link ID. When the management server 42 receives an acquisition request, it refers to the boundary distance table 50 and obtains boundary distance information corresponding to the link ID of the acquisition request. The management server 42 then sends this boundary distance information to the vehicle that sent the acquisition request.

[0044] Step 515: The second CPU sets the values ​​of the first right threshold distance DRth1 and the first left threshold distance DLth1 to the second right threshold distance DRth2 and the second left threshold distance DLth2, respectively. Subsequently, the second CPU proceeds to step 595 to terminate this routine and then proceeds to step 420 as shown in Figure 4.

[0045] On the other hand, if boundary distance information for the above link ID has already been obtained (step 505 "Yes"), the second CPU proceeds to step 520 to determine whether the second right threshold distance DRth2 based on the right deviation amount RDA and the second left threshold distance DLth2 based on the left deviation amount LDA have not yet been set.

[0046] If the second right threshold distance DRth2 based on the right deviation RDA and the second left threshold distance DLth2 based on the left deviation LDA have not yet been set (step 520 "Yes"), the second CPU executes steps 525 and 530 in order.

[0047] Step 525: The second CPU obtains the average value RAV of the right deviation RDA and the average value LAV of the left deviation LDA based on the acquired boundary distance information. Step 530: The second CPU sets the average value RAV to the second right threshold distance DRth2 and the average value LAV to the second left threshold distance DLth2. However, if the average RAV is "0", the second CPU sets the second right threshold distance DRth2 to the value of the first right threshold distance DRth1. The same applies to the second left threshold distance DLth2. Subsequently, the second CPU proceeds to step 595 to terminate this routine and then proceeds to step 420 as shown in Figure 4.

[0048] If the second right threshold distance DRth2 based on the right deviation RDA and the second left threshold distance DLth2 based on the left deviation LDA have already been set (step 520 "No"), the second CPU proceeds to step 595 to terminate this routine and proceeds to step 420 as shown in Figure 4.

[0049] Based on the above, the second right threshold distance DRth2 is set based on the average RAV of the right deviation RDA of vehicles that have previously traveled the same link. As a result, the larger the right deviation RDA of vehicles that have previously traveled the link, the further the second right reference line RLth2 is set outside the right boundary RBL. On links where vehicles have previously avoided falling objects OB to the right, the second right reference line RLth2 is set outside the right boundary RBL. No deviation warning or deviation control is performed until the vehicle deviates from the second right reference line RLth2. Therefore, the possibility that deviation warning or deviation control may interfere with the driver's intentional driving actions is reduced. The second left reference line LLth2 is set similarly, so the same effect is achieved on links where vehicles have previously avoided falling objects OB to the left.

[0050] (modified version) In the above embodiment, the second CPU may proceed to step 440 without executing step 435. Similarly, the second CPU may proceed to step 455 without executing step 450.

[0051] The second CPU may transmit boundary distance information during the period from the start of transmission to the end of transmission, when the magnitude of the steering torque Tr is equal to or greater than a predetermined transmission torque Trsth. The end of transmission is the time when a predetermined amount of time has elapsed from the start of transmission. As an example, the transmission torque Trsth is set to a value less than or equal to the threshold torque Trth.

[0052] This increases the likelihood that only the right boundary distance DR and left boundary distance DL, taken by the driver to avoid falling objects out of bounds (OB), will be collected in the cloud CL. Based on these right boundary distances DR and DL, the right deviation RDA and left deviation LDA are obtained. This allows for the setting of more appropriate second right threshold distance RDth2 and second left threshold distance LDth2.

[0053] In the above embodiment, the second CPU transmitted boundary distance information including the right boundary distance DR and the left boundary distance DL to the cloud CL, but it may also transmit boundary distance information including the right deviation amount RDA and the left deviation amount LDA. That is, the boundary distance information only needs to contain information that can identify the right deviation amount RDA and the left deviation amount LDA. Boundary distance information is sometimes referred to as "deviation amount information".

[0054] When the second right threshold distance DRth2 is set to a value greater than the first right threshold distance DRth1, the second CPU executes a suppression deviation alarm or suppression deviation control when the right boundary distance DR is greater than or equal to the first right threshold distance DRth1 and less than the second right threshold distance DRth2. On the other hand, the second CPU executes a deviation alarm or deviation control when the right boundary distance DR is greater than or equal to the second right threshold distance DRth2.

[0055] A suppression deviation warning is a lower-level warning than a regular deviation warning. For example, a suppression deviation warning displays a deviation warning screen with a yellow background, while a regular deviation warning displays a deviation warning screen with a red background.

[0056] Suppressed deviation control is a type of control in which the controlled variable is more suppressed than in standard deviation control. For example, the upper limit θup used in suppressed deviation control is smaller than the upper limit θup used in standard deviation control.

[0057] Furthermore, if the second left threshold distance DLth2 is set to a value greater than the first left threshold distance DLth1, and the left boundary distance DL is greater than or equal to the first left threshold distance DLth1 and less than the second left threshold distance DLth2, then a suppression deviation alarm or suppression deviation control will be executed.

[0058] As a result, if the vehicle VA deviates from the first right reference line RLth1 but not from the second right reference line RLth2, or if the vehicle VA deviates from the first left reference line LLth1 but not from the second left reference line LLth2, a suppressed deviation warning or suppressed deviation control will be executed. Compared to a deviation warning or deviation control, the suppressed deviation warning or suppressed deviation control interferes less with the driver's driving operations. Therefore, according to this modified example, it is possible to inform the driver that the vehicle has deviated from the first right reference line RLth1 or the first left reference line LLth1, or to move the vehicle VA inside the first right reference line RLth1 or the first left reference line LLth1, while reducing the possibility of interfering with the driver's intentional driving operations. The same applies to the left side of the vehicle VA.

[0059] In the above embodiment, the second CPU sets the average values ​​RAV and LAV for the second right threshold distance DRth2 and the second left threshold distance DLth2, respectively, but is not limited to this. The second CPU may set the second right threshold distance DRth2 and the second left threshold distance DLth2 to the statistical values ​​of the right boundary distance DR and the statistical values ​​of the left boundary distance DL, respectively. For example, the second CPU may obtain the maximum value of the right deviation RDA and the maximum value of the left deviation LDA for each vehicle based on boundary distance information, and set the average of these maximum values ​​to the second right threshold distance DRth2 and the second left threshold distance DLth2.

[0060] In the above embodiment, the second CPU acquired statistical values ​​(average values ​​RAV and LAV) of the right deviation RDA and left deviation LDA. However, the management server 42 may acquire statistical values ​​of the right deviation RDA and left deviation LDA for each link. In this case, the management server 42 includes the above statistical values ​​in the boundary distance information and transmits it in response to the acquisition request.

[0061] In the above embodiment, the vehicle VA in the management system performed a departure warning or departure control and transmitted boundary distance information to the cloud CL. However, the management system only needs to include a vehicle that performs a departure warning or departure control and a vehicle that transmits boundary distance information to the cloud CL.

[0062] Departure warning or departure control may be performed during autonomous driving.

[0063] The driver assistance system 10 is applicable to vehicles such as engine-powered vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles. [Explanation of symbols]

[0064] 10...Driving assistance system, 20...Driving assistance ECU, 22...Forward camera, 30...Steering motor, 34...Display device.

Claims

1. In a driver assistance device that provides a departure warning regarding the vehicle's departure from the boundary of the vehicle's driving area, or a departure control to suppress the vehicle's departure from the boundary, The aforementioned driving support device, The amount of deviation of other vehicles from the boundary in the driving area corresponding to the current position of the aforementioned vehicle is identified. The larger the deviation, the more likely the reference line is to be set to be outside the boundary. If the vehicle deviates from the reference line, the departure warning or departure control is executed. A driver assistance system configured in such a way.

2. In the driving support device according to claim 1, The aforementioned driving support device, An initial reference line is set at a predetermined position inside the aforementioned reference line. The system is configured to suppress the departure warning or departure control more than it would if the vehicle deviated from the initial reference line and the vehicle did not deviate from the reference line. Driving assistance system.

3. A first vehicle that provides a departure warning for deviations from a boundary that divides a driving area, or performs departure control to suppress deviations from said boundary, A second vehicle transmits deviation amount information that can identify the amount of deviation from the boundary, The system includes a storage device that stores deviation amount information transmitted by the second vehicle, The aforementioned first vehicle is, The deviation amount information in the driving area corresponding to the current position is obtained from the storage device. The larger the deviation amount identified based on the deviation amount information, the more likely the reference line is to be outside the boundary. If the first vehicle deviates from the reference line, the departure warning or departure control is executed. A driver assistance system configured in such a way.

4. In the driver assistance system according to claim 3, The aforementioned first vehicle is, An initial reference line is set at a predetermined position inside the aforementioned reference line. The system is configured to suppress the departure warning or departure control more than it would if the first vehicle deviated from the initial reference line and the first vehicle did not deviate from the reference line. Driver assistance system.

5. In the driver assistance system according to claim 3, The second vehicle is configured to transmit to the storage device deviation amount information that can identify the deviation amount obtained within a predetermined time after the magnitude of the steering torque becomes equal to or greater than a predetermined transmission torque. Driver assistance system.

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