JP2009262738A - Lane departure alarm device of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a lane departure alarm device of a vehicle capable of giving an alarm in an early stage when another vehicle is detected behind one's own vehicle in an adjacent lane to a traveling lane of one's own vehicle. <P>SOLUTION: The lane departure alarm device comprises: a lane recognition unit 7b for recognizing a traveling lane of a vehicle; a course estimation unit 7e for estimating a predicted course of the vehicle; a lane departure determination unit 7f for determining the departure from the traveling lane of the vehicle based on the determination line set so as to extend substantially parallel to the traveling lane recognized by the lane recognition unit 7b and the course estimated by the course estimation unit 7e; and a first alarm buzzer 11 for giving an alarm when the lane departure determination unit 7f determines the departure. The lane departure alarm device further comprises: an another vehicle detection unit 7c for detecting another vehicle behind the vehicle in an adjacent lane; and a determination line setting unit 7d which sets a first determination line as the determination line when another vehicle is not detected by the another vehicle detection unit 7c, and sets a second determination line as the determination line when another vehicle is detected by the another vehicle detection unit 7c. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle lane departure warning device.

2. Description of the Related Art Conventionally, a lane departure warning device for a vehicle that issues a warning when it is determined that the host vehicle deviates from a traveling lane is known. In the lane departure warning device shown in Patent Document 1, it is determined that a departure is made when the predicted course of the host vehicle is likely to be located outside the travel lane.
JP 2005-346395 A

  By the way, when there is another vehicle behind the own vehicle in the adjacent lane adjacent to the traveling lane of the own vehicle, if the own vehicle deviates from the traveling lane, the possibility of the own vehicle colliding with the other vehicle increases. In this case, it is preferable to give an alarm early.

  However, in Patent Document 1, since it is determined that the predicted course of the own vehicle is located outside the travel lane, it is determined that the vehicle has deviated. Therefore, if there is another vehicle behind the own vehicle in the adjacent lane, an early warning is issued. I can't do it.

  The present invention has been made in view of such a point, and an object thereof is to provide an early warning when another vehicle is detected behind the own vehicle in the adjacent lane adjacent to the traveling lane of the own vehicle. It is in.

  The first invention is a lane recognition means for recognizing a travel lane in which the host vehicle is currently traveling, a course estimation means for estimating a future course of the host vehicle, and a travel recognized by the lane recognition means. Based on the judgment line set so as to extend substantially parallel to the lane and the course estimated by the course estimation means, the host vehicle deviates from or is likely to depart from the judgment line. A lane departure warning device for a vehicle, comprising: a lane departure judging means for judging a departure from a running lane; and a lane departure warning means for giving a warning when the lane departure judging means judges that a departure has occurred. The other vehicle detection means for detecting the other vehicle behind the host vehicle in the adjacent lane adjacent to the travel lane, and when the other vehicle is not detected by the other vehicle detection means, Is set as the first determination line, and when another vehicle is detected by the other vehicle detection means, the second determination line on the inner side in the width direction of the travel lane as compared with the first determination line is used as the determination line. It further comprises determination line setting means for setting.

  As a result, when the other vehicle detection means detects the other vehicle behind the own vehicle in the adjacent lane adjacent to the traveling lane of the own vehicle, the determination line setting means sets the determination line as a determination line rather than the first determination line in the normal time. Since the second determination line on the inner side in the width direction of the traveling lane is set, when another vehicle behind the host vehicle in the adjacent lane is detected, the lane departure determination unit causes the host vehicle to be more than the normal first determination line. The departure from the traveling lane of the host vehicle is determined when the vehicle deviates from or is likely to deviate from the second determination line inside the traveling lane in the width direction. Therefore, when another vehicle behind the host vehicle in the adjacent lane is detected, it can be determined that the vehicle has departed early, and an alarm can be issued early. Therefore, the driver can correct the trajectory of the host vehicle at an early stage, and can improve the safety of the host vehicle.

  According to a second invention, in the first invention, an imaging means for imaging the front of the host vehicle and a lane marking detection for detecting a running lane marking in front of the host vehicle based on an image captured by the imaging means. And the lane recognition means is configured to recognize the traveling lane based on the traveling lane detected by the lane marking detecting means. .

  Thus, since the lane recognition means recognizes the travel lane based on the travel lane line detected by the lane line detection means, the travel lane can be recognized more accurately.

  According to a third aspect, in the second aspect, the first determination line is a travel lane marking detected by the lane marking detection means.

  Thus, since the first determination line is a travel lane line detected by the lane line detection means, the driver can drive the vehicle while recognizing the first determination line, and an alarm is issued. You can predict whether or not.

  According to a fourth invention, in any one of the first to third inventions, the course estimating means is configured to estimate the course based on a yaw rate and a vehicle speed of the host vehicle. It is a feature.

  As a result, it is possible to easily realize the estimation of the future course of the host vehicle.

  5th invention is a case where the other vehicle is detected by the said other vehicle detection means in any one of said 1st-4th invention, Comprising: The indication direction of the direction indicator of the said own vehicle is the said other vehicle. The vehicle is further provided with other vehicle approach warning means for giving a warning when the direction is the side direction.

  By the way, when there is another vehicle behind the own vehicle in the adjacent lane adjacent to the traveling lane of the own vehicle, if the own vehicle changes the lane to the adjacent lane, the possibility of the own vehicle colliding with the other vehicle is further increased.

  Here, according to the present invention, the other vehicle detection means detects the other vehicle behind the own vehicle in the adjacent lane adjacent to the traveling lane of the own vehicle, and the direction of the direction indicator of the own vehicle is determined. When the direction is on the other vehicle side, the warning is given by the other vehicle approach warning means, so that it is possible to notify the driver that changing the lane to the adjacent lane is dangerous.

  According to the present invention, when another vehicle behind the host vehicle in an adjacent lane adjacent to the traveling lane of the host vehicle is detected, the determination line is located on the inner side in the width direction of the traveling lane from the first determination line at the normal time. Since 2 determination lines are set, when another vehicle behind the own vehicle in the adjacent lane is detected, the own vehicle deviates from the second determination line on the inner side in the width direction of the traveling lane with respect to the normal first determination line. Or when it is likely to deviate, the deviation from the traveling lane of the own vehicle is determined. Therefore, the driver can correct the track of the own vehicle at an early stage, and can improve the safety of the own vehicle.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 shows a vehicle V (own vehicle) equipped with a lane departure warning device according to an embodiment of the present invention. The vehicle V includes a radar 3 that detects an obstacle behind the vehicle V, a first CCD camera 4 (imaging means) that images the front of the vehicle V, a second CCD camera 5 that images the rear of the vehicle V, and an instrument panel 10. The first warning buzzer 11 (lane departure warning means) and the second warning buzzer 12 (other vehicle approach warning means; only shown in FIG. 2) and a control unit 6 for controlling them are provided. Then, the vehicle V has an LDW (Lane Departure Warning) control that activates the first alarm buzzer 11 when it is determined that the vehicle V deviates from the driving lane L (only shown in FIGS. 3 to 5), and a direction indicator (winker). ) When it is determined that the indicated direction of 21 (shown only in FIG. 5) is the other vehicle W (shown only in FIGS. 4 and 5) side of the vehicle V rear side in the adjacent lane M (shown only in FIGS. 3 to 5). The BSM (Blind Spot Monitoring) control for operating the second alarm buzzer 12 is performed.

  The radar 3 is attached to both ends of the rear end of the vehicle V in the vehicle width direction so that the radar shaft faces the rear front of the vehicle V, and transmits the millimeter wave while scanning in a range of a predetermined angle behind. A scanning millimeter wave radar that detects the distance, angle, and relative speed to the obstacle based on the reflected wave from the obstacle present behind the vehicle V. Note that only one radar may be provided at the center in the vehicle width direction at the rear end of the vehicle V, and the radar is not limited to the millimeter wave radar, and a radar such as a laser radar or an ultrasonic radar may be employed. .

  The first CCD camera 4 is attached to the center in the vehicle width direction at the upper end of the windshield (not shown) of the vehicle V, and is a traveling division line (for example, a center line, a lane) that divides the lane ahead of the vehicle V. A boundary line with a lane, a boundary line between a roadway and a sidewalk, etc.) S (only shown in FIGS. 3 to 5) and the like are imaged.

  The second CCD camera 5 is attached to the center in the vehicle width direction at the upper end of the rear glass (not shown) of the vehicle V. An obstacle behind the vehicle V such as the vehicle W is imaged.

  As shown in FIG. 2, the control unit 6 includes an LDW controller 7 that performs the LDW control and a BSM controller 8 that performs the BSM control. These are the control area network CAN (Control Area Network) built in the vehicle V. ) To enable communication.

  The LDW controller 7 includes a radar 3 that detects an obstacle behind the vehicle V, a first CCD camera 4 that images the front of the vehicle V, a second CCD camera 5 that images the rear of the vehicle V, and a yaw rate sensor 71 that detects the yaw rate of the vehicle V. Detection signals from a vehicle speed sensor 72 that detects the vehicle speed of the vehicle V are input, and LDW control is performed based on information obtained from the detection signals.

  Here, the LDW control will be described in detail. The image information of the first and second CCD cameras 4 and 5 is input to the lane marking detector 7a (the lane marking detector) in the LDW controller 7. The lane marking detection unit 7a is configured to perform image processing on the information and detect a road lane marking S such as a white line.

  The lane marking detection information of the lane marking detection unit 7a is input to a lane recognition unit 7b (lane recognition means) in the LDW controller 7. The lane recognition unit 7b is configured to recognize a traveling lane L in which the vehicle V is currently traveling and an adjacent lane M adjacent to the traveling lane L based on the information. Specifically, the lane recognition unit 7b recognizes the two traveling division lines S, S on the left and right sides of the vehicle V as the traveling lane L of the vehicle V, while the traveling division line S on the left and right sides of the vehicle V. And a range defined by the traveling lane marking S and the traveling lane marking S adjacent to the one side is recognized as an adjacent lane M. 3 to 5, the road has two lanes on one side (only one lane is shown), and the left lane is recognized as the driving lane L of the vehicle V and the right lane is recognized as the adjacent lane M.

  The obstacle detection information of the radar 3, the image information of the second CCD camera 5, and the adjacent lane recognition information of the lane recognition unit 7b are input to the other vehicle detection unit 7c (other vehicle detection means) in the LDW controller 7. The other vehicle detection unit 7c is configured to detect the other vehicle W traveling on the rear side of the vehicle V in the adjacent lane M based on the information. In the example of FIGS. 4 and 5, a vehicle traveling diagonally behind the vehicle V in the right lane is detected as the other vehicle W.

  The other vehicle detection information of the other vehicle detection unit 7c is input to a determination line setting unit 7d (determination line setting means) in the LDW controller 7. Based on the information, the determination line setting unit 7d extends substantially parallel to the travel lane L recognized by the lane recognition unit 7b and serves as a reference line for determining a deviation of the vehicle V from the travel lane L. C is configured to be set. Specifically, the determination line setting unit 7d sets the first determination line C1 as the determination line C at the normal time when the other vehicle W behind the vehicle V in the adjacent lane M is not detected by the other vehicle detection unit 7c. On the other hand, when the other vehicle detection unit 7c detects the other vehicle W on the rear side of the vehicle V in the adjacent lane M, the determination line C is located on the inner side in the width direction of the travel lane L than the first determination line C1 (vehicle V The second determination line C2 located on the side) is set.

  In the example of FIG. 3, since the other vehicle detection unit 7c does not detect the other vehicle W obliquely behind the vehicle V in the adjacent lane M, the determination line setting unit 7d uses the first determination line C1 as the determination line C on the right side of the vehicle V. It is set to the outer edge on the right side of the vehicle V in the traveling lane marking S on the right side of the vehicle V. On the other hand, in the example of FIGS. 4 and 5, since the other vehicle W is detected obliquely behind the vehicle V in the adjacent lane M by the other vehicle detection unit 7 c, the determination line setting unit 7 d is used as the determination line C on the right side of the vehicle V. Then, the second determination line C2 on the left side of the vehicle V with respect to the travel division line S on the right side of the vehicle V is set on the right side of the vehicle V.

  In addition, in the example of FIGS. 3 to 5, regardless of whether the other vehicle detection unit 7 c detects the other vehicle W obliquely behind the vehicle V in the adjacent lane M, the determination line setting unit 7 d The determination line C is uniformly set at the outer edge on the left side of the vehicle V in the travel division line S on the left side of the vehicle V.

  In FIGS. 3 to 5, the traveling division line S and the determination line C are simplified for easy understanding of the drawings. In particular, in the example of FIG. 3, the first determination line C <b> 1 as the determination line C on the right side of the vehicle V is shown by a broken line in accordance with the traveling division line S on the right side of the vehicle V. C1 is a continuous line.

  Information detected by the yaw rate sensor 71 and the vehicle speed sensor 72 is input to a route estimation unit 7e (route estimation means) in the LDW controller 7. The course estimation unit 7e calculates a traveling direction and a traveling speed (speed vector) of the vehicle V based on the information, and a future course (predicted course) of the vehicle V based on the calculation result. Is configured to estimate.

  The determination line setting information of the determination line setting unit 7d and the predicted route estimation information of the route estimation unit 7e are input to a lane departure determination unit 7f (lane departure determination unit) in the LDW controller 7. The lane departure determination unit 7f is configured to predict and determine the departure of the vehicle V from the travel lane L when the vehicle V deviates from or is likely to deviate from the determination line C based on the information. . Specifically, the lane departure determination unit 7f determines whether the determination line C set by the determination line setting unit 7d intersects or is likely to intersect with the predicted route of the vehicle V estimated by the route estimation unit 7e. A deviation from the travel lane L of V is determined. Note that “departed from the determination line C” means, for example, that the front wheel of the vehicle V has actually stepped on the determination line C, and “departs from the determination line C” means that the front wheel of the vehicle V is determined, for example. This means that there is a risk of stepping on the line C (too close to the determination line C).

  In the example of FIG. 3, for example, when the first determination line C1 as the determination line C on the right side of the vehicle V and the expected course of the vehicle V intersect or are likely to intersect, the lane departure determination unit 7f causes the vehicle V to travel on the lane L It is considered that it deviated from. On the other hand, in the example of FIG. 4, for example, when the second determination line C2 as the determination line C on the right side of the vehicle V intersects or is likely to intersect, the lane departure determination unit 7f causes the vehicle V to travel. Considered to depart from lane L.

  The LDW controller 7 operates the first alarm buzzer 11 to control the departure of the vehicle V from the traveling lane L when the lane departure determining unit 7f determines the departure of the vehicle V from the traveling lane L. Inform the person.

  The BSM controller 8 receives a detection signal from the other vehicle detection unit 7c and an operation signal from the direction indicator switch lever 22 of the direction indicator 21 of the vehicle V, and performs BSM control based on information obtained from these signals. .

  Here, BSM control will be described in detail. The BSM controller 8 is a case where the other vehicle detection unit 7c detects the other vehicle W on the rear side of the vehicle V in the adjacent lane M, and the direction indication switch lever 22 is When an operation signal output when the lever 22 is operated is received, the instruction direction of the direction indicator 21 is detected based on the operation signal, and the instruction direction is the direction of the other vehicle W (the driving lane L). When the vehicle is on the other vehicle W side in the width direction, the second alarm buzzer 12 is controlled to notify the driver that changing the lane to the adjacent lane M is dangerous.

  As shown in the example of FIG. 5, when the direction indicator 21 of the vehicle V is activated and the indicated direction is the right direction, the BSM control unit 8 activates the second alarm buzzer 12.

  The buzzer sound of the second alarm buzzer 12 is different from the buzzer sound of the first alarm buzzer 11. Thus, the driver can determine whether the buzzer sound is to notify that the lane change is dangerous or to notify that the vehicle has deviated from the traveling lane L.

-LDW control and BSM control of control unit-
Hereinafter, the LDW control and BSM control of the control unit 6 will be described with reference to the flowchart of FIG. In the following description, it is assumed that the vehicle V is traveling on the left lane of a two-lane road as shown in FIGS.

  First, in step S1, it is determined whether there is another vehicle W behind the vehicle V. If the determination result in step S1 is YES, the process proceeds to step S2, and if NO, the process proceeds to step S3. In step S2, it is determined whether or not the other vehicle W detected in step S1 is on an adjacent lane M adjacent to the travel lane L of the vehicle V. If the determination result of step S2 is YES, the process proceeds to step S7, and if NO, the process proceeds to step S3.

  In step S3, the first determination line C1 is set as the travel division line S on the right side of the vehicle V as the determination line C on the adjacent lane M side, while the determination line C on the opposite side of the adjacent lane M is set as the travel division on the left side of the vehicle V. Set to line S. In a succeeding step S4, it is determined whether or not the direction indicator 21 is operated. If the determination result of step S4 is YES, the process returns. If NO, the process proceeds to step S5.

  In step S5, it is determined whether or not the vehicle V has deviated from the traveling lane L based on the determination line C or the like set in step S3. If the determination result of step S5 is YES, the process proceeds to step S6, while if NO, the process returns. In step S6, the first alarm buzzer 11 is activated, and then the process returns.

  On the other hand, in step S7, as the determination line C on the adjacent lane M, the second determination line C2 on the inner side in the width direction of the travel lane L than the first determination line C1 is set, while the determination on the side opposite to the adjacent lane M is performed. The line C is set to the traveling dividing line S on the left side of the vehicle V. In subsequent step S8, it is determined whether or not the direction indicator 21 is activated and the indicated direction is a direction on the adjacent lane M side. If the determination result of step S8 is YES, the process proceeds to step S9, whereas if NO, the process proceeds to step S10.

  In step S9, the second alarm buzzer 12 is activated, and then the process returns. In Step S10, it is determined whether or not the vehicle V has deviated from the traveling lane L based on the determination line C or the like set in Step S7. If the determination result of step S10 is YES, the process proceeds to step S11, while if NO, the process returns. In step S11, the first alarm buzzer 11 is activated, and then the process returns.

-Effect-
As described above, according to the present embodiment, when the other vehicle detection unit 7c detects the other vehicle W on the rear side of the vehicle V in the adjacent lane M adjacent to the traveling lane L of the vehicle V, the determination line setting unit 7d As the determination line C, the second determination line C2 on the inner side in the width direction of the travel lane L than the first determination line C1 in the normal state is set, so that the other vehicle W behind the vehicle V in the adjacent lane M is detected. When the vehicle lane departure determining unit 7f detects that the vehicle V has deviated from or is likely to deviate from the second determination line C2 on the inner side in the width direction of the travel lane L with respect to the normal first determination line C1. Deviation from the driving lane L is determined. Therefore, when the other vehicle W on the rear side of the vehicle V in the adjacent lane M is detected, it can be determined that the vehicle has departed early, and an alarm can be given early. Therefore, the driver can correct the trajectory of the vehicle V at an early stage, and the safety of the vehicle V can be improved.

  Further, since the lane recognition unit 7b recognizes the travel lane L based on the travel lane marking S detected by the lane marking detection unit 7a, the travel lane L can be recognized more accurately.

  Further, since the first determination line C1 is the travel lane marking S detected by the lane marking detector 7a, the driver can drive the vehicle V while recognizing the first determination line C1, and the lane departure It can be predicted whether or not an alarm will be given.

  Furthermore, since the course estimation unit 7e that estimates the future course of the vehicle V based on the detection information of the yaw rate sensor 71 and the vehicle speed sensor 72 is provided, it is possible to easily estimate the future course of the vehicle V. Can be embodied.

  By the way, when there is another vehicle W behind the vehicle V in the adjacent lane M adjacent to the travel lane L of the vehicle V, if the vehicle V changes to the adjacent lane M, the vehicle V may collide with the other vehicle W. Becomes even higher.

  Here, according to the present embodiment, the other vehicle detection unit 7c detects the other vehicle W on the rear side of the vehicle V in the adjacent lane M adjacent to the travel lane L of the vehicle V. When the direction indicated by the direction indicator 21 is the direction on the other vehicle W side, a warning is given by the second alarm buzzer 12, so that it is possible to notify the driver that the lane change to the adjacent lane M is dangerous. it can.

(Other embodiments)
In the above embodiment, the first determination line C1 is set to the outer edge on the right side of the vehicle V in the travel division line S on the right side of the vehicle V. However, the present invention is not limited to this. You may set to the width direction center, the width direction inner side of the traveling division line S, and the width direction outer side.

  Moreover, in the said embodiment, although the estimated course of the vehicle V is estimated based on the detection information of the yaw rate sensor 71 and the vehicle speed sensor 72, it is not restricted to this, For example, based on the steering angle of a steering wheel, a vehicle The expected course of V may be estimated.

  Furthermore, in the said embodiment, when it determines with the vehicle V deviating from the driving lane L, the 1st warning buzzer 11 is operated, However, It is not restricted to this, For example, the warning lamp provided in the instrument panel 10 is used. It may be lit.

  Furthermore, in the above embodiment, the second alarm buzzer 12 is activated when it is determined that the indicated direction of the direction indicator 21 is the other vehicle W side on the rear side of the vehicle V in the adjacent lane M. For example, a warning lamp provided on the instrument panel 10 may be turned on.

  In the above embodiment, the first alarm buzzer 11 is provided as the lane departure warning means and the second alarm buzzer 12 is provided separately as the other vehicle approach warning means. However, the lane departure warning means and the other vehicle approach warning means are provided separately. May be configured with the same alarm buzzer. However, from the viewpoint of determining whether the buzzer sound is a warning that the lane change is dangerous or a warning that the vehicle has deviated from the driving lane L, a notification that the lane change is dangerous is provided. It is preferable that the buzzer sound that sounds and the buzzer sound that notifies that the vehicle deviates from the driving lane L are different.

  Furthermore, although the said embodiment demonstrated the case where the vehicle V drive | works the left side lane of the road of a one side two lane, this invention is applied also when the vehicle V drive | works the right side lane of the road of a one side two lane. be able to. In this case, for example, when the other vehicle W behind the vehicle V in the adjacent lane M on the left side of the vehicle V is not detected, the first determination line C1 is set as the determination line C on the left side of the vehicle V, while the left side of the vehicle V When the other vehicle W on the rear side of the vehicle V in the adjacent lane M is detected, the determination line C on the left side of the vehicle V is the second determination line C2 on the inner side in the width direction of the travel lane L than the first determination line C1. Set.

  Furthermore, in the above-described embodiment, the case where the vehicle V travels on a two-lane road is described. However, the present invention can also be applied to a case where the vehicle V travels on three or more lanes.

  When traveling on a lane other than the lanes at both ends of a road with three or more lanes on one side, for example, when the other vehicle W behind the vehicle V in the adjacent lane M on the left side of the vehicle V is not detected, the determination on the left side of the vehicle V While the first determination line C1 is set as the line C, when the other vehicle W behind the vehicle V in the adjacent lane M on the left side of the vehicle V is detected, the first determination line is set as the determination line C on the left side of the vehicle V. A second determination line C2 on the inner side in the width direction of the travel lane L than C1 is set. When the other vehicle W behind the vehicle V in the adjacent lane M on the right side of the vehicle V is not detected, the first determination line C1 is set as the determination line C on the right side of the vehicle V, while the adjacent lane on the right side of the vehicle V is set. When the other vehicle W on the rear side of the vehicle V in M is detected, the second determination line C2 on the inner side in the width direction of the travel lane L than the first determination line C1 is set as the determination line C on the right side of the vehicle V. .

  When traveling on the left lane of a road with three or more lanes on one side, for example, the determination line C is set in the same manner as when traveling on the left lane of a road with two lanes on one side. For example, when traveling on the rightmost lane of a three-lane road, the determination line C is set in the same manner as when traveling on the right lane of a two-lane road.

  Moreover, in the said embodiment, in the LDW controller 7, the other vehicle W of the rear side of the vehicle V in the adjacent lane M detected by the other vehicle detection part 7c based on the detection information of the radar 4 and the CCD camera 5, etc. A relative speed calculation unit that calculates a relative speed with respect to the vehicle V is further provided. In the determination line setting unit 7d, when the other vehicle W on the rear side of the vehicle V in the adjacent lane M is detected by the other vehicle detection unit 7c, The second determination line C2 may be set to be positioned on the inner side in the width direction of the travel lane L of the vehicle V as the relative speed calculated by the relative speed calculation unit increases. By the way, when there is another vehicle W behind the vehicle V in the adjacent lane M adjacent to the travel lane L of the vehicle V, when the vehicle V deviates from the travel lane L, the relative speed of the other vehicle W with respect to the vehicle V increases. The possibility that the vehicle V collides with the other vehicle W is further increased. Here, according to the present embodiment, when the other vehicle W on the rear side of the vehicle V in the adjacent lane M adjacent to the travel lane L of the vehicle V is detected by the other vehicle detection unit 7c, the determination line setting unit 7d Since the second determination line C2 is set to be located on the inner side in the width direction of the travel lane L as the relative speed of the other vehicle W calculated by the relative speed calculation unit increases, the vehicle V in the adjacent lane M When the other vehicle W on the rear side is detected, the higher the relative speed of the other vehicle W with respect to the vehicle V, the more quickly it can be determined that the vehicle has deviated, and an alarm can be given earlier.

  The present invention is not limited to the embodiments, and can be implemented in various other forms without departing from the spirit or main features thereof.

  As described above, the above-described embodiment is merely an example in all respects and should not be interpreted in a limited manner. The scope of the present invention is defined by the claims, and is not limited by the specification. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

  As described above, the lane departure warning device for a vehicle according to the present invention can be applied to an application for early warning when another vehicle is detected behind the own vehicle in the adjacent lane adjacent to the traveling lane of the own vehicle. .

1 is a schematic side view showing a vehicle equipped with a lane departure warning device according to an embodiment of the present invention. It is a block diagram which shows the control unit of a lane departure warning apparatus. It is a schematic top view which shows the setting state of the determination line when the other vehicle of the vehicle rear side in an adjacent lane is not detected. It is a schematic plan view which shows the setting state of the determination line when the other vehicle of the vehicle rear side in an adjacent lane is detected. It is a schematic plan view which shows the setting state of the determination line when the other vehicle of the vehicle rear side in an adjacent lane is detected. It is a flowchart of LDW control and BSM control of a control unit.

Explanation of symbols

3 Radar 4 First CCD camera (imaging means)
5 Second CCD Camera 6 Control Unit 7 LDW Controller 7a Marking Line Detection Unit (Marking Line Detection Means)
7b Lane recognition unit (lane recognition means)
7c Other vehicle detection part (Other vehicle detection means)
7d judgment line setting section (judgment line setting means)
7e Course estimation unit (course estimation means)
7f Lane departure determination unit (lane departure determination means)
8 BSM controller 11 First alarm buzzer (lane departure warning means)
12 Second alarm buzzer (other vehicle approach warning means)
21 Direction indicator 22 Direction indication switch lever C Determination line C1 First determination line C2 Second determination line L Traveling lane M Adjacent lane S Traveling division line V Vehicle (own vehicle)
W Other vehicle

Claims (5)

Lane recognition means for recognizing the travel lane in which the host vehicle is currently traveling, course estimation means for estimating the future course of the host vehicle, and the travel lane recognized by the lane recognition means extend substantially in parallel. Based on the determination line set as described above and the route estimated by the route estimation means, the vehicle deviates from the driving lane when the vehicle deviates or is likely to deviate from the determination line. A lane departure warning device for a vehicle, comprising: a lane departure determination means for determining; and a lane departure warning means for giving a warning when the lane departure determination means determines that a departure has occurred;
Other vehicle detection means for detecting another vehicle behind the host vehicle in an adjacent lane adjacent to the travel lane,
When no other vehicle is detected by the other vehicle detection means, the first determination line is set as the determination line. On the other hand, when another vehicle is detected by the other vehicle detection means, A lane departure warning device for a vehicle, further comprising determination line setting means for setting a second determination line on the inner side in the width direction of the travel lane with respect to the first determination line. The vehicle lane departure warning device according to claim 1,
Imaging means for imaging the front of the vehicle;
A lane marking detecting means for detecting a traveling lane marking ahead of the host vehicle based on an image captured by the imaging means;
The lane departure warning device for a vehicle, wherein the lane recognition means is configured to recognize the travel lane based on the travel lane detected by the lane line detection means. The vehicle lane departure warning device according to claim 2,
The vehicle lane departure warning device according to claim 1, wherein the first determination line is a travel lane marking detected by the lane marking detector. In the vehicle lane departure warning device according to any one of claims 1 to 3,
The lane departure warning device for a vehicle, wherein the route estimation means is configured to estimate the route based on a yaw rate and a vehicle speed of the host vehicle. In the vehicle lane departure warning device according to any one of claims 1 to 4,
When the other vehicle is detected by the other vehicle detection unit, the vehicle further includes an other vehicle approach warning unit that issues a warning when the direction of the direction indicator of the host vehicle is the direction of the other vehicle. A lane departure warning device for a vehicle.

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