JP2010026759A - Driving support device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To sufficiently support the vehicle driving of a driver by effectively rousing the occupant of an own vehicle to pay attention to lane departure upon deciding lane departure. <P>SOLUTION: This driving support device for a vehicle 1 includes: an irradiation means 100 which irradiates a part in front of the own vehicle 1 with a visible light beam L; and a decision means 60 for detecting a lane along which the own vehicle 1 travels from the pickup image of the front part of the own vehicle 1 (S32), and for deciding whether the own vehicle 1 departs from the detected lane (S35). When it is decided that the own vehicle 1 departs from the lane by the decision means 60 (YES in S35), the control means 60 controls the irradiation means 100 to plot information X for rousing the occupant of the own vehicle 1 to pay attention to the lane departure on a road surface in front of the own vehicle 1 (S37). <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a driving support device that supports driving of a vehicle, and belongs to the field of vehicle safety technology.

  Conventionally, various driving support devices that support driving of a vehicle are known. For example, in Patent Document 1, the planned travel route of the host vehicle is calculated based on the vehicle speed, the steering angle, etc. of the host vehicle, and the visible light beam is irradiated on the road surface of the travel route based on the calculation result. There is disclosed a technique for displaying a planned travel route composed of a pair of left and right lines extending in the traveling direction on the road surface of the travel road ahead of the left and right sides of the vehicle. According to this, the driver of the vehicle can visually grasp the planned travel route of the host vehicle.

JP 2003-231438 A (paragraph 0051)

  Further, a lane departure warning (LDW: Lane Departure Warning) device may be provided as a vehicle driving support device in order to prevent a lane departure while driving. The LDW device detects, for example, a lane marking line (a boundary line with an adjacent lane or a boundary line with a road shoulder) from a captured image of a camera that images the front of the host vehicle, and a vehicle speed. Then, the traveling direction and traveling speed of the host vehicle are calculated from the yaw rate and the like, and the expected course of the host vehicle is estimated from the calculation result. Then, when the direction indicator is not operating and the predicted course of the host vehicle is likely to intersect the detected lane marking, it is determined that the host vehicle departs from the lane, and the host vehicle including the driver In order to alert the occupant of lane departure, for example, a warning is issued using voice or a screen.

  However, the conventional alarm generates a buzzer sound or synthesized sound in the vehicle interior or displays a warning message on the display in the vehicle interior. For example, the vehicle interior is noisy or has a window open. The warning sound cannot be heard, and it is necessary to move the line of sight to the display in order to see the warning wording, and it may be insufficient to alert the driver of the lane departure.

  Also, when driving at night or in rainy weather, the visibility of the surroundings of the host vehicle deteriorates and the visibility decreases, so even if the driver is driving while paying attention to the front, It is difficult to confirm the lane marking, and it is possible that the vehicle has shifted to the left or right in the lane without intention. Therefore, in such a case, it is not necessary to simply issue an alarm in the passenger compartment, and it is necessary to clearly indicate where the running lane marking of the host vehicle is now.

  Therefore, the present invention effectively alerts the occupant of the own vehicle to the departure of the lane when it is determined that the own vehicle departs from the lane. It is an object to clarify whether the vehicle is in the vehicle and to provide sufficient support for the driver to drive the vehicle.

  In order to solve the above problems, the present invention uses the following means. In the following disclosure of the present invention, reference numerals corresponding to embodiments of the invention described later are added for reference.

  The invention according to claim 1 of the present application detects the lane in which the host vehicle 1 is traveling from the irradiation means 100 that irradiates the visible light beam L in front of the host vehicle 1 and the captured image in front of the host vehicle 1 (S32). The driving support device for the vehicle 1 includes a determination unit 60 that determines whether or not the host vehicle 1 departs from the detected lane (S35). When it is determined that the vehicle departs (YES in S35), the irradiation unit 100 is controlled so as to draw information X on the road surface ahead of the host vehicle 1 to alert the passenger of the host vehicle 1 of the lane departure. (S37) The control means 60 is provided.

  Here, the information (warning information) X for calling attention to lane departure includes characters such as “Deviation Warning” and “Warning!”, Figures such as “×” and diagonal lines, arrows and entry prohibition symbols, etc. These symbols and combinations thereof are included.

  The invention according to claim 2 of the present application is the vehicle driving support device according to claim 1, wherein the alert information X is a lane marking of the traveling lane of the host vehicle 1. .

  The invention according to claim 3 of the present application is the vehicle driving support device according to claim 2, wherein the division line is a division on a side on which the vehicle 1 is determined to depart from the lane by the determination unit 60. It is a line.

  The invention according to claim 4 of the present application is the vehicle driving support device according to any one of claims 1 to 3, wherein the visible light beam L is a laser beam. .

  The invention according to claim 5 of the present application is the vehicle driving support device according to any one of claims 1 to 4, wherein the determination means 60 determines that the host vehicle 1 departs from the lane. (YES in S35), an alarm means 90 is provided that issues an alarm in the passenger compartment for alerting the passenger of the host vehicle 1 of lane departure (S36).

  The invention according to claim 6 of the present application is the vehicle driving support device according to any one of claims 1 to 5, wherein the own vehicle 1 is irradiated with the visible light beam L in front of the own vehicle 1. The travel guide means 10 is provided to provide information for guiding the travel to the passengers (S13, S23), and the irradiation means 100 uses the visible light beam irradiation means of the travel guide means 10. It is characterized by.

  The invention according to claim 7 of the present application is the vehicle driving support device according to claim 6, wherein the travel guidance information is a planned travel route A of the host vehicle 1 (S13). To do.

  The invention according to claim 8 of the present application is the vehicle driving support device according to claim 6, wherein the travel guidance information is a travel direction of the host vehicle 1 (S23).

  According to the first aspect of the present invention, the irradiation unit 100 that irradiates the visible light beam L in front of the host vehicle 1 and the determination unit 60 that determines whether or not the host vehicle 1 departs from the lane (S35). When it is determined that the host vehicle 1 departs from the lane (YES in S35), the irradiating means 100 is controlled (S37) to depart from the lane with respect to the occupant of the host vehicle 1 Since the information X for calling attention is drawn on the road surface in front of the host vehicle 1, the warning information X appears on the road surface in front of the vehicle 1 when the lane departure is determined (YES in S35). The warning information X is surely entered in the field of view of the driver who is driving the vehicle 1 while watching the vehicle, and the driver is not forced to move his face or line of sight greatly. Lane departure attention is effective So that the evoked in.

  In addition, since the alert information X is drawn brightly with the visible light beam L, the alert information X can be clearly confirmed through vision, and driving at night or rainy weather where visibility is poor and visibility is low. Even so, the alert information X can be confirmed satisfactorily.

  Further, only when it is determined that the host vehicle 1 departs from the lane (YES in S35), the visible light beam L is emitted and the alert information X is drawn on the road surface in front of the host vehicle 1 (S37). The energy consumption for irradiating the light beam L can be reduced, and the problem of illusion to passengers of oncoming vehicles and pedestrians on the road due to the road surface reflection of the visible light beam L can be reduced.

  According to the invention described in claim 2 of the present application, when the lane departure is determined (YES in S35), the lane marking of the traveling lane of the host vehicle 1 is drawn as the alert information X on the road surface in front of the vehicle 1. The driver can intuitively understand that the host vehicle 1 is about to depart from the lane, and can immediately take a departure avoidance operation such as a steering operation in a reflective manner.

  In addition, since the visible light beam L clearly indicates where the lane marking of the traveling lane of the host vehicle 1 is, even if driving at night or rainy weather when visibility is poor and visibility is low, The driver can easily drive the vehicle 1 so as not to cross the dividing line, and the driver can sufficiently support the vehicle driving.

  According to the invention described in claim 3 of the present application, at the time of lane departure determination (YES in S35), on the road surface in front of the vehicle 1, the division line on the side where the lane departure is determined is drawn as the alert information X. Thus, the driver can determine whether the own vehicle 1 is shifted to the left or right side in the lane, and can immediately perform an accurate departure avoidance operation.

  According to the invention described in claim 4 of the present application, since the visible light beam L is a laser beam that is difficult to scatter and has good visibility, the alert information X clearly appears on the road surface in front of the vehicle 1. In addition, the meaning of the alert information X composed of characters, figures, symbols, etc. can be clearly read.

  According to the invention described in claim 5 of the present application, at the time of lane departure determination (YES in S35), for example, an alarm is issued in the passenger compartment using a voice or a screen (S36), so that a warning on the road surface ahead of the vehicle 1 Along with the appearance of the information X, attention to lane departure is more effectively alerted to the passenger of the host vehicle 1.

  According to the invention described in claim 6 of the present application, the irradiation means 100 for drawing the alert information X on the road surface in front of the host vehicle 1 and the visible light beam irradiation means of the travel guide means 10 are combined. Therefore, an increase in the number of parts or an increase in cost is suppressed.

  Note that in the travel guide means 10, the visible light beam L is irradiated, for example, on the road surface in front of the host vehicle 1 or in a space, or the building T that is the destination.

  According to the invention described in claim 7 of the present application, an example of a specific operation of the travel guide means 10 is shown, and the planned travel route A of the host vehicle 1 is provided by the visible light beam L (S13). Even when driving at night or in rainy weather where visibility is poor and visibility is low, the driver can clearly grasp the planned travel route A of the host vehicle 1 through vision, and driving safety is achieved. It will be.

  The planned travel route A of the host vehicle 1 is estimated based on, for example, the vehicle speed, steering angle, yaw rate, or the like of the host vehicle 1.

  According to the invention described in claim 8 of the present application, another example of the specific operation of the traveling guide means 10 is shown, and the traveling direction of the host vehicle 1 is provided by the visible light beam L (S23). Even when driving at night or in rainy weather where visibility is poor and visibility is low, the driver can clearly understand the traveling direction of the vehicle 1 through vision, and driving safety can also be achieved. It becomes.

  The traveling direction of the host vehicle 1 is determined based on, for example, information on the destination input to the navigation system 50, map information around the current position of the host vehicle 1, and the like. Hereinafter, the present invention will be described in more detail through the best mode for carrying out the invention.

  FIG. 1 is a system configuration diagram of a driving support apparatus for a vehicle 1 according to the preferred embodiment of the present invention. The vehicle 1 according to this embodiment includes a travel guidance control unit 10 that provides travel guidance information in front of the host vehicle 1 with a visible light beam emitted from the lasers 100 and 100, and a visible light beam that is also emitted from the lasers 100 and 100. And a lane departure warning (LDW) control unit 60 that draws lane departure warning information on the road surface in front of the host vehicle 1.

  Both control units 10 and 60 are each provided with a CPU, a ROM for storing a control program and data, a RAM for temporarily storing various data when the program is executed, and the like.

  The travel guidance control unit 10 receives signals from the vehicle speed sensor 20, the steering angle sensor 30, the yaw rate sensor 40, and the navigation system (indicated as “NAVI” in the drawing) 50, and outputs a control signal to the laser 100. The lane departure warning control unit 60 inputs signals from the vehicle speed sensor 20, the yaw rate sensor 40, the camera 70, and the blinker switch 80, and outputs control signals to the warning device 90 and the laser 100.

  The vehicle speed sensor 20 detects the vehicle speed of the host vehicle 1 and outputs a signal corresponding to the detected vehicle speed to both control units 10 and 60.

  The rudder angle sensor 30 detects the steering angle of the host vehicle 1 and outputs a signal corresponding to the detected steering angle to the travel guidance control unit 10.

  The yaw rate sensor 40 detects the yaw rate of the host vehicle 1 and outputs a signal corresponding to the detected yaw rate to both control units 10 and 60.

  The navigation system 50 is attached to a roof part in a vehicle interior, and is detected by a GPS unit that detects position information (latitude, longitude) of a current location, a storage unit (road information storage medium) that stores road information, and the GPS unit. It has an information reading unit that reads road information in a predetermined range centered on the current location based on the position information, the road information read by the information reading unit, information on the destination, and the current position of the host vehicle 1 Is output to the travel guidance control unit 10.

  The camera 70 images a traveling road, a target, etc. in front of the host vehicle 1 and is attached to the front end of the roof portion in the passenger compartment. The camera 70 is composed of, for example, a digital camera using a CCD or CMOS sensor. Is output to the lane departure warning control unit 60.

  The blinker switch 80 is for blinking the left or right blinker (direction indicator). An on / off signal indicating whether the left or right blinker is activated or not is sent to the lane departure warning control unit 60. Output.

  The warning device 90 is disposed in the vehicle compartment, and receives a control signal from the lane departure warning control unit 60, and issues a lane departure warning to the occupant of the host vehicle 1 using voice, screen or vibration. Specifically, a lane departure warning is issued by voice through a speaker, a lane departure warning is issued by display through a display, or a lane departure warning is issued by vibrating a seat on which an occupant is seated. It is configured.

  In the present embodiment, the laser 100 is provided to perform travel guidance of the host vehicle 1 and alert the driver of lane departure of the host vehicle 1, and a pair of lasers 100 are disposed at the front end of the host vehicle 1. And it is comprised so that the laser beam as a visible light beam may be irradiated to the circumference | surroundings of the own vehicle 1, especially the front of the own vehicle 1, in response to a control signal from both control units 10 and 60.

  FIGS. 2A and 2B are flowcharts showing an example of a specific control operation that is repeatedly executed by the travel guide control unit 10 mounted on the vehicle 1 at predetermined intervals.

  In the example shown in FIG. 2A, in step S11, a vehicle speed signal is obtained from the vehicle speed sensor 20, a rudder angle signal is obtained from the rudder angle sensor 30, and a yaw rate signal is obtained from the yaw rate sensor 40, and the obtained signal is obtained in step S12. Based on this, the estimated travel route of the host vehicle 1 is estimated. In step S13, the laser 100 is controlled to draw the estimated planned travel route on the road surface in front of the host vehicle 1 with a laser beam.

  FIG. 3 is a plan view showing a specific example of the travel guidance information provided by the laser beam L in the case of the example shown in FIG.

  In the example shown in FIG. 2B, in step S21, information related to the destination, map information around the current position of the host vehicle 1, and the like are obtained from the navigation system 50. In step S22, the purpose is based on the obtained information. It is determined whether or not the ground is within a predetermined distance from the current position. If there is, the target building is irradiated with a laser beam by controlling the laser 100 in step S23.

  FIG. 4 is a perspective view showing travel guidance information provided by the laser beam L in the case of the example shown in FIG. 2B, that is, a specific example of the travel direction of the host vehicle 1.

  FIG. 4 shows the case where the laser beam L is applied to the building T, which is the destination. Alternatively, the laser beam L may be applied to the road surface in front of the host vehicle 1 or in the space. (Especially effective when the building T as the destination is not within a predetermined distance from the current position, or when the building T is not directly visible even within the predetermined distance).

  Next, FIG. 5 is a flowchart showing an example of a specific control operation that the lane departure warning control unit 60 mounted on the vehicle 1 repeatedly executes at predetermined intervals.

  First, in step S31, a captured image in front of the host vehicle 1 captured by the camera 70 is obtained.

  Next, in step S32, the obtained captured image is analyzed by using a general image processing method, thereby detecting the lane in which the host vehicle 1 is currently traveling, and the traveling direction of the host vehicle from the vehicle speed and the yaw rate. Is detected.

  Next, in step S33, an on / off signal for the left or right turn signal is obtained from the turn signal switch 80.

  Next, in step S34, lane departure determination of the host vehicle 1 is executed based on these detection results and signals. In step S35, it is determined whether or not the host vehicle 1 may depart from the lane.

  A series of operations in these steps S32 to S35 will be briefly described as a whole. That is, based on the captured image obtained from the camera 70, the lane marking of the lane in which the host vehicle 1 is currently traveling is detected. On the other hand, the traveling direction and traveling speed of the host vehicle 1 are calculated based on the output data of the vehicle speed sensor 20 and the yaw rate sensor 40 (signals corresponding to the detected vehicle speed and yaw rate). Estimate the course to be done.

  Then, it is determined whether or not the predicted course of the host vehicle 1 is likely to intersect the detected lane marking. Even if the predicted course of the host vehicle 1 is likely to intersect the detected lane marking, if the turn signal switch 80 on the side of the lane marking that is likely to intersect (left or right) is on, the host vehicle 1 Is determined not to deviate from the travel lane (there is no possibility of lane departure). On the other hand, when the predicted course of the host vehicle 1 is likely to intersect with the detected lane marking and the blinker switch 80 on the side of the lane marking that is likely to intersect (left or right) is off, It is determined that the vehicle deviates from the traveling lane (there is a possibility of lane departure).

  When there is a possibility that the host vehicle 1 departs from the lane, the alarm device 90 in the passenger compartment is activated in step S36, and at the same time, the occupant of the host vehicle 1 is controlled by controlling the laser 100 in step S37. The warning information X, that is, the warning information X is drawn on the road surface ahead of the host vehicle 1 with the laser beam L.

  On the other hand, when there is no possibility that the own vehicle 1 departs from the lane, the warning device 90 is stopped in step S38, and the drawing is stopped in step S39.

  FIG. 6 is a plan view showing a specific example of the alert information X drawn on the road surface ahead of the host vehicle 1 by irradiation with the laser beam L in the step S37 (first embodiment). In this example, the alert information X is a lane marking of the traveling lane of the host vehicle 1, particularly a left and right lane marking. Instead of this, only the left or right dividing line on the side where the lane departure of the host vehicle 1 is determined may be drawn (see FIG. 8A).

  FIG. 7 is a plan view showing another example of the alert information X drawn on the road surface ahead of the host vehicle 1 by irradiation with the laser beam L in the step S37 (second embodiment). In this example, the alert information X is composed of characters “Attention to right departure!”. Instead, when there is a possibility that the own vehicle 1 departs from the lane on the left side, “Left departure attention!” Is drawn.

  FIGS. 8A to 8D are plan views showing still other examples of the alert information X drawn on the road surface in front of the host vehicle 1 by irradiation with the laser beam L in step S37.

  In the example of FIG. 8A (third embodiment), the alert information X is composed of a graphic including a right dividing line and a plurality of oblique lines arranged on the outer side (right side). This alerting information X is drawn on the relatively right side even in front of the host vehicle 1. Instead, when the host vehicle 1 may deviate to the left lane, a figure including a left dividing line and a plurality of diagonal lines arranged on the outer side (left side) is relatively ahead of the host vehicle 1. Drawn on the left side. The example of FIG. 8A corresponds to the case where only one of the left and right division lines on the side where the lane departure of the host vehicle 1 is determined is drawn in the first embodiment.

  In the example of FIG. 8B (fourth embodiment), the alert information X is composed of a combination of an arrow (symbol) that moves forward to the right and an “x” (figure) arranged on the outside (right side). ing. This alerting information X is drawn on the relatively right side even in front of the host vehicle 1. Instead, when there is a possibility that the host vehicle 1 deviates to the left side, the combination of the arrow (symbol) that moves forward to the left and the “x” (figure) arranged on the outside (left side) is the host vehicle. 1 is drawn on the relatively left side ahead.

  In the example of FIG. 8C (fifth embodiment), the alert information X is composed of symbols including an arrow that moves forward to the right and an entry prohibition symbol arranged on the outer side (right side). This alerting information X is drawn on the relatively right side even in front of the host vehicle 1. Instead, when there is a possibility that the host vehicle 1 may deviate to the left lane, a symbol including an arrow that moves forward to the left and an entry prohibition symbol arranged on the outer side (left side) is relatively forward of the host vehicle 1. Drawn on the left side.

  In the example of FIG. 8D (sixth embodiment), the alert information X includes a plurality of arrows (symbols) that indicate the left front and the characters “close to the left” arranged inside (left side). It consists of a combination. This alerting information X is drawn on the relatively right side even in front of the host vehicle 1. Instead, when the vehicle 1 may deviate to the left lane, there are a plurality of arrows (symbols) that point to the right front and the characters “stop to the right” arranged on the inside (right side). The combination is drawn on the relatively left side ahead of the host vehicle 1.

  Thus, according to this embodiment, it has the irradiation means 100 which irradiates the visible light beam L ahead of the own vehicle 1, and the determination means 60 which determines whether the own vehicle 1 deviates from a lane (S35). When it is determined in the driving support device for the vehicle 1 that the host vehicle 1 departs from the lane (YES in S35), the irradiating means 100 is controlled (S37), and a lane departure warning is given to the passenger of the host vehicle 1 Is displayed on the road surface in front of the host vehicle 1, so when the lane departure is determined (YES in S 35), the alert information X appears on the road surface in front of the vehicle 1, However, the alert information X surely enters the field of view of the driver who is driving the vehicle 1, and the driver is forced to move the face and line of sight without forcing the driver to move the lane. Effective attention to deviation Cause is it to become.

  In addition, since the alert information X is drawn brightly with the visible light beam L, the alert information X can be clearly confirmed through vision, and driving at night or rainy weather where visibility is poor and visibility is low. Even so, the alert information X can be confirmed satisfactorily.

  Further, only when it is determined that the host vehicle 1 departs from the lane (YES in S35), the visible light beam L is emitted and the alert information X is drawn on the road surface in front of the host vehicle 1 (S37). The energy consumption for irradiating the light beam L can be reduced, and the problem of illusion to passengers of oncoming vehicles and pedestrians on the road due to the road surface reflection of the visible light beam L can be reduced.

  In particular, in the first embodiment, at the time of lane departure determination (YES in S35), the lane marking of the traveling lane of the host vehicle 1 is drawn as the alert information X on the road surface in front of the vehicle 1, so It is intuitive that the vehicle 1 is about to deviate from the lane, and deviation avoidance operations such as a steering wheel operation can be immediately reflected.

  In addition, since the visible light beam L clearly indicates where the lane marking of the traveling lane of the host vehicle 1 is, even if driving at night or rainy weather when visibility is poor and visibility is low, The driver can easily drive the vehicle 1 so as not to cross the dividing line, and the driver can sufficiently support the vehicle driving.

  In the first embodiment, when the lane departure is determined (YES in S35), when only the division line on the side where the lane departure is determined is drawn on the road surface in front of the vehicle 1 as the alert information X (No. 1). 3), the driver can determine whether the vehicle 1 is shifted to the left or right side in the lane, and can immediately take an accurate deviation avoidance operation.

  Further, since a laser beam that is difficult to scatter and has good visibility is used as the visible light beam L, the alert information X clearly appears on the road surface in front of the vehicle 1 and is composed of characters, figures, symbols, or the like. The meaning of the alert information X is clearly readable.

  Further, when the lane departure is determined (YES in S35), for example, a warning is issued in the vehicle interior using a voice or a screen (S36). Therefore, the vehicle 1 is combined with the appearance of the alert information X on the road surface ahead of the vehicle 1. As a result, the passengers are more effectively alerted to the lane departure.

  Moreover, since the irradiation means 100 for drawing the alert information X on the road surface ahead of the host vehicle 1 and the visible light beam irradiation means of the travel guide means 10 are combined, an increase in the number of parts or an increase in cost is suppressed. Will be.

  Further, when the planned travel route A of the host vehicle 1 is provided by the visible light beam L (S13), even if driving at night or driving in rainy weather where visibility is poor and visibility is lowered, The planned travel route A of the host vehicle 1 can be clearly grasped visually and traveling safety is achieved.

  Further, when the traveling direction of the host vehicle 1 is provided by the visible light beam L (S23), even if the driver is traveling at night or driving in rainy weather where visibility is poor and visibility is lowered, The driving direction of 1 can be clearly grasped through vision, and driving safety is also achieved.

  In the above embodiment, the alert information X drawn on the road surface in front of the host vehicle 1 by the irradiation of the laser beam L in step S37 in FIG. May change.

  Moreover, instead of the laser 100, the headlamp of the host vehicle 1 can be used as the irradiation means for irradiating the front of the host vehicle 1 with a visible light beam. In that case, the alert information X is drawn on the road surface ahead of the host vehicle 1 by covering the headlamp with a pattern obtained by cutting out characters, figures or symbols.

  Various methods for determining whether or not the host vehicle 1 departs from the lane are well known, and therefore, not limited to those described in the above embodiment, any other method may be used. .

  As described above in detail with specific examples, the present invention effectively alerts the occupant of the own vehicle of lane departure when it is determined that the own vehicle departs from the lane. This is a technology that can clearly indicate where the lane markings of the vehicle's driving lane are now and provide sufficient support for the driver's vehicle driving. With the availability of

1 is a system configuration diagram of a driving support apparatus for a vehicle according to a preferred embodiment of the present invention. (A), (b) is a flowchart which shows an example of control operation | movement of the driving | running | working guidance control unit mounted in the said vehicle. FIG. 3 is a plan view showing a specific example of travel guidance information provided by a visible light beam in the case of FIG. It is a perspective view which shows one specific example of the driving | running | working guidance information provided with a visible light beam in the case of the said FIG.2 (b). It is a flowchart which shows an example of control operation of the lane departure warning control unit mounted in the said vehicle. FIG. 6 is a plan view showing a specific example of alert information drawn with a visible light beam in the case of FIG. 5. It is a top view which shows the other example of the alerting information drawn with a visible light beam in the case of the said FIG. (A)-(d) is a top view which shows the further another example of the alerting information drawn with a visible light beam in the case of the said FIG.

Explanation of symbols

1 own vehicle 10 travel guidance means (travel guidance control unit)
60 determination means, control means (lane departure warning control unit: S35, S37)
70 Imaging means (camera)
90 Alarm means (alarm device)
100 Irradiation means (laser)
L Visible light beam (laser beam)
X Alert information

Claims (8)

Irradiating means for irradiating the front of the vehicle with a visible light beam;
A driving support apparatus for a vehicle, comprising: a detection unit that detects a lane in which the host vehicle is traveling from a captured image in front of the host vehicle and determines whether the host vehicle deviates from the detected lane. ,
Control for controlling the irradiating means so as to draw information on the road surface in front of the own vehicle when the determining means determines that the own vehicle departs from the lane. A vehicle driving support device comprising means for providing a vehicle. The vehicle driving support device according to claim 1,
The vehicle driving support device, wherein the alert information is a lane marking of a traveling lane of the host vehicle. The vehicle driving support device according to claim 2,
2. The vehicle driving support apparatus according to claim 1, wherein the lane marking is a lane marking on the side determined by the determining means that the host vehicle departs from the lane. The vehicle driving support device according to any one of claims 1 to 3,
The vehicle driving support apparatus, wherein the visible light beam is a laser beam. The driving support device for a vehicle according to any one of claims 1 to 4,
A vehicle having warning means for issuing an alarm in the passenger compartment to alert a passenger of the own vehicle of lane departure when the determination means determines that the own vehicle departs from the lane. Driving assistance device. A driving support apparatus for a vehicle according to any one of claims 1 to 5,
A traveling guide means is provided for providing information for guiding a traveling to a passenger of the host vehicle by irradiating the front of the host vehicle with a visible light beam,
The vehicle driving support apparatus according to claim 1, wherein the irradiation means uses a visible light beam irradiation means of the travel guide means. The vehicle driving support device according to claim 6,
The driving assistance device for a vehicle, wherein the driving guidance information is a planned driving route of the host vehicle. The vehicle driving support device according to claim 6,
The driving assistance device for a vehicle, wherein the traveling guidance information is a traveling direction of the host vehicle.

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