JPH07311897A - Running way estimating device for automobile - Google Patents

Abstract

PURPOSE:To improve the reliability of the estimation of a running way in a corner part, etc. CONSTITUTION:When the running way estimated by a running way estimation means 6C is different from the advancing way estimated by an advancing way estimation means 6B, a virtual straight line where a white line is extended in front of their own automobile is set by a virtual straight line setting means 27. The deviation in the horizontal direction of this virtual straight line and a white line candidate point to be used for the estimation of the running way is calculated by a deviation calculation means 28. Based on the result, the running way is estimated based on the virtual straight line till the deviation exceeds a set value by a running area estimation area 29. When the deviation exceeds the set value, the running way is estimated by performing a curve approximation based on the white line candidate point.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle road estimating device for estimating a road on which a vehicle is expected to travel in the future.

[0002]

2. Description of the Related Art Conventionally, information obtained by scanning a wide range of a radar device is provided with a traveling road estimating means for estimating a traveling road on which the own vehicle is predicted to travel from the traveling state such as the steering angle and the vehicle speed of the own vehicle. Among them, there is known one that picks up only the one in the region along the traveling road predicted by the traveling road estimating means and judges the possibility that the own vehicle and the obstacle come into contact with each other.

As a means for estimating such a traveling road, as described in, for example, Japanese Patent Laid-Open No. 4-137014, image information input from a video camera or the like is used.
It is known that luminance information and dispersion information are extracted, and a white line on the traveling road is detected based on the information to estimate the traveling road. Further, as described in, for example, Japanese Patent Publication No. 51-7892, there is also known one which estimates a traveling road (running road) based on vehicle body state quantities such as a steering angle, a vehicle speed and a yaw rate.

In the case of image processing, usually,
Since the white lines drawn at the left and right ends of the road are detected and the road edges are recognized, the range of the road that can be estimated is wide and there is a possibility that the vehicle may come into contact with the vehicle as described above, rather than depending on the vehicle body state quantity. This is advantageous for setting an area for detecting an obstacle.

[0005]

However, when such an image processing is used, since the left and right white lines are curved at the corner, the straight line up to the corner and the curvature of the corner are curved. The parts influence each other,
The reliability of the roadway estimation becomes low. In addition, it is difficult to estimate even in the case of a small corner section or a road with a combination of multiple corner sections, and even when the condition of the white line on the road is extremely poor or there is no white line originally. It is difficult to estimate the travel route, and there is a demand to improve the reliability of the drive route at the corners and the like.

[0006] The present invention provides a traveling path estimating apparatus for an automobile, in which the reliability of the traveling path estimation at a corner portion or the like is improved.

[0007]

The invention according to claims 1 to 3 detects a white line candidate point which is presumed to constitute left and right white lines on a road surface based on image processing, and based on the white line candidate point It is premised on a travel route estimating device for a vehicle, which includes a travel route estimating means for estimating left and right white lines and estimating a travel route on which the vehicle is expected to travel in the future based on the left and right white lines.

The invention according to claim 1 is a traveling road estimating means for estimating a traveling road on which the vehicle is expected to travel in the future based on vehicle state quantities such as a steering angle, a vehicle speed, and a yaw rate.
Receiving the outputs of the traveling road estimating means and the traveling road estimating means,
When the traveling road estimated by the traveling road estimating means is different from the traveling road estimated by the traveling road estimating means, a virtual straight line setting means for setting a virtual straight line extending a white line in front of the host vehicle, and the traveling road estimating means. Means and a virtual straight line setting means, and a deviation calculating means for calculating a lateral deviation between the virtual straight line and the white line candidate point; and outputs of the traveling road estimating means, the traveling road estimating means and the deviation calculating means, Until the deviation exceeds the set value, the white line is estimated based on the virtual straight line by the virtual straight line setting means, while when the deviation exceeds the set value, the white line is estimated by curve approximation based on the white line candidate points by the traveling road estimation means. And a traveling area estimating means for determining a traveling path.

Further, the invention according to claim 2 is a traveling road estimating means for estimating a traveling road on which the own vehicle is expected to travel in the future based on vehicle state quantities such as a steering angle, a vehicle speed and a yaw rate.
Receiving the outputs of the traveling road estimating means and the traveling road estimating means,
When the traveling road estimated by the traveling road estimating means is different from the traveling road estimated by the traveling road estimating means, a stop distance calculating means for calculating a stopping distance at which the vehicle can be stopped at a predetermined vehicle speed, and an output of the traveling road estimating means. In response to the outputs of the farthest distance calculating means for calculating the farthest distance capable of detecting the white line candidate points and the stop distance calculating means and the farthest distance calculating means, when the farthest distance is larger than the stop distance, stop. And a travel area estimating means for determining a travel path up to a distance.

Further, the invention according to claim 3 is a traveling road estimating means for estimating a traveling road on which the own vehicle is expected to travel in the future, based on vehicle state quantities such as a steering angle, a vehicle speed, and a yaw rate.
One of the white lines on the left and right of the traveling road is received by the traveling road estimating means by receiving the outputs of the obstacle detecting means for detecting an obstacle in a predetermined area, the traveling road estimating means, the traveling road estimating means, and the obstacle detecting means. Is estimated, and the estimated value is different from the estimated value for the traveling route estimated by the traveling route estimating means, if the obstacle on the traveling route estimated by the traveling route estimating means is a fixed object. And a travel area estimating means for determining a travel path based on the white line of the travel path estimated by the travel path estimating means.

[0011]

According to the invention of claim 1, when the traveling road estimated by the traveling road estimating means is different from the traveling road estimated by the traveling road estimating means, it is considered to be a corner portion, so that the virtual straight line A virtual straight line extending a white line is set in front of the own vehicle by the setting means, and a lateral deviation between the virtual straight line and a white line candidate point used for traveling path estimation is calculated by the deviation calculating means, and based on the result, the vehicle travels. While the area estimation means estimates the white line based on the virtual straight line until the deviation exceeds the set value, when the deviation exceeds the set value, the white line is estimated by curve approximation based on the white line candidate points. The road ahead of the car is determined.

According to the second aspect of the present invention, when the traveling road estimated by the traveling road estimating means is different from the traveling road estimated by the traveling road estimating means, the stopping distance calculating means can stop at the predetermined vehicle speed. While the stop distance is calculated,
The farthest distance calculating means calculates the farthest distance capable of detecting a white line candidate point used for travel route estimation, and when the farthest distance is greater than the stop distance, the travel area estimating means determines the travel path up to the stop distance. It

According to the third aspect of the present invention, the traveling road estimating means estimates only an estimated value for one of the left and right white lines of the traveling road, and the estimated value is estimated for the traveling road estimated by the traveling road estimating means. If the obstacle on the traveling path estimated by the traveling path estimating means is a fixed object, the estimated value by the traveling path estimating means is judged to be reliable, and the traveling area estimating means determines the traveling path. The traveling road is determined based on the white line of the traveling road estimated by the estimating means.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. This example is an example in which the vehicle travel path estimation device according to the present invention is applied to an obstacle detection device.

Embodiment 1 In FIG. 1 showing the whole of an automobile, reference numeral 1 is an automobile, and a distance sensor 3 is provided at a front part of a vehicle body 2. The distance sensor 3 measures the distance to an obstacle on the road, and emits pulsed laser light as a radar wave toward the front of the host vehicle from the transmitter and at the same time as a preceding vehicle in front of the host vehicle. The radar head unit is configured to receive a reflected wave reflected by an obstacle at a receiver. Further, the distance sensor 3 emits pulse laser light (beam) emitted from its emission portion, which is thin in the vertical direction and spread in a fan shape in the vertical direction.
Is a scan type that scans a horizontal direction at a relatively wide angle.

Reference numeral 4 denotes a CCD camera disposed in the upper part of the passenger compartment for displaying a scene (running road) in front of the vehicle within a predetermined range. The scene in front of the vehicle captured by the camera 4 is: The image is input to the image processing unit 5 and subjected to image processing, and the control unit 6 estimates the travel route based on the white line of the road.

Further, the control unit 6 has a structure shown in FIG.
As shown in FIG. 7, in addition to the signal from the CCD camera 4, a signal from the laser unit 3 is also detected, a vehicle speed sensor 7 for detecting the vehicle speed of the own vehicle, a steering angle sensor 8 for detecting the steering angle of the steering wheel 8a, and an own vehicle. Signals from a yaw rate sensor 9 that detects the yaw rate generated by the vehicle are also input, and the state of the traveling path is displayed on the head-up display 10 based on these signals, and when an obstacle in front of the vehicle is detected, an alarm means is provided. 11, the vehicle control device 12 operates the brake 12a to operate the wheels 13 ,.
The braking force is automatically applied to.

Specifically, as shown in FIG. 3, the signal of the distance sensor 3 is input to the arithmetic unit 22 through the signal processing unit 21 of the control unit 6, and the arithmetic unit 22 emits the laser reception light. The distance between each obstacle existing in the scanning range and the own vehicle due to the delay time from the time point,
It is configured to calculate the relative speed and the direction of the obstacle with respect to the own vehicle. Then, the signal processing unit 2 and the calculation unit 3
Thus, an obstacle detecting means 6A for detecting an obstacle existing in a predetermined area in front of the own vehicle is configured.

The detection signals of the sensors 7 and 8 are input to the first traveling path estimating means 23, and the first traveling path estimating means 23 is provided.
Is designed to estimate a predicted traveling route of the vehicle from the future based on the steering angle and the vehicle speed of the vehicle.
Further, the detection signals of the sensors 7, 8 and 9 are input to the second traveling path estimating means 24, and the second traveling path estimating means 24,
From the steering angle of the host vehicle, the vehicle speed, and the yaw rate, it is possible to estimate the predicted traveling path of the host vehicle. The first and second traveling path estimating means 23, 24
, But constitutes a traveling road estimating means 6B for estimating the traveling road (specifically, the radius of curvature thereof) based on the vehicle state quantity.

The signal from the image processing unit 5 is
The left and right white line estimating means 25 and the right and left white line estimating means 26, which extract the left and right white lines of the road (running road) on which the vehicle is traveling from the scene in front of the own vehicle and estimate the left and right white lines, are input to the left white line and the right white line, respectively. White lines (specifically their radii of curvature) are estimated.

The left white line and right white line estimating means 25, 26 constitute a traveling road estimating means 6C for estimating a traveling road based on image processing. When estimating the white line portion, each of the estimating means 25 and 26 may, if necessary, use the image processing unit 5
In addition to the white line candidate points that are supposed to form the white line, the left and right white lines are estimated based on at least two virtual white line candidate points that are initially set for one white line behind the vehicle. It has become.

Then, the signals from the traveling path estimating means 23, 24 and the white line estimating means 25, 26 are inputted to the virtual straight line setting means 27, and in the virtual straight line setting means 27,
When the traveling road estimated by the traveling road estimating means 6C is different from the traveling road estimated by the traveling road estimating means 6B, a virtual straight line extending a white line is set in front of the host vehicle.

Then, the deviation calculating means 28 receives the outputs of the traveling road estimating means 6C and the virtual straight line setting means 27, and the deviation calculating means 28 calculates the lateral deviation between the virtual straight line and the white line candidate point. Has become. The travel area setting means 29 receiving the signal from the deviation calculating means 28 estimates the white line based on the virtual straight line until the deviation exceeds the set value, and when the deviation exceeds the set value, the curve based on the white line candidate points. A white line is approximated and estimated, and a traveling area (corresponding to an obstacle judgment area for judging an obstacle) is set.

Further, the obstacle information from the arithmetic unit 22 and the obstacle judging area information from the traveling area setting means 29 are inputted to the obstacle judging means 30, and in the obstacle judging means 30, the distance sensor 3 detects them. The obstacle necessity avoidance level thus determined is displayed on the head-up display 10 if obstacle determination is performed in the obstacle determination area set by the traveling area setting means 29 and it is determined that it is necessary to avoid the obstacle. After the alarm is issued by the alarm device 11,
The brake device 12a of the vehicle control device 12 is automatically operated.

-Basic Control for Obstacle Detection by Obstacle Detection Device-Hereinafter, basic control for obstacle detection by the obstacle detection device using the above-mentioned travel path estimation device will be described.

In FIG. 4, when the vehicle is started, first, in step S1, the traveling path is estimated by the first and second traveling path estimating means 23 and 24 based on the vehicle state quantity, and then in step S2, the image processing is performed. Left and right white lines are estimated by the left and right white line estimating means 25 and 26, and the traveling path is estimated based on the left and right white lines. Then, in step S3, the radar head unit 3 recognizes the front of the vehicle and detects an obstacle (obstacle information) that is presumed to be an obstacle.

Then, in step S4, a first obstacle detection area in which it is necessary to detect an obstacle based on the traveling path estimated in step S1 is set, and in step S4.
The second obstacle detection area is set based on the traveling path estimated in 2 and the obstacle determination area in which the area setting means 30 determines whether or not it becomes an obstacle based on the both obstacle detection areas. (Running area) is determined.

Then, in step S5, obstacle information is masked based on the obstacle judgment area, and in step S6, obstacle judgment is performed. The obstacle determining means 31 executes the above steps S4 to S6.

Then, in step S7, obstacle avoidance control is performed if necessary, and the process returns. Obstacle avoidance control
For example, although the warning is given by the warning device and the brake 12a of the vehicle control device 12, although not specifically shown, it may be given by an automatic steering device or the like.

-Traveling Road Estimation Control by Traveling Road Estimating Means 6B-Estimation of the traveling road in the above step S1 is performed in the traveling road estimating means 6B according to the subroutine shown in FIG. That is, in step S11, the steering angle sensor 5 and the vehicle speed sensor 6
After reading each signal from the yaw rate sensor 7, the traveling path of the host vehicle is predicted by the first prediction method based on the steering angle θH and the vehicle speed V0 in step S12. Specifically, the estimated value for the traveling path, that is, the radius of curvature R01
And the sideslip angle β01 of the vehicle is calculated by the following formula.

[0031]

[Equation 1] Then, in step S13, the traveling path of the host vehicle is predicted by the second prediction method based on the yaw rate γ and the vehicle speed V0. Specifically, the estimated value for the traveling road, that is, the radius of curvature R02 and the side slip angle β02 of the vehicle are calculated by the following formulas.

[0032]

[Equation 2] Then, in step S14, it is determined whether or not the absolute value of the steering angle θH is smaller than the predetermined angle θc. If this determination is YES, the traveling path predicted by the second prediction method is selected in step S16, and the curvature radius R of the traveling path is selected.
Set the estimated value R02 to 11 and set the vehicle side slip angle β
Set the estimated value β02 in 11 and return.

On the other hand, when the determination in step S14 is NO, that is, when the steering angle θH is larger than the predetermined angle θc, the absolute value of the radius of curvature R01 of the traveling road predicted by the first prediction method is further calculated in step S15. And the absolute value of the curvature radius R02 of the traveling path predicted by the second prediction method are compared. When the radius of curvature R01 of the traveling path predicted by the first prediction method is smaller,
In step S17, the estimated value R01 is set to the radius of curvature R11 of the traveling road, and β01 is set to the side slip angle β11 of the vehicle.
On the other hand, when the radius of curvature R02 of the traveling road predicted by the second prediction method is smaller, step S16
Then, the estimated value R02 is set to the radius of curvature R11 of the traveling road, and the estimated value β02 is set to the side slip angle β11 of the vehicle. That is, the one having the smaller radius of curvature is selected as the traveling path.

Further, the traveling route estimating means 6B performs both the estimation of the traveling route based on the steering steering angle θH and the vehicle speed V0 and the estimation of the traveling route based on the yaw rate γ and the vehicle speed V0 to determine the own vehicle. Since either one of the estimations is used according to the traveling state, it is possible to appropriately perform the traveling path estimation. That is, when the vehicle is turning on a curved road having a cant, the vehicle makes a turning motion by the cant even if the steering wheel is not steered greatly. Therefore, the curvature of the traveling road predicted based on the yaw rate γ is used. The radius R02 becomes smaller than the radius of curvature R01 of the traveling road predicted based on the steering angle θH. At this time, since the traveling path estimating means 6B adopts the curvature radius R02 of the traveling path predicted based on the yaw rate γ, the traveling path can be appropriately estimated without being influenced by the cant. Further, when the host vehicle makes a sharp turn, the traveling path estimation means 6B causes the steering steering angle θ to have a large value.
Corresponding to H, the traveling path is estimated to have a small radius of curvature R01, so that the traveling path can be appropriately estimated even in a sudden turning operation.

-Basic control of traveling road estimation by traveling road estimating means 6C-Estimation of the traveling road in the step S2 is performed by the left and right white line estimating means 25, 26 according to the subroutine shown in FIG. As preconditions, it is considered that a side slip angle does not occur on a straight road, a body posture angle with respect to a white line is small on a straight road, and a traveling locus is a parallel movement of the lane on a curved road. The coordinates are assumed to have the vehicle on the road surface as the origin, the longitudinal direction of the vehicle as the y-axis, and the lateral direction as the x-axis.

Specifically, in FIG. 6, when starting, image data is first captured (step S21),
A threshold for binarization is set (step S22), and then binarization processing of 1 or 0 is performed depending on whether or not the brightness of each pixel exceeds the threshold (step S23).

Then, the left and right scan windows are set so as to correspond to the left and right white lines (step S24),
Subsequently, the scan pitch in the front-rear direction of the automobile is set (step S25), the scan window is scanned in accordance with the scan pitch, and the white line candidate points (that is, the points which are set to 1 by the binarization processing) are detected (step S26). ), And is converted into plane coordinates by inverse perspective transformation (step S27).

Then, the virtual candidate points are added to the white line candidate points to estimate the travel route based on the left and right white lines, and the obstacle determination area is set based on the travel route (step S28).
To return.

The obstacle determination area is set by using an approximate curve (y = ax ² + bx + c) by the method of least squares for the left and right white lines using the white line candidate points and the virtual candidate points, specifically, a quadratic curve for the left white line. AL, bL, cL, and the quadratic curve coefficients aR, bR, cR for the right white line are calculated. In order to detect an obstacle on the road, the quadratic curve (y = ax
² + bx + c) and the coefficients aL, aR
Let Rl (Rr) be the radius of curvature of the quadratic approximation curve,
a = 1 / 2Rl (1 / 2Rr) and the coefficients bL, bR
Is the body posture angle or sideslip angle with respect to the white line, and the coefficient c
L and cR represent the lateral deviation amount from the vehicle center to the white line.

Next, the control in the corner portion of the road will be described. In the present embodiment, in the road estimation using the image, straight lines are used until the difference between the white line candidate points and the virtual straight line becomes equal to or more than the set value, and thereafter, the road estimation is performed by the quadratic approximation.

As shown in FIG. 7, when the vehicle is started, first, the estimated values Rl for the left and right white lines of the estimated road are estimated.
, Rr (radius of curvature) are equal and they are not equal to the estimated value R11 (radius of curvature) for the traveling path (step S31). If YES, it is considered to be a corner portion. Therefore, the process proceeds to step S32, while if NO, the process directly returns. Here, that the estimated values (radius of curvature) are equal does not mean that they are completely equal, but that the difference between the two estimated values (radius of curvature) to be compared is less than or equal to a threshold value. The threshold value can also be set to a larger value as the estimated value (curvature radius) is larger.

In step S32, a virtual straight line formed by extending a white line in front of the own vehicle is set based on the virtual candidate points on the side of the own vehicle, and the virtual straight line and the white line candidate point are laterally arranged from the side closer to the own vehicle. The distance (deviation) Δi is sequentially calculated at constant intervals (step S33), and it is determined whether or not the distance Δi exceeds the set value D (step S34).

If there is a distance Δi exceeding the set value D, it can be considered that the white line is a straight line up to that point. Therefore, the white line of the traveling road is set using a virtual straight line, and thereafter. Quadratically approximates the white line candidate points to estimate a white line on a curved road that is continuous with a white line on a straight road by a virtual straight line (step S35) and returns, while if there is no distance Δi exceeding the set value D, Since it cannot be considered that the road is a curved road, the process returns to step S33.

Therefore, as shown in FIG. 8, a normal scan window (window area) W1 is used to perform a quadratic approximation on the basis of all the white line candidate points for the white line of the road X in front of the own vehicle V, and the travel road is approximated. When X2 is estimated, it is strongly influenced by the erroneously recognized white line candidate points and their deviation becomes large. However, if the above is done, as shown in FIG. , The scan window W2 is made small and placed at a position slightly away from the vehicle, and the running path is estimated by the combination of the virtual straight line X3 immediately before the own vehicle and the quadratic approximate curve X4 in front of it. It is possible to accurately estimate the traveling path at the entrance portion C1 of the vehicle, and the reliability is significantly improved.

Embodiment 2 In this embodiment, the masking range of the road is set according to the size of the estimated value (radius of curvature) of the white line portion of the road estimated by the image.

The control system is constructed as shown in FIG. The same components as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

The outputs of the traveling road estimating means 6B and the traveling road estimating means 6C are first inputted to the stop distance calculating means 31, and the traveling road estimated by the traveling road estimating means 6C is estimated by the traveling road estimating means 6B. If it is different from the traveled route, it is judged to be a corner part, so when traveling at a predetermined vehicle speed that can stably drive in that corner part, stop surely when an obstacle is found in front of the vehicle. The possible stopping distance is calculated. At the same time, the output of the traveling road estimating means 6C is input to the farthest distance calculating means 32, and the farthest distance at which a white line candidate point on the traveling road can be detected is calculated.

The outputs of the stopping distance calculating means 31 and the farthest distance calculating means 32 are input to the traveling area setting means 33 together with the outputs of the traveling road estimating means 6C and the traveling road estimating means 6B, and the farthest distance is the above. When the distance is larger than the stop distance, it is not necessary to estimate the travel path to the portion exceeding the stop distance, and therefore the travel area is estimated up to the stop distance.

The specific control flow is shown in FIG.

When started, first, the estimated values (radius of curvature) Rl, Rr for the left and right white lines of the estimated road
Are equal to each other and they are not equal to the estimated value (radius of curvature) R11 for the traveling path (step S41). If YES, it is considered that the corner portion is in front of the vehicle, and If NO in step S42, the process directly returns.

In step S42, the farthest distance HLmax, which is the distance between the vehicle and the white line candidate point P at the farthest recognizable position on the screen, is calculated (see FIG. 12), and then the estimated value (curvature radius) Rr is calculated. When the vehicle speed at which the lateral G can run on the ((Rl)) (corner section) is 0.3 is calculated (step S43), and the vehicle speed is V0.3 at that time, when an obstacle is found in front of the vehicle. The stop distance L1 is calculated so that the vehicle can surely stop (step S44). Therefore, the relationship between the estimated value (radius of curvature) Rl (Rr) and the stop distance L1 is shown in FIG.
It becomes like 3.

Then, the farthest distance HLmax is the stop distance L.
It is determined whether or not it is larger than 1 (step S45). If it is larger, the travel path is estimated up to the stop distance L1 in front of the own vehicle (step S46). If it is not larger, up to the farthest distance HLmax in front of the own vehicle. The travel route is estimated (step S47) and the process returns.

By doing so, even in the case of a traveling road having a small corner portion and a composite corner portion, the reliability of the traveling road estimation can be improved and malfunction can be prevented. That is,
In a small corner portion or the like, a white line candidate point located at a distant position in front of the own vehicle cannot be detected in the first place, so as shown in FIG.
There is no possibility that 1 will be erroneously estimated and will be significantly different from the road 42 estimated based on the white line candidate points.

Embodiment 3 In this embodiment, the traveling road estimating means can estimate only one of the left and right white lines of the traveling road, and the estimated value (curvature radius) of the estimated white line is the traveling road estimating means. If it is different from the estimated value (curvature radius) of the traveling route by the traveling route estimating unit, if the obstacle on the traveling route is fixed by the traveling route estimating unit, traveling by the traveling route estimating unit is performed rather than traveling route estimation by the traveling route estimating unit. The road estimation is judged to be more reliable, and the travel route estimation by the travel route estimation means is prioritized.

The control system is constructed as shown in FIG. The same components as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

Traveling road estimating means 6C and traveling road estimating means 6
B, the travel area estimation means 51 receives the output of the calculation unit 22 of the obstacle detection means 6A, and the travel path estimation means 6C estimates only the estimated value (the radius of curvature) for one of the left and right white lines of the travel path. When the estimated value is different from the estimated value (curvature radius) for the traveling route estimated by the traveling route estimating means 6B, if the obstacle on the traveling route estimated by the traveling route estimating means 6B is a fixed object, the traveling route is estimated. The traveling area is set based on the white line of the traveling path estimated by the means 6C.

Next, the control flow will be described.
The estimated value (curvature radius) Rr for the right white line and the estimated value (curvature radius) R11 for the traveling path are detected, and they are not equal, and the estimated value (curvature radius) Rl for the left white line is detected. An example when it is not possible will be described.

When starting, as shown in FIG. 16, first, the estimated value Rr for the right white line of the traveling road and the estimated value R11 for the traveling road are not equal, and they are estimated values for the white line on the left of the traveling road. It is determined whether or not Rl is in an undetectable state due to an error (step S51). If YES, it is reliable whether the estimated value Rr for the white line on the right side of the traveling road or the estimated value R11 for the traveling road is reliable. In order to determine whether it is appropriate, the process proceeds to step S52, while NO
If so, return as is.

In step S52, it is judged whether or not the output of the estimated value Rr for the right white line is stable, and if it is stable, subsequently, as shown in FIG. 17, for example, as shown in FIG. A traveling area A in front of the vehicle V set based on the estimated value R11 (corresponding to an obstacle determination area)
It is determined whether or not the laser radar data B in (1) is a fixed object (step S53), and if it is a fixed object, it is considered that the guide rail, the reflector, etc. are detected. It is determined that the estimated value Rr is reliable, the estimated value Rr for the right white line is prioritized (step S54), the traveling area is estimated, and the process returns.

If the output of the estimated value Rr for the right white line is not stable and the laser radar data on the traveling path based on the estimated value R11 is not a fixed object, the estimated value Rr for the right white line cannot be trusted. Since it can be considered, the system is canceled (step S55), and the process ends.

Therefore, by using the laser radar data, the reliability of the road estimation at the entrance to the corner of the road is increased.

[0062]

The invention according to claim 1 has the following features.
When the estimated traveling route is different from the estimated traveling route, a virtual straight line that extends the white line is set in front of the vehicle and the lateral deviation between this virtual straight line and the white line candidate point used for the traveling route estimation is calculated. Then, until the deviation exceeds the set value, the white line is estimated based on the virtual straight line, and when the deviation exceeds the set value, the white line is estimated by curve approximation based on the white line candidate points, and the running path in front of the own vehicle is determined. Therefore, the change from the straight road to the curved road can be accurately estimated at the entrance of the corner portion, and the reliability of the road estimation can be improved.

According to the second aspect of the present invention, when the estimated traveling road is different from the estimated traveling road, the stopping distance at which the vehicle can be stopped at a predetermined vehicle speed and the farthest distance at which the white line candidate points can be detected are calculated, respectively. When the long distance is larger than the stop distance, the road is decided up to the stop distance.Therefore, the reliability of the road estimation in the small corner section or the road where a plurality of corner sections are combined increases. It is possible to prevent an error in the route estimation.

According to the third aspect of the present invention, only the estimated value for one of the white lines on the left and right of the traveling road is estimated, and when the estimated value is different from the estimated value for the traveling road, the estimated obstacle on the traveling road. If the object is a fixed object, the road is determined based on the estimated white line of the road,
Even if it is not possible to detect the estimated value of the other of the left and right white lines of the traveling road, the traveling road can be estimated including the corner portion.

[Brief description of drawings]

FIG. 1 is a perspective view of an automobile.

FIG. 2 is a block diagram of a control system.

FIG. 3 is a block diagram of a control unit according to the first embodiment.

FIG. 4 is a flowchart showing a flow of an obstacle detection process.

FIG. 5 is a flow chart showing a subroutine of traveling path estimation.

FIG. 6 is a flowchart showing a subroutine of travel route estimation.

FIG. 7 is a flowchart showing a subroutine for estimating a traveling path.

FIG. 8 is an explanatory view of the operation of a corner portion.

FIG. 9 is an explanatory view of the operation of a corner portion.

FIG. 10 is a block diagram of a control unit according to a second embodiment.

FIG. 11 is a flowchart showing a subroutine for estimating a traveling path.

FIG. 12 is an explanatory diagram of the farthest distance of white line candidate points.

FIG. 13 is a diagram showing a relationship between a radius of curvature and a stop distance at a corner portion of a traveling road.

FIG. 14 is an explanatory diagram of a malfunction of the travel path estimation of the corner portion.

FIG. 15 is a block diagram of a control unit according to a third embodiment.

FIG. 16 is a flow chart showing a subroutine of travel route estimation.

FIG. 17 is an explanatory diagram of an operation.

[Explanation of symbols]

 1 Car 6 Control Unit 6A Obstacle Detecting Means 6B Traveling Road Estimating Means 6C Traveling Road Estimating Means 7 Vehicle Speed Sensor 8 Steering Angle Sensor 9 Yaw Rate Sensor 27 Virtual Straight Line Setting Means 28 Deviation Calculating Means 29 Running Area Setting Means 31 Stopping Distance Calculating Means 32 Farthest distance calculation means 33 Travel area setting means 51 Travel area setting means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tomohiko Adachi No. 3 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Mazda Co., Ltd. (72) Inventor Hiroshi Nakaue No. 3 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Stock In the company

Claims (3)

[Claims] 1. A white line candidate point that is presumed to constitute left and right white lines on a road surface is detected based on image processing, left and right white lines are estimated based on the white line candidate point, and the vehicle will be predicted based on the left and right white lines. A travel route estimation device for a vehicle equipped with a travel route estimating means for estimating a travel route expected to travel, and estimates a travel route expected to be traveled in the future based on vehicle state quantities such as steering angle, vehicle speed and yaw rate. Receiving the outputs of the traveling road estimating means and the traveling road estimating means,
A virtual straight line setting means for setting a virtual straight line extending a white line in front of the host vehicle when the traveling road estimated by the traveling road estimating means is different from the traveling road estimated by the traveling road estimating means; Means and a virtual straight line setting means, and a deviation calculating means for calculating a lateral deviation between the virtual straight line and the white line candidate point; and outputs of the traveling road estimating means, the traveling road estimating means and the deviation calculating means, Until the deviation exceeds the set value, the white line is estimated based on the virtual straight line by the virtual straight line setting means,
When the deviation exceeds a set value, a travel area estimating device for estimating a white line by curve approximation based on a white line candidate point by the travel road estimating means, and a travel area estimating means for determining a travel path is provided. . 2. Detecting white line candidate points that are presumed to constitute the left and right white lines on the road surface based on image processing, estimating the left and right white lines based on the white line candidate points, and using the left and right white lines to identify the vehicle A travel route estimation device for a vehicle equipped with a travel route estimating means for estimating a travel route expected to travel, and estimates a travel route expected to be traveled in the future based on vehicle state quantities such as steering angle, vehicle speed and yaw rate. Receiving the outputs of the traveling road estimating means and the traveling road estimating means,
When the traveling road estimated by the traveling road estimating means is different from the traveling road estimated by the traveling road estimating means, a stop distance calculating means for calculating a stopping distance at which the vehicle can be stopped at a predetermined vehicle speed, and an output of the traveling road estimating means. In response to the output from the farthest distance calculating means for calculating the farthest distance capable of detecting the white line candidate points and the stop distance calculating means and the farthest distance calculating means, when the farthest distance is larger than the stop distance, stop. A travel path estimation device for a vehicle, comprising: a travel area estimation unit that determines a travel path up to a distance. 3. A white line candidate point which is presumed to constitute left and right white lines on a road surface is detected based on image processing, left and right white lines are estimated based on the white line candidate point, and the own vehicle is based on the left and right white lines. A travel route estimation device for a vehicle equipped with a travel route estimating means for estimating a travel route expected to travel, and estimates a travel route expected to be traveled in the future based on vehicle state quantities such as steering angle, vehicle speed and yaw rate. Traveling path estimation means, obstacle detection means for detecting obstacles in a predetermined area, and the traveling path estimation means that receives the outputs of the traveling path estimation means, traveling path estimation means, and obstacle detection means. When only the estimated value for one of the left and right white lines of the road is estimated and the estimated value is different from the estimated value for the traveling road estimated by the traveling road estimating means, the traveling road estimated by the traveling road estimating means A traveling path estimating device for an automobile, comprising: a traveling area estimating means for determining a traveling path based on a white line of the traveling path estimated by the traveling path estimating means if the obstacle is a fixed object.