Driving assistance apparatus

The present invention relates to a driving support device that assists appropriate driving of a controlled object by detecting a road marking formed on the road surface.

Conventionally, road information obtained from the map data of the navigation device and various information related to the driving of the vehicle such as the current location specified by GPS etc. are acquired to notify the driver, assist driving, and even drive. A driving support device that prevents vehicle accidents by intervening has been proposed. Then, in such a driving support device, in order to perform necessary notification and vehicle control at a more accurate timing, an imaging means such as a camera is provided on the entire surface of the vehicle, and notification is performed based on the captured image. And some controlled the vehicle. For example, in Japanese Patent Application Laid-Open No. 2004-86363, a temporary stop line formed on the road on which the own vehicle travels is detected from image data captured by a CCD camera installed toward the front of the vehicle, and the detection result is obtained. Describes a vehicle driving assistance device that performs driving assistance at an intersection based on.<patcit num="1"><text>Japanese Unexamined Patent Publication No. 2004-86363 (pages 8 to 10, Fig. 4)</text></patcit>

<p> However, in the vehicle driving assist device described in Patent Document 1 described above, the pause line to be the controlled object is directly detected by a detection means such as a CCD camera, and guidance to the detected controlled object and control of the vehicle are performed. However, these devices have the following problems when they are put into practical use.</p><p> First, in order to guide the controlled object and control the vehicle, it is necessary to detect the controlled object at a certain distance from the controlled object to the vehicle. An expensive system such as a high-performance camera that clearly captures images was required. In addition, even if a high-performance camera is used, there is a limit to the distance at which the controlled object can be detected, and there are some results that the necessary guidance and vehicle control cannot be performed in time. Further, if the controlled object cannot be detected for some reason, the necessary guidance for the controlled object and the control of the vehicle cannot be performed. Further, when an attempt is made to image a controlled object having a line segment in a direction perpendicular to the traveling direction of the vehicle (for example, a pause line) with a camera provided in the traveling vehicle, the controlled object in the captured image is taken. There was a risk that it could not be recognized correctly due to blurring.</p><p> Therefore, as a means for solving the above problem, the distance to the controlled object is calculated more accurately by using a rear camera that images the rear environment of the vehicle and road markings such as the maximum speed and arrows formed on the road surface. Can be considered. Specifically, the position information for specifying the position where the road marking is formed and the road distance to the controlled object in the vicinity of the road marking (hereinafter referred to as the inter-object distance) are stored in advance. Then, the rear camera is used to detect the road markings formed on the road surface on which the vehicle travels, and the road distance from the vehicle to the controlled object is based on the distance between the detected road markings and the controlled object. Accurately calculate (hereinafter referred to as the target distance). Then, it becomes possible to perform vehicle control such as calling attention to the controlled object and decelerating at an accurate timing and control content based on the calculated target distance.</p><p> However, in the means for calculating the distance from the vehicle to the controlled object by associating the road marking with the controlled object as described above, there is a problem especially when there are a plurality of controlled objects associated with the road marking. Was there. Regarding this problem, as shown in FIG. 16, when the vehicle 102 travels on the road 101 having a branch, the road marking 103 indicating that the maximum speed formed on the road surface of the road 101 is 40 km / h. On the other hand, two control objects, a first stop line 105 formed on the road surface of one first branch road 104 and a second stop line 107 formed on the road surface of the other second branch road 106, are associated with each other. A specific example will be described below.</p><p> Here, in the database mounted on the vehicle 102, the first inter-object distance M1 which is the inter-object distance from the road marking 103 to the first stop line 105 and the inter-object distance from the road marking 103 to the second stop line 107 are stored in advance. The second inter-object distance M2, which is, is stored in association with the road marking 103. Then, when the vehicle 102 detects the road marking 103 while traveling by the rear camera, the first target distance T1 which is the distance from the vehicle 102 to the first stop line 105 and the second target which is the distance to the second stop line 107. The distance T2 can be calculated respectively. However, it is not possible to specify which road the vehicle 102 will enter at the subsequent road branch before passing the junction. Therefore, before passing through the branch point, it is better to call attention to the first stop line 105 or control the vehicle, or to call attention to the second stop line 107 or control the vehicle. It becomes a problem. At that time, if it is assumed that attention is given to the controlled object having a longer mileage by the vehicle and vehicle control is performed until the vehicle passes the branch point, then the mileage by the vehicle is shorter at the branch point. If a vehicle enters the road on which the object to be controlled is formed, there is a risk that the warning and vehicle control will not be in time. Therefore, it is preferable to call attention to the controlled object having a shorter mileage by the vehicle and to control the vehicle until the vehicle passes the branch point. Therefore, the inter-object distances to each controlled object stored in the database are compared, and attention is alerted and vehicle control is performed for the controlled object having the shorter inter-object distance until the branch point is passed. Can be considered.</p><p> However, when there is almost no difference in the distances between the objects to be controlled (the first object distance M1 and the second object distance M2 in FIG. 16), the following problems further occur. That is, the inter-object distance stored in the database is the distance measured along the center of the road connecting the road marking and the controlled object, so if the vehicle meanders or changes lanes, the mileage actually traveled by the vehicle. There will be some error with. Further, the road on which the controlled object is formed is often a narrow street, and in such a case, a certain error occurs between the actual inter-object distance and the inter-object distance stored in the database. In many cases. Therefore, when there is almost no difference in the distance between the first object distance M1 and the second object distance M2, even if the object to be controlled has the shorter inter-object distance stored in the database, the vehicle is actually used. Is not necessarily the controlled object with the shorter mileage traveled to the controlled object. That is, it is not possible to accurately identify the control target with the shorter mileage, and it is determined which control target is to be alerted or vehicle controlled until the vehicle passes the branch point. That is very difficult. In addition, if alerting or vehicle control is performed for one of the controlled objects arbitrarily selected before passing through the branch point, unnecessary guidance or erroneous control will be executed. Was there.</p><p> The present invention has been made to solve the above-mentioned conventional problems, and even when a plurality of controlled objects are associated with the road markings detected by the vehicle, unnecessary guidance or erroneous control is performed. It is an object of the present invention to provide a driving support device capable of assisting driving with an accurate controlled object without being affected.</p>

<p> In order to achieve the above object, the driving support device according to claim 1 of the present application stores the position information of the road markings formed on the road surface in association with the inter-object distance which is the road distance to one or more controlled objects. Based on the marking information storage means (42), the imaging means (3) arranged on the vehicle (2) and imaging the periphery of the vehicle, and the image captured by the imaging means, it is formed on the road surface on which the vehicle travels. The distance between the road marking detecting means (6) for detecting the road markings and one or more controlled objects associated with the road markings detected by the road marking detecting means is acquired from the marking information storage means. Inter-object distance acquisition means (6) and<u style="single">A road information storage means (41) that stores road information related to a road, a branch determination means (6) that determines whether or not there is a road branch in the traveling direction of the vehicle based on the road information, and the branch determination means. When it is determined that there is a branch of the road in the traveling direction of the vehicle, the number of objects determining means for determining whether or not there are a plurality of controlled objects associated with the road markings detected by the road marking detecting means ( 6) and by the above-mentioned object number determination means</u>The associated control object is singular<u style="single">Was judged to be</u>If, or<u style="single">When it is determined by the object number determining means that there are a plurality of controlled objects associated with the road markings, and</u>Target distance calculation for calculating the target distance, which is the road distance from the vehicle to the associated controlled object when the difference between the distances between the objects acquired by the inter-object distance acquisition means is equal to or greater than a predetermined distance. It is characterized by having a means (6) and a driving assisting means (6) that assists the user's driving based on the calculation result of the target distance calculating means. Here, "road marking" is a certain stylized line using paints, road studs, or the like for necessary guidance, guidance, caution, regulation, instructions, etc. for road traffic. And letters and symbols are installed on the road surface, for example, there are stop lines and pedestrian crossings. In addition, the "controlled object" refers to an object on the road for which driving support (for example, providing guidance on the controlled object, controlling a vehicle, etc.) should be provided to the user, for example. There are pause lines, intersections, curve entrances, merging zones, etc.</p><p> Further, the driving support device according to claim 2 is the driving support device according to claim 1.<u style="single">The driving assisting means (6) is the object distance calculating means (6) for the controlled object having the shortest inter-object distance from the road marking to the controlled object until the vehicle (2) passes the branch. Based on the calculation result of the object distance calculation means for the controlled object formed on the road surface of the road on which the vehicle has entered after the vehicle has passed the branch. Assist driving</u>It is characterized by that.</p><p> In addition, the driving support device according to claim 3 is<u style="single">Claim 1 or claim 2</u>In the driving support device described in<u style="single">When it is determined by the branch determination means (6) that there is a branch of the road, it is determined whether or not the road on which the vehicle is currently traveling and one of the roads after the branch have a road relationship. When it has the means (6) and the driving assisting means (6) determines that the road on which the vehicle is currently traveling and any one of the roads after the branch are in a road relationship by the road path determination means. In addition, driving assistance is provided based on the calculation result of the object distance calculation means (6) for the controlled object on the road determined to have a road-like relationship.</u>It is characterized by that.</p><p> In addition, the driving support device according to claim 4 is<u style="single">Any of claims 1 to 3.</u>In the driving support device described in<u style="single">When it is determined by the guidance route setting means (6) that sets the guidance route for guiding the driving and the branch determination means (6) that there is a branch of the road, any one of the roads after the branch becomes the guidance route. It has a guidance route determining means (6) for determining whether or not it is set, and the driving assisting means (6) has any one road set as a guiding route by the guiding route determining means. When it is determined that the driving is assisted based on the calculation result of the object distance calculating means for the controlled object on the road determined to be set in the guidance route.</u>It is characterized by that.</p><p> In addition, the driving support device according to claim 5 is<u style="single">Any of claims 1 to 4.</u>In the driving support device described in<u style="single">The vehicle control means (5) for controlling the vehicle (2) is provided, and the driving assist means (6) controls the vehicle by the vehicle control means based on the target distance from the vehicle to the control target object.</u>It is characterized by that.</p><p> In addition, the driving support device according to claim 6 is<u style="single">Any of claims 1 to 4.</u>In the driving support device described in<u style="single">The driving guidance means (7, 8) for providing guidance on driving to the user, and the driving assisting means (6) is the driving guidance means based on the target distance from the vehicle (2) to the controlled object. Guidance by</u>It is characterized by that.</p>

<p> According to the driving support device according to claim 1, which has the above configuration.<u style="single">Unnecessary guidance even when the vehicle is traveling on a road with a branch and a plurality of controlled objects formed on each road after the branch are associated with the road marking detected by the vehicle. By not performing guidance and vehicle control in advance in situations where there is a risk of erroneous control, alerting and vehicle control are performed for the controlled object formed on the road on which the vehicle is traveling at the branch. It becomes possible. Further, by reducing the number of times of arithmetic processing, it is possible to reduce the processing load of the control unit.</u></p><p> Further, according to the driving support device according to claim 2,<u style="single">Even if the vehicle travels on a road with a branch and a plurality of controlled objects formed on each road after the branch are associated with the road marking detected by the vehicle, the vehicle branches. In a situation where there is a risk of unnecessary guidance or erroneous control before reaching, the driver is not confused because guidance for the controlled object and vehicle control are not performed in advance. Further, after the vehicle has passed the branch, it is possible to call attention and control the vehicle for the controlled object formed on the road on which the vehicle travels at the branch.</u></p><p> Further, according to the driving support device according to claim 3,<u style="single">The road after the branch, which has a road-like relationship with the road before the branch, is predicted to be the road on which the vehicle travels, and the warning and vehicle control for the controlled object formed on the road on which the vehicle is predicted to travel are issued. Since this is performed, it is possible to prevent unnecessary guidance and erroneous control from being performed.</u></p><p> Further, according to the driving support device according to claim 4,<u style="single">It is unnecessary because it predicts that the road after the branch set as the guidance route is the road on which the vehicle will travel, and calls attention and controls the vehicle for the controlled object formed on the road on which the vehicle is predicted to travel. It is possible to prevent guidance and erroneous control from being performed.</u></p><p> Further, according to the driving support device according to claim 5,<u style="single">Since the vehicle is controlled based on the target distance from the vehicle to the controlled object, the type of controlled object can be reliably controlled without the need for an expensive device such as an imaging device using a front camera to capture a distant image. It becomes possible to control the vehicle according to the situation.</u></p><p><u style="single">In addition</u>According to the driving support device according to claim 6,<u style="single">Since it provides guidance on driving based on the target distance from the vehicle to the controlled object, it does not require an expensive device such as an imaging device with a front camera to capture a distant image, and it ensures that the type of controlled object is of the same type. It is possible to provide guidance on driving according to the situation.</u></p>

Hereinafter, the driving support device according to the present invention will be described in detail with reference to the drawings based on a specific embodiment. First, the schematic configuration of the driving support device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a schematic configuration diagram of the driving support device 1 according to the present embodiment. As shown in FIG. 1, the driving support device 1 according to the present embodiment is composed of a rear camera (imaging means) 3, a navigation device 4, a vehicle ECU (vehicle control means) 5, etc. installed on the vehicle 2. ing.

The rear camera 3 uses a solid-state image sensor such as a CCD, is attached near the upper center of the license plate mounted on the rear of the vehicle 2, and is installed with the line-of-sight direction facing 45 degrees below the horizontal. To. Then, the rear of the vehicle, which is the traveling direction of the vehicle 2 when parked, is imaged, and the captured image (hereinafter referred to as a BGM (back guide monitor) image) is displayed on the liquid crystal display 7 of the navigation device. On the other hand, during normal driving, road markings such as a stop line, a pedestrian crossing, a character string, and the maximum speed of the vehicle formed on the road surface around the vehicle 2 are imaged as described later. Then, the distance from the vehicle 2 to the controlled object to be controlled such as the stop line, the intersection, the confluence zone, and the entrance / exit of the curve is indirectly calculated based on the image of the road markings captured.

In addition, the navigation device 4 is provided on the navigation ECU (electronic control unit) 6 and the center console or panel surface in the vehicle 2, and displays a map or a liquid crystal display (travel guidance means) that displays a search route to the destination. ) 7, a speaker (driving guidance means) 8 that outputs voice guidance regarding route guidance, a current location detection unit 9 that identifies the current location and traveling direction of vehicle 2 on a map, and map data and road surface for displaying a map. It is composed of a data recording unit 10 for storing information on the type and position of the road surface marking formed above, and a communication device 14 for communicating with an information center or the like.

Navigation ECU (road marking detection means, inter-object distance acquisition means, target distance calculation means, driving assistance means, number of objects determination means, road path determination means, guidance route setting means, guidance route determination means) 6 is a normal route. In addition to search and route guidance processing, detection processing that detects road markings formed on the road surface on which vehicle 2 is traveling from the captured image captured by the rear camera 3, and stop lines and stop lines from vehicle 2 when certain conditions are met. Calculation processing that indirectly calculates the road distance to the controlled object such as an intersection, merging zone, curve entrance, etc. from the detected road markings, alerting to the controlled object and vehicle control processing based on the calculated distance It is an electronic control unit that performs such as. The detailed configuration of the navigation ECU 6 will be described later.

The vehicle ECU 5 is an electronic control unit of the vehicle 2 that controls the operation of the engine, transmission, accelerator, brake, and the like, and the brake actuator 11, the accelerator actuator 12, and the AT (Automatic Transmission) 13 are connected to the vehicle ECU 5. Then, the navigation ECU 6 transmits a control signal to the brake actuator 11, the accelerator actuator 12, and the AT13 via the vehicle ECU 5 when the predetermined conditions are satisfied, and changes the brake pressure, the amount of air sucked into the engine, and the gear ratio. , The braking force is automatically applied.

Next, the configuration related to the control system of the driving support device 1 according to the present embodiment will be described with reference to FIG. 2 with a particular focus on the navigation device 4. FIG. 2 is a block diagram schematically showing the control system of the driving support device 1 according to the present embodiment. In FIG. 2, the control system of the driving support device 1 is configured based on the navigation device 4 and the vehicle ECU 5, and a predetermined peripheral device is connected to each control means.

Hereinafter, each component constituting the navigation device 4 will be described. The current location detection unit 9 includes a GPS 31, a geomagnetic sensor 32, a gyro sensor 33, a steering sensor 34, a speed sensor 35, an altitude meter (not shown), and the like. It is possible to detect the current location, direction, vehicle speed, mileage from a predetermined point, etc. of the own vehicle.

Specifically, GPS31 detects the current location and the current time of the own vehicle on the earth by receiving radio waves generated by artificial satellites. In addition, the geomagnetic sensor 32 detects the direction of the own vehicle by measuring the geomagnetism. Then, the gyro sensor 33 detects the turning angle of the own vehicle. Further, the vehicle orientation can be detected by integrating the turning angle detected by the gyro sensor 33. Further, the steering sensor 34 is mounted inside the steering device and detects the rotation angle of the steering. Further, the speed sensor 35 detects the own vehicle speed and the moving speed (integrated moving distance) based on the vehicle speed pulse generated from the engine at regular mileage intervals.

In addition, the data recording unit 10 stores an external storage device, a hard disk as a recording medium (not shown), a predetermined program recorded on the hard disk, and information necessary for route guidance and map display of the navigation device 4. It is equipped with a map DB 41, a road surface marking DB (marking information storage means) 42 and the like in which information related to road surface marking is stored, and a recording head (not shown) which is a driver for writing predetermined data to a hard disk.

Here, the map DB 41 is a DB in which map information necessary for route guidance and map display of the navigation device 4 is recorded. The map information includes, for example, map data for displaying a map, intersection data for each intersection, node data for node points, road data for roads, search data for searching routes, facility data for facilities, and points. There is search data etc. for searching.

On the other hand, the road marking DB 42 is a DB in which road marking information related to the road marking formed on the road surface is stored. Then, as the road surface display information, type information regarding the type of road markings formed on the road surface (for example, stop line, pedestrian crossing, character string, maximum speed), and identification for specifying the type of detected road markings. There is information, coordinate data that specifies the position of road markings on a map, and so on. The road marking DB42 will be described in detail later with reference to FIG.

In addition to the arithmetic unit that controls the entire navigation device 4 and the CPU as the control device, the navigation ECU 6 is used as a working memory when the CPU performs various arithmetic processes, and when a route is searched for. In addition to the RAM that stores the route data of the above, the control program, the route guidance processing program that searches for the route to the destination, guides the searched guidance route, and the predetermined image based on the image captured by the rear camera 3. The driving support processing program described later (Fig. 12 ~) that calculates the road distance (target distance) from vehicle 2 to the controlled object (stop line, intersection, merging zone, curve entrance, etc.) under the conditions and provides driving assistance. It is equipped with an internal storage device such as a ROM in which (see Fig. 14) is recorded. As the RAM, ROM, etc., a semiconductor memory, a magnetic core, or the like is used. Then, as the arithmetic unit and the control device, it is possible to use an MPU or the like instead of the CPU.

In addition, the navigation ECU 6 is equipped with a GUI control unit 51, a location unit 52, a route search / guidance processing unit 53, and is based on information acquired from the rear camera 3, the current location detection unit 9, the data recording unit 10, and each peripheral device. , Perform various controls.

Here, the GUI control unit 51 displays an appropriate map image around the own vehicle on the liquid crystal display 7 based on the map data read from the map DB 41 and the current location of the own vehicle detected by the location unit 52, and the route. When the guidance of is required, the icon, the guidance screen, the search route, etc. are combined with the map image and displayed on the liquid crystal display 7. Further, the location unit 52 detects the current absolute position (latitude / longitude) of the vehicle 2 based on each information supplied from the current location detection unit 9. Furthermore, from the detected current location and the information stored in the road marking DB42, it is determined whether or not the road marking exists within a predetermined range (30 m in front to 20 m in the rear) of the vehicle 2, and if so, the rear camera 3 The image captured by the above is taken in and analyzed, and the road marking on the road surface is detected. Then, when only one control object is associated with the detected road marking, or when a plurality of control objects are associated with each other, the distance between the road marking and the object to be controlled is reached. When the difference in distance is equal to or greater than a predetermined distance (for example, 5 m), the distance between the road marking and the vehicle 2 detected from the captured image is calculated, and the distance is further increased to the controlled object associated with the road marking. The distance is calculated, and the brake actuator 11, the throttle actuator 12, and the AT13 are controlled according to the calculated distance to execute vehicle control of the vehicle 2, or the liquid crystal display 7 and the speaker 8 alert the controlled object. Further, the route search / guidance processing unit 53 sets the route search and the guidance route from the current location to the destination based on the node point data and the search data stored in the data recording unit 10 when the destination is set. At the same time, the route is guided by using the liquid crystal display 7 and the speaker 8 according to the set guidance route.

Further, peripheral devices such as a liquid crystal display 7, a speaker 8, and a communication device 14 are electrically connected to the navigation ECU 6.

The liquid crystal display 7 has operation guidance, operation menu, key guidance, guidance route from the current location to the destination, guidance information along the guidance route, traffic information, news, weather forecast, time, mail, TV program, rear camera. The BGM image etc. captured in 3 is displayed.

Further, the speaker 8 outputs a voice guidance for guiding the traveling along the guidance route based on the instruction from the navigation ECU 6. Further, in the navigation device 4 according to the present embodiment, when the target distance from the vehicle 2 to the controlled object becomes a predetermined distance, the liquid crystal display 7 and the speaker 8 provide information and call attention to the controlled object (for example,). Warn that the stop line is approaching, etc.).

The communication device 14 is used to display congestion information, regulation information, parking lot information, traffic accident information, congestion status of service areas, etc. transmitted from an information center, for example, a VICS (registered trademark: Vehicle Information and Communication System) center. It is a beacon receiver that receives traffic information composed of each information as a radio beacon, an optical beacon, etc. via a radio beacon device, an optical beacon device, etc. arranged along the road. Further, the navigation device 4 according to the present embodiment is connected to an information center (not shown) via the communication device 14, and updates the information stored in the map DB 41 and the road marking DB 42.

Next, the road marking DB 42 in which the data recording unit 10 stores information on the road marking will be described with reference to FIG. FIG. 3 is a diagram showing a storage area of the road marking DB42 according to the present embodiment.

As shown in FIG. 3, the storage area of the road marking DB42 is the coordinates (position) on the map data of the road marking, the type of the road marking, the control object associated with the road marking, and the measurement start point of the road marking. It is composed of the road marking distance (inter-object distance) from (the measurement start point closest to the controlled object when there are multiple objects) to the controlled object.

For example, in Fig. 3, a road marking with "with a pedestrian crossing" is formed at the coordinates (x1, y1), and the road marking with a "stop line" is associated with the road marking 60 m ahead as a control object. Indicates that it has been done. In addition, the coordinates (x2, y2) are formed with "arrow" road markings, and the road markings are associated with "corners (nodes at the corner start point)" as control objects 54 m ahead. Indicates that you are. In addition, a road marking of "maximum speed (40km / h)" is formed at the coordinates (x3, y3), and a "stop line" corresponds to the road marking 112m ahead as the first control object. It is attached and indicates that a "stop line" is associated as a second control object 72 m ahead. In addition, the coordinates (x4, y4) are formed with road markings of "character strings (" curve ahead "," to rare "," direction XX ", etc.)", and the road markings are 82 m ahead of the road markings. It is shown that the "stop line" is associated with the control object of 1 and the "stop line" is associated with the second control object 85 m ahead. In addition, the road markings of the "pedestrian crossing" are formed at the coordinates (x5, y5), and the road markings are associated with the "intersection (intersection node)" as a control object 108 m ahead. Show that. The coordinates of the road markings are composed of the coordinates of four points located at the corners of the quadrangle surrounding the road markings. Further, the number of control objects to be associated may be three or more. Further, regarding the inter-object distance to the controlled object, when the road is composed of a plurality of lanes, the inter-object distance to the controlled object for each lane is recorded.

Here, the controlled object is an object for guiding and controlling the vehicle, and is the traveling direction of the road on which the road markings are formed, such as a node point in a predetermined section (for example, 10 m to 200 m) or the like. Road markings are equivalent. Then, when the rear camera 3 captures one of the road markings recorded on the road marking DB42, the navigation ECU 6 indirectly determines the target distance, which is the distance to the associated control object from the captured image. When the target distance reaches a predetermined distance, vehicle control of vehicle 2 and guidance to the controlled object are performed.

In addition, the contents of vehicle control and guidance of vehicle 2 differ depending on the type and control level of the associated controlled object. Here, the control level is determined by dividing the degree of necessity of vehicle control and guidance for the controlled object into a plurality of stages according to the vehicle condition and the driver's condition. Specifically, it is determined that the control level is high when sufficient deceleration control is not performed while approaching the controlled object, and low when sufficient deceleration control is already performed. Is determined. In the present embodiment, particularly when the target distance to the controlled object reaches a predetermined distance (for example, 50 m when the controlled object is a stop line or a curve), the required deceleration (deceleration applied to the vehicle) with respect to the controlled object is achieved. G) Calculate G1 from the current speed and acceleration of your vehicle. Then, the control level is determined from the calculated required deceleration value, and the contents of vehicle control and guidance are selected. Note that FIG. 4 is a diagram showing a list of vehicle control and guidance contents for the controlled object implemented at each control level.

As shown in FIG. 4, (1) When the calculated required deceleration G1 &lt;0.05G, it is determined that the control level is "none", and control and guidance are not performed. In addition, (2) when 0.05G G1 &lt;0.1G, the control level is judged to be "low", and only the information provision level is provided. For example, when a "stop line" or "corner" is associated with the control object, the liquid crystal display 7 displays a stop line or corner mark for notifying that the stop line or corner is approaching. .. In addition, (3) when 0.1G G1 &lt;0.3G, the control level is judged to be "medium", and only the attention level guidance is provided. For example, when a "stop line" or "corner" is associated with the control object, "the stop line (corner) is approaching" to warn that the control object is approaching. Is displayed on the liquid crystal display 7, and a warning voice having the same content is output from the speaker 8. Furthermore, (4) if 0.3G &lt;G1, the control level is judged to be "high", and support, intervention level vehicle control and guidance are implemented. For example, when a "stop line" or "corner" is associated as a controlled object, "the stop line (corner) is approaching" to warn that the stop line is approaching. The character string is displayed on the liquid crystal display 7, and the warning voice having the same content is output from the speaker 8. Further, when the controlled object is the "stop line", the brake actuator 11 and the AT13 are controlled to perform deceleration control so that the vehicle 2 stops before the stop line. On the other hand, when the object to be controlled is a "corner", the brake actuator 11 and AT13 are controlled so that the optimum speed with respect to the R of the corner recorded on the map DB41 (for example, 40 km / h at R30) is obtained before entering the corner. And deceleration control is performed.

When an "intersection" is associated with the controlled object, the set guidance route is set when the target distance to the controlled object reaches a predetermined distance (for example, 10 m) without vehicle control. Only provide route guidance according to the rules. For example, a guidance display indicating a left turn is displayed on the liquid crystal display 7, and a guidance voice "Please turn left at the next intersection" is output from the speaker 8.

Next, the distance between the vehicle 2 and the road marking when the road marking is imaged by the rear camera 3 of the vehicle 2 using FIGS. 5 to 9, and the distance between the vehicle 2 and the controlled object associated with the road marking. The calculation method of is described by giving a concrete example. In the following specific example, among the road markings formed on the road surface 60 on which the vehicle 2 travels, in particular, when the road marking 61 of "with pedestrian crossing" associated with the road marking 69 of the stop line is imaged as a control target. Will be indicated. FIG. 5 is a top view showing the vehicle 2 that images the road marking 61, FIG. 6 is a side view showing the vehicle 2 that images the road marking 61, and FIG. 7 is a rear camera of the vehicle 2 in the states of FIGS. 5 and 6. It is a schematic diagram which showed the captured image 62 image | photographed by 3.

As shown in FIG. 6, the rear camera 3 is attached so that the optical axis L faces downward by 45 degrees from the horizontal so that the rear can be imaged from the vicinity of the rear bumper 63 of the vehicle 2, and the imaging range is fixed. There is. Therefore, the distance to the subject can be calculated from the position of the image data (specifically, the number of pixels from the lower edge) in the captured image shown in FIG. 7 captured by the rear camera 3.

Here, in the road marking, measurement start points for measuring the distance to the vehicle 2 are defined in a plurality of places in advance, and the distance from the vehicle 2 to the measurement start point on the most traveling direction side is determined from the vehicle 2 to the road surface. Treat as the distance to the marking. For example, Fig. 8 (A) is a schematic diagram showing the measurement start points 61A to 61D of the road marking 61 with "pedestrian crossing", and Fig. 8 (B) is the road marking 65 with "maximum speed (20km / h)". It is a schematic diagram which showed the measurement start point 65A to 65D. As shown in FIGS. 8 (A) and 8 (B), a plurality of measurement start points of the road markings are provided at the corners and tips of the lines (boundaries) forming the road markings, and each road marking is provided. Has a peculiar arrangement to. Then, when the navigation ECU 6 images the road marking, the type of the road marking can be determined by specifying the boundary line of the road marking and the measurement start point from the image of the image of the road marking.

Further, in the captured image obtained by capturing the road marking shown in FIG. 7, the distance D1 between the vehicle 2 and the measurement start point is determined from the position of the measurement start point (specifically, the number of pixels from the lower edge to the measurement start point). It becomes possible to calculate. Here, which of the plurality of measurement start points is to be calculated is determined for each road marking, for example, "with pedestrian crossing" shown in FIG. 8 (A). On the road marking 61, the distance from the measurement start point 61A is calculated. However, if the measurement start point 61A is due to some cause (for example, a part of the white line is hidden by an obstacle such as sand or a puddle, or the paint is peeled off by a part of the white line due to deterioration due to long-term use). If it cannot be specified, the distance to the measurement start point 61B is calculated first, and then the distance to the measurement start point 61A is indirectly calculated by using the distance between the measurement start point 61A and the measurement start point 61B. Will be done. Further, if the measurement start point 61B cannot be specified, the measurement start point 61C is used, and if the measurement start point 61C cannot be specified, the measurement start point 61D is used.

Further, in the road marking 65 of "maximum speed (20 km / h)" shown in FIG. 8 (B), the distance between the measurement start point 65A and the measurement start point 65B is calculated. However, the measurement start point 65A and the measurement start point 65B are some causes (for example, a part of the white line is hidden by an obstacle such as sand or a puddle, or the paint is peeled off by a part of the white line due to deterioration due to long-term use. If it cannot be specified, the distance between the measurement start point 65A and the measurement start point 65B is indirectly calculated by using the measurement start point 65C and the measurement start point 65D.

On the other hand, when the distance D1 between the vehicle 2 and the measurement start point of the road marking is calculated by the above method, the distance D1 to the controlled object (see FIG. 3) associated with the road marking detected from the vehicle 2 is calculated based on the distance D1. It is possible to calculate the road marking distance (target distance). FIG. 9 is a schematic diagram showing a method of calculating the target distance from the vehicle 2 to the controlled object when the road marking is imaged by the rear camera 3 of the vehicle 2.

FIG. 9 shows a case where the vehicle 2 detects the road marking 61 with a pedestrian crossing by the rear camera 3, and further, the road marking 61 shows that the road marking 61 is at the distance M in front of the object to be controlled. Road marking 69 of "stop line" is associated. In that case, by subtracting the distance D1 and the vehicle length D2 from the inter-object distance M, the target distance T (= M-D1-D2) from the vehicle 2 to the controlled object at the time of detection of the road marking 61. Can be calculated. Further, the navigation ECU 6 calculates the mileage S of the vehicle 2 by the speed sensor 35 based on the vehicle speed pulse generated from the engine at regular mileage intervals. Then, by subtracting the mileage S from the target distance T from the vehicle 2 to the control target at the time of detecting the road marking 61, the target distance T (= M-D1) from the running vehicle 2 to the control target is obtained. -D2-S) can be calculated. As a result, the vehicle is controlled and guided based on the target distance T up to the road marking 69 of the calculated "stop line".

Next, FIGS. 10 and 11 will be described with respect to the embodiment of guidance and vehicle control for the controlled object, particularly when the vehicle 2 has a plurality of controlled objects associated with the road markings detected by the rear camera 3. In FIGS. 10 and 11, when the vehicle 2 travels on the road 71 having a branch, the road marking 72 indicating that the maximum speed formed on the road surface of the road 71 is 40 km / h, on the other hand. Two control objects are associated with each other: a first stop line 74 formed on the road surface of the first branch road 73 and a second stop line 76 formed on the road surface of the other second branch road 75. In this case, it is not possible to specify which road the vehicle 2 will enter at the subsequent road branch before passing the branch point. Therefore, before passing through the branch point, the question is whether to perform guidance or vehicle control targeting the first stop line 74 or guidance or vehicle control targeting the second stop line 76.

Here, in the driving support device 1 according to the present embodiment, attention is alerted and vehicle control is performed for the controlled object having a shorter mileage by the vehicle 2 until the vehicle passes the branch point. Therefore, the inter-object distances to each control object stored in the road marking DB42 (see Fig. 3) are compared, and the guidance for the control object with the shorter inter-object distance until the passage point is passed. And vehicle control. However, if there is almost no difference in the distance between the two objects, it is not possible to identify the control object with the shorter mileage required for the vehicle 2 to travel to each control object. Do not provide guidance or vehicle control for the controlled object until it passes the fork.

Specifically, as shown in FIGS. 10 and 11, when the vehicle 2 detects the road marking 72 while traveling by the rear camera, the distance between the road marking DB 42 and the road marking 72 to the first stop line 74. The first inter-object distance M1 and the second inter-object distance M2, which is the inter-object distance from the road marking 72 to the second stop line 76, are acquired, and the distance difference is calculated.

As a result, as shown in FIG. 10, when the difference between the first inter-object distance M1 and the second inter-object distance M2 is equal to or greater than the control enableable distance (for example, 5 m), the vehicle 2 travels to each controlled object. It is possible to accurately identify the controlled object (second stop line 76 in FIG. 10) having the shorter mileage required for the operation. Therefore, until the vehicle passes the branch point, the second stop line 76 is targeted, and guidance and vehicle control are performed based on the second target distance T2, which is the distance from the vehicle 2 to the second stop line 76. In addition, after passing through the branch point, guidance and vehicle control are performed for the controlled object on the road on which the vehicle travels. That is, when the vehicle 2 enters the first branch road 73 at the branch point, after that, the first stop line 74 is targeted, and the first target distance T1 which is the distance from the vehicle 2 to the first stop line 74 is reached. Guidance and vehicle control are performed based on this. On the other hand, when the vehicle 2 enters the second branch road 75 at the branch point, guidance and vehicle control for the second stop line 76 are continuously performed.

On the other hand, as shown in FIG. 11, when the difference between the first object distance M1 and the second object distance M2 is less than the control enable / disable distance (for example, 5 m), the vehicle 2 reaches each controlled object. It is not possible to accurately identify the controlled object with the shorter mileage required to travel. Therefore, guidance and vehicle control for the controlled object are not performed on either the first stop line 74 or the second stop line 76 until the branch point is passed. However, after passing the branch point, guidance and vehicle control are performed for the controlled object on the road on which the vehicle travels in the same manner as in FIG. That is, when the vehicle 2 enters the first branch road 73 at the branch point, after that, the first stop line 74 is targeted, and the first target distance T1 which is the distance from the vehicle 2 to the first stop line 74 is reached. Guidance and vehicle control are performed based on this. On the other hand, when the vehicle 2 enters the second branch road 75 at the branch point, guidance and vehicle control for the second stop line 76 are continuously performed.

When the road on which the road markings and the controlled object are formed has a curved shape, the target distance is calculated along the curved shape. Further, when the road on which the road markings and the controlled object are formed is an uphill or a downhill, the target distance is calculated along the slope of the slope.

As described above, by indirectly calculating the target distance from the road marking detected by the rear camera 3 to the controlled object in front without directly recognizing the controlled object, it is accurate at an earlier stage. It is possible to calculate the target distance (T = M-D1-D2-S) to the controlled object. Then, it becomes possible to appropriately control the vehicle based on the calculated target distance to the accurate control target object and to provide traveling guidance at a more accurate timing.

Subsequently, the driving support processing program executed by the navigation ECU 6 of the driving support device 1 according to the present embodiment having the above configuration will be described with reference to FIGS. 12 and 13. 12 and 13 are flowcharts of the driving support processing program in the driving support device 1 according to the present embodiment. Here, the driving support processing program is executed at predetermined intervals (for example, every 200 ms) after the ignition of the vehicle is turned on, and when the vehicle 2 travels on the road surface, the road marking is detected from the captured image captured by the rear camera 3. At the same time, it is a program that calculates the target distance between the vehicle and the controlled object from the road marking detected when a predetermined condition is satisfied, and performs control to assist the user's driving based on the calculated target distance. The programs shown in the flowcharts shown in FIGS. 12 to 14 below are stored in the ROM or RAM provided in the navigation ECU 6 and executed by the CPU.

In the driving support processing program, first, in step 1 (hereinafter abbreviated as S) 1, the navigation ECU 6 uses the current location information of the vehicle 2 detected by the current location detection unit 9 and the road markings recorded in the road marking DB42 (see FIG. 3). Based on the position information, the information of the road markings (position coordinates, type, associated control object, control object) of the road markings located around the vehicle 2 (2000 m in front of the vehicle 2 to 500 m in the rear in this embodiment). The distance between objects) is read from the road marking DB42. The above S1 corresponds to the processing of the inter-object distance acquisition means.

Next, the navigation ECU 6 in S2 determines whether or not there is a road marking located within a predetermined range of the vehicle 2 (30 m in front of the vehicle to 20 m in the rear) among the road markings read in S1. .. Then, when it is determined that there is a road marking located within a predetermined range of the vehicle 2 (S2: YES), the process proceeds to S3 and the image recognition process of the road marking is performed. On the other hand, if it is determined that there is no road marking located within the predetermined range of vehicle 2 (S2: NO), the driving support processing program is terminated, and after the predetermined time has elapsed, the road marking information based on the current position is again obtained. Is read.

In the image recognition process of the road markings of S3, the image of the rear environment of the vehicle 2 captured by the rear camera 3 is captured and analyzed, and the boundary line of the road markings formed on the road surface on which the vehicle travels and the measurement start. Along with identifying the point, the type of detected road marking is determined. Specifically, first, an image captured by the rear camera 3 is input using an analog communication means such as NTSC or a digital communication means such as i-link, and converted into a digital image format such as jpeg or mpeg. .. Next, using the fact that the road markings are generally white lines or yellow lines, the brightness of the road surface on which the road markings are drawn in the captured image and other road surfaces are corrected based on the brightness difference. After that, binarization processing to separate the target road marking from the image, geometric processing to correct distortion, smoothing processing to remove noise in the image, etc. are performed, and the boundary line and measurement between the road marking and other road surfaces are performed. Detect the starting point. After that, the type of road markings in the captured image was specified from the detected boundary line and the arrangement of the measurement start point, and it was determined in S2 that the specified type of road markings existed within the predetermined range of the own vehicle. Determine if it matches the type of road marking. The above S3 corresponds to the processing of the road marking detecting means.

Then, in S4, it is determined whether or not the road marking is detected by the process of S3, and when it is determined that the road marking is detected (S4: YES), that is, the road marking is recognized in the captured image. If it is determined that the recognized road markings match the type of road markings determined to be located around the vehicle in S2, the process proceeds to S5. On the other hand, when it is determined that the road markings have not been detected (S4: NO), that is, the road markings could not be recognized in the captured image, or the recognized road markings of the own vehicle in S2. If it is determined that the type of road markings that are determined to be located in the surroundings do not match, the driving support processing program is terminated, and after a predetermined time has elapsed, the information of the road markings based on the current position is read out again.

Subsequently, in S5, the navigation ECU 6 acquires the road information regarding the surrounding roads on which the vehicle 2 is currently traveling from the map DB41.

Further, in S6, the navigation ECU 6 determines whether or not there is a branch in the traveling direction of the vehicle 2 from the road information acquired in S5. The above S6 corresponds to the processing of the branch determination means.

Then, when it is determined that there is a branch in the traveling direction of the vehicle 2 (S6: YES), a plurality of controls are further controlled for the road markings detected in S3 based on the road marking information acquired in S1. It is determined whether or not the objects are associated with each other, that is, whether or not there are at least two or more controlled objects for the plurality of roads after branching (S7). The above S7 corresponds to the processing of the object number determination means.

Then, when it is determined that a plurality of control objects are associated with the road markings detected in S3 (S7: YES), the vehicle 2 is further based on the road information acquired in S5. Whether or not there is road marking information in which one of the roads currently traveling and one of the roads after the branch has a road marking relationship, and whether or not any one of the roads after the branch is set as the guidance route. Judged (S8). The above S8 corresponds to the processing of the path determination means and the guidance route determination means.

As a result, if it is determined that there is no route information or guidance route setting (S8: NO), the process shifts to S9. On the other hand, in S6, when it is determined that there is no branch in the traveling direction of vehicle 2 (S6: NO), and in S7, it is determined that only a single control object is associated with the road marking. In the case (S7: NO), guidance and vehicle control are performed for the controlled object associated with the detected road marking (S10). The details of the guidance for the controlled object and the specific processing of the vehicle control in S10 will be described later with reference to FIG.

If it is determined in S8 that there is either road information or guidance route setting (S8: YES), the road after branching or the guidance route set for the road has a relationship with the road after branching. Select the controlled object existing on the road (S11), and perform the guidance and vehicle control described later for the selected controlled object (S10).

Next, in S9, the navigation ECU 6 calculates the difference in the inter-object distance from each of the plurality of controlled objects associated with the road markings detected in S3. When three or more controlled objects are associated with each other, the difference in the inter-object distances for the two controlled objects having the shortest difference in the inter-object distance is calculated. After that, it shifts to S12.

At S12, the navigation ECU 6 determines whether or not the vehicle has crossed a branch in the direction of travel. Then, when it is determined that the branch has been crossed (S12: YES), a control object existing on the road after the branch in the vehicle traveling direction is selected (S13), and the selected control object is targeted as described later. Guidance and vehicle control (S16).

On the other hand, when it is determined that the branch is not crossed (S12: NO), it is determined whether or not the difference in the inter-object distances calculated in S9 is equal to or greater than the control implementation distance (for example, 5 m) (S14). ). As a result, when it is determined that the difference in the distance between objects is equal to or greater than the control enable / disable distance (S14: YES), the control with the shorter mileage required for the vehicle 2 to travel to each controlled object is controlled. It is possible to identify the object and move to S15.

Navigation ECU 6 in S15 selects the control object with the shortest inter-object distance from the plurality of control objects associated with the detected road markings (S15), and targets the selected control object, which will be described later. Guidance and vehicle control (S16).

On the other hand, when it is determined that the difference between the distances between objects is less than the control enable / disable distance (S14: NO), the shorter mileage required for the vehicle 2 to travel to each controlled object. Since the control target cannot be specified, in that case, guidance and vehicle control for the control target are not performed until the branch point is passed.

Next, the guidance and vehicle control processing executed in S10 and S16 will be described with reference to FIG. FIG. 14 is a flowchart of guidance and vehicle control processing in the driving support device 1 according to the present embodiment.

First, in S21, the navigation ECU 6 calculates the distance between the road marking detected in S3 and the vehicle 2. Specifically, the measurement starts with the vehicle 2 from the position of the specified measurement start point (specifically, the number of pixels from the lower edge to the measurement start point) in the captured image (see FIG. 7) obtained by capturing the road markings. Calculate the distance D1 between the points.

After that, in S22, the navigation ECU 6 uses the distance D1 between the vehicle 2 and the measurement start point calculated in S21 and the inter-object distance M from the road marking to the controlled object selected as the target of guidance and vehicle control. , The target distance T (= M-D1-D2) from the vehicle 2 at the time of detecting the road marking to the controlled object is calculated from the vehicle length D2 (see FIG. 9). Further, in S22, the mileage S of the vehicle 2 from the road marking detection point is calculated by the speed sensor 35 based on the vehicle speed pulse generated from the engine at regular mileage intervals, and the control target is obtained from the current position of the running vehicle 2. Calculate the target distance T (= M-D1-D2-S) to the object (see Fig. 9). The above S21 and S22 correspond to the processing of the object distance calculation means.

After that, in S23, it is determined whether or not the vehicle 2 has reached the guidance or control start point set for each type of the controlled object based on the target distance T to the controlled object calculated in S22. .. For example, when the controlled object is a "stop line" or a "corner", it is determined that the guidance or control start point has been reached when the target distance is 50 m or less. Further, when the controlled object is a road marking of an "intersection" and the remaining distance is 10 m or less, it is determined that the guide or the control start point has been reached.

Then, when it is determined that the vehicle 2 has reached the guidance or control start point (S23: YES), the vehicle status and driving are determined in order to determine whether or not the vehicle guidance or vehicle control for the controlled object is necessary. Person status is acquired (S24). Specifically, the vehicle speed of the vehicle 2, the accelerator opening, the steering angle, the direction of the driver's face, the direction of the line of sight, and the like are acquired.

Then, in S25, the navigation ECU 6 calculates and determines the control level indicating the degree of necessity of vehicle control and guidance for the controlled object in a plurality of stages based on the vehicle condition and the driver's condition acquired in S24. .. Here, in the present embodiment, as already shown in FIG. 4, the required deceleration (deceleration G applied to the vehicle) G1 for the controlled object is calculated from the current speed and acceleration of the own vehicle, and the calculated required deceleration value is calculated. Judge the control level from.

Subsequently, in S26, the navigation ECU 6 performs guidance and vehicle control according to the control level determined in S25. Specifically, as shown in FIG. 4, when the required deceleration G1 &lt;0.05G calculated in (1) is satisfied, the control level is determined to be "none", and control and guidance are not performed. In addition, (2) when 0.05G G1 &lt;0.1G, the control level is determined to be "low", and only the information provision level is provided. For example, when a "stop line" or "corner" is associated with the control object, the liquid crystal display 7 displays a stop line or corner mark for notifying that the stop line or corner is approaching. .. In addition, (3) when 0.1G G1 &lt;0.3G, the control level is determined to be "medium", and only the warning level is provided. For example, when a "stop line" or "corner" is associated as a controlled object, "the stop line (corner) is approaching" to warn that the stop line is approaching. The character string is displayed on the liquid crystal display 7, and the warning voice having the same content is output from the speaker 8. Furthermore, (4) if 0.3G &lt;G1, the control level is judged to be "high", and support, intervention level vehicle control and guidance are implemented. For example, when a "stop line" or "corner" is associated as a controlled object, "the stop line (corner) is approaching" to warn that the stop line is approaching. The character string is displayed on the liquid crystal display 7, and the warning voice having the same content is output from the speaker 8. Further, when the controlled object is the "stop line", the brake actuator 11 and the AT13 are controlled to perform deceleration control so that the vehicle 2 stops before the stop line. On the other hand, when the object to be controlled is a "corner", the brake actuator 11 and AT13 are controlled so that the optimum speed with respect to the R of the corner recorded on the map DB41 (for example, 40 km / h at R30) is obtained before entering the corner. And deceleration control is performed. When an "intersection" is associated with the controlled object, the set guidance route is set when the target distance to the controlled object reaches a predetermined distance (for example, 10 m) without vehicle control. Only provide route guidance according to the rules. For example, a guidance display indicating a left turn is displayed on the liquid crystal display 7, and a guidance voice "Please turn left at the next intersection" is output from the speaker 8.

On the other hand, when it is determined that the vehicle 2 has not reached the guidance or control start point (S23: NO), the process ends without guiding the controlled object and controlling the vehicle. The above S26 corresponds to the processing of the driving assistance means.

As described in detail above, in the driving support device 1 according to the present embodiment, when it is determined from the vehicle 2 that the road markings exist within a predetermined range (S2: YES), the image captured by the rear camera 3 is used. When the road marking is detected (S3) and there is only one controlled object associated with the detected road marking, or when there are a plurality of the associated controlled objects and the difference in the distance between the objects is controlled. When it is equal to or greater than the enable / disable distance (S14: YES), the target distance from the vehicle to the control target object for guidance and vehicle control is calculated (S21, S22), and control is performed based on the calculated target distance. Since guidance and vehicle control are performed according to the object (S26), there is a risk that unnecessary guidance or erroneous control will be performed even if multiple control objects are associated with the road markings detected by the vehicle 2. By not performing guidance and vehicle control in advance in a certain situation, it is possible to call attention to a controlled object related to the driver and control the vehicle. Further, by reducing the number of times of arithmetic processing, it is possible to reduce the processing load of the navigation ECU 6. Further, even when the vehicle 2 travels on a road having a branch and a plurality of control objects formed on each road after the branch are associated with the road marking detected by the vehicle 2. By not performing guidance or vehicle control in advance in situations where unnecessary guidance or erroneous control may occur, guidance targeting the controlled object formed on the road on which vehicle 2 is traveling at the branch Vehicle control becomes possible. Further, even when the vehicle 2 travels on a road having a branch and a plurality of control objects formed on each road after the branch are associated with the road marking detected by the vehicle 2. In a situation where unnecessary guidance or erroneous control may be performed before the vehicle 2 reaches the branch, guidance to the controlled object or vehicle control is not performed in advance, so that there is no risk of embarrassing the driver. If the road before the branch and the road after the branch have a road relationship (S8: YES), the road after the branch, which has a road relationship, is predicted to be the road on which the vehicle travels, and the vehicle travels. Then, since the attention is alerted and the vehicle is controlled for the controlled object formed on the predicted road, it is possible to prevent unnecessary guidance and erroneous control. If the road after the branch is set as the guidance route (S8: YES), the road after the branch set as the guidance route is predicted to be the road on which the vehicle travels, and the vehicle is predicted to travel. Since alerting and vehicle control are performed for the controlled object formed on the road, it is possible to prevent unnecessary guidance and erroneous control. Furthermore, since guidance and vehicle control are performed based on the target distance from the vehicle to the controlled object, the controlled object is reliably controlled without the need for an expensive device such as an imaging device using a front camera to capture a distant image. It is possible to provide guidance and control the vehicle according to the type of object.

It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that various improvements and modifications can be made without departing from the gist of the present invention. For example, in the present embodiment, the case where the controlled object is a stop line, an intersection, or a corner entrance is described, but the controlled object is not limited to the above, and for example, other than road markings such as a pedestrian crossing. , Interchanges and other facilities may be used.

Further, in the present embodiment, the required deceleration (deceleration G applied to the vehicle) G1 for the controlled object is calculated from the current speed and acceleration of the own vehicle, and the control level is determined from the calculated required deceleration value. However, the control level may be determined from the direction of the driver's face or the direction of the line of sight. That is, when the vehicle 2 reaches the guidance or control start point, the control level is determined to be "high" when the driver is not looking ahead, and the control level is "none" when the driver is looking ahead. It may be judged.

Further, the driving support device 1 according to the present embodiment provides a rear camera 3 that captures the rear environment as an imaging means, recognizes the road surface marking based on the image captured by the rear camera, and controls the controlled object. However, as an imaging means, a front camera that captures the front environment of the vehicle 2 may be provided in addition to the rear camera 3, and the road surface marking may be recognized based on the image captured by the front camera in addition to the rear camera 3. .. Here, FIG. 15 is a schematic configuration diagram of the driving support device 90 according to another embodiment. As shown in FIG. 15, the driving support device 90 according to another embodiment includes a front camera 91, a rear camera 3, a navigation device 4, a vehicle ECU 5, and the like installed on the vehicle 2. The configurations of the rear camera 3, the navigation device 4, and the vehicle ECU 5 other than the front camera 91 are the same as those of the driving support device 1 according to the present embodiment, and the description thereof will be omitted.

Then, in the driving support device 90 according to another embodiment, it is possible to expand the control target and improve the recognition rate of the road marking as follows based on the image captured by the front camera 91.

For example, when it is determined that the traffic light located at the intersection in front is lit in red based on the image captured by the front camera 91, guidance and guidance according to the controlled object of the "intersection" as described above and In addition to vehicle control (S26), it is possible to warn that the traffic light at the intersection is lit in red, and to control the brake actuator 11 and AT13 so that the vehicle 2 stops in front of the intersection. ..

In addition, when it is determined that a temporary stop road sign is installed at the intersection in front based on the image captured by the front camera 91, guidance and guidance according to the controlled object of the "intersection" as described above are provided. In addition to vehicle control (S26), it is possible to give a warning for a temporary stop and control the brake actuator 11 and AT13 so that the vehicle 2 stops before the intersection.

Further, when it is determined that the road markings are formed on the road surface in front based on the image captured by the front camera 91, the timing at which the vehicle 2 passes the road markings is calculated, and the timing is adjusted to the calculated timing. By performing the image recognition process by the rear camera 3, it is possible to improve the recognition rate of the road marking even when the rear camera 3 having a narrow field of view is used.

<figref num="1">It is a schematic block diagram of the operation support device which concerns on this embodiment.</figref><figref num="2">It is a block diagram which shows typically the control system of the driving support device which concerns on this embodiment.</figref><figref num="3">It is a figure which showed the storage area of the road marking DB which concerns on this embodiment.</figref><figref num="4">It is a figure which showed the list of the contents of the vehicle control and guidance for the control object which is carried out at each control level.</figref><figref num="5">It is a top view which showed the vehicle which imaged the road marking.</figref><figref num="6">It is a side view which showed the vehicle which imaged the road marking.</figref><figref num="7">It is a schematic diagram which showed the image taken by the rear camera of the vehicle in the state of FIG. 5 and FIG.</figref><figref num="8">(A) is a schematic diagram showing the measurement start point of the road marking with "with a pedestrian crossing", and (B) is a schematic diagram showing the measurement start point of the road marking with "maximum speed (20 km / h)".</figref><figref num="9">It is a schematic diagram which showed the calculation method of the target distance from a vehicle to a control object when the road marking was imaged by the rear camera of the vehicle.</figref><figref num="10">It is a schematic diagram which showed the case where the guidance to the control object and the vehicle control are performed when there are a plurality of control objects associated with the road markings detected by a vehicle.</figref><figref num="11">It is a schematic diagram which showed the case where the guidance to the control object and the vehicle control are not performed when there are a plurality of control objects associated with the road markings detected by a vehicle.</figref><figref num="12">It is a flowchart of the driving support processing program in the driving support device which concerns on this embodiment.</figref><figref num="13">It is a flowchart of the driving support processing program in the driving support device which concerns on this embodiment.</figref><figref num="14">It is a flowchart of guidance and vehicle control processing in the driving support device which concerns on this embodiment.</figref><figref num="15">It is a schematic block diagram of the driving support device which concerns on other embodiment.</figref><figref num="16">It is explanatory drawing explaining the problem of the prior art.</figref>

Code description

1 Driving support device 2 vehicles 3 Rear camera 5 Vehicle ECU 6 Navigation ECU 7 liquid crystal display 8 speakers 9 Current location detector 42 Road marking DB