JP5195178B2 - Lane departure warning device - Google Patents

Description

  The present invention relates to a lane departure warning device that warns of departure from a lane.

2. Description of the Related Art Conventionally, devices that give warning torque to steering means such as a handle are known as devices that warn of deviation from a lane (see, for example, Patent Document 1). The device described in Patent Document 1 gives a large warning torque when warning the lane departure to the outside of the curve by changing the warning torque according to the curve direction and the curve radius.
Japanese Patent Laid-Open No. 11-29061

  By the way, contrary to the outside of the curve, if the steering wheel is straightened inside the curve, the vehicle tends to travel in the direction of the curve outside. For this reason, when warning the lane departure in the curve inner direction, it is conceivable to make the warning torque weaker than in normal driving, as opposed to warning the lane departure in the curve outer direction. . However, since how much the alarm torque should be reduced has not been studied, for example, the amount of decrease is not sufficient, and the alarm torque may be excessive for the driver.

  Accordingly, the present invention has been made to solve such a technical problem, and provides a lane departure warning device capable of warning a departure from a lane toward the inside of a curve without giving the driver a sense of incongruity. The purpose is to provide.

  That is, the lane departure warning device according to the present invention is a lane departure warning device that warns the driver of a departure from the lane of the vehicle, and includes a departure determination unit that determines whether or not to depart from the lane, and a vehicle steering unit. Support amount calculating means for calculating the target lateral acceleration of the warning torque given to the vehicle, and warning torque applying means for applying the warning torque based on the target lateral acceleration when the departure determining means determines to depart from the lane. The assistance amount calculation means gives a reduction amount to the target lateral acceleration of the warning torque in the straight lane to obtain the target lateral acceleration of the warning torque for the lane departure in the curve inward direction, and the vehicle turns the curve with the reduction amount. Therefore, the calculation is based on the lateral acceleration necessary for this purpose.

  According to the present invention, it is possible to warn of a deviation toward the inside of the curve by reducing the target lateral acceleration of the alarm torque applied when the vehicle deviates on a straight lane. The amount of decrease can be calculated based on the lateral acceleration necessary for the vehicle to turn the curve. That is, the alarm torque that warns the deviation of the lane inward of the curve by reducing the torque corresponding to the lateral acceleration necessary for the vehicle to turn the curve with respect to the alarm torque that warns the deviation of the straight lane It can be. For this reason, the warning torque for the deviation toward the inside of the curve can be set to the same level as the warning torque in the straight lane, so that the deviation of the vehicle can be warned without giving the driver a sense of incongruity.

  Here, in the lane departure warning device, it is preferable that the assistance amount calculating means corrects the decrease amount based on an angle formed by the traveling direction of the vehicle and the white line inside the curve. By configuring in this way, it is possible to change the magnitude of the alarm according to the angle (yaw angle) formed by the traveling direction of the vehicle and the white line inside the curve, so that the alarm does not give the driver a sense of incongruity It is possible to give an appropriate alarm according to the departure situation while doing.

  Further, it is preferable that the support amount calculating means corrects the decrease amount as the angle between the traveling direction of the vehicle and the white line inside the curve increases. By configuring in this way, it becomes possible to prevent the alarm torque from decreasing as the departure tendency becomes stronger, so that an appropriate alarm is given according to the departure situation while giving an alarm that does not give the driver a sense of incongruity Can do.

  Further, the lane departure warning device includes a driver intention estimation unit that estimates the intention of lane departure in the direction of the curve inside, and the warning torque applying unit is configured so that the driver has no intention of lane departure by the driver intention estimation unit. It is preferable to apply the alarm torque based on the target lateral acceleration that gives the decrease amount only when it is determined.

  By configuring in this way, an alarm torque smaller than the alarm torque in the straight lane can be applied only when the driver unintentionally deviates to the inside of the curve. It can be avoided that the driver feels uncomfortable.

  According to the present invention, it is possible to warn of deviation from the curve inward direction without causing the driver to feel uncomfortable.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same or an equivalent part, and the overlapping description is abbreviate | omitted.

  The lane departure warning device according to the present embodiment is a device that warns the driver of the departure of the vehicle with respect to the traveling road, and is suitably used for, for example, a vehicle having a driving support system.

  First, an outline of a vehicle including the lane departure warning device according to the present embodiment will be described. FIG. 1 is a schematic diagram of a vehicle provided with a lane departure warning device according to the present embodiment.

  A vehicle 3 shown in FIG. 1 is, for example, a manually operated vehicle, and includes a white line detection sensor 20, a vehicle speed sensor 21, a steering input sensor 22, a navigation device 23, an ECU (Electronic Control Unit) 10, and a steering device (alarm torque). Giving means) 31. Here, the ECU is a computer of an electronically controlled automobile device, and includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an input / output interface, and the like.

  The white line detection sensor 20 is a sensor that detects a white line of a lane (lane) in which the vehicle 3 travels. For example, an image sensor is used as the white line detection sensor 20. The white line detection sensor 20 has a function of outputting information about the detected white line to the ECU 10.

  The vehicle speed sensor 21 is a sensor that detects the vehicle speed of the vehicle 3. As the vehicle speed sensor 21, for example, a sensor that detects the vehicle speed by detecting the rotation of the wheel as a pulse by a magnet provided on the wheel side and a hall element provided on the vehicle body side is used. Further, the vehicle speed sensor 21 has a function of outputting the detected vehicle speed to the ECU 10.

  The steering input sensor 22 is a sensor that detects a steering torque input from a steering wheel (steering wheel). The steering input sensor 22 has a function of outputting the detected steering torque to the ECU 10 as a steering torque signal.

  The navigation device 23 has a function of detecting the current position of the vehicle 3 using a global positioning system. The navigation device 23 has a function of performing route guidance to a travel destination. Moreover, the navigation apparatus 23 is comprised so that a map information database can be referred, and has the function to input the information regarding a road shape or a lane about the circumference | surroundings of the vehicle 3, or a driving planned route. In addition, the navigation device 23 has a function of outputting information on road shapes and lanes, guidance information, and the like to the ECU 10.

  The ECU 10 includes a departure state determination unit (deviation determination unit) 11, a support amount calculation unit (support amount calculation unit) 12, and a driver intention estimation unit (driver intention estimation unit) 13.

  The departure state determination unit 11 has a function of determining whether or not the vehicle 3 departs from the lane. For example, the departure state determination unit 11 has a function of calculating an interval between the white line and the vehicle 3 based on an image obtained by the white line detection sensor 20 and determining a departure tendency from the displacement. That is, the departure state determination unit 11 has a function of determining the possibility of departure as well as the case of determining that the departure has actually occurred. For example, when the vehicle 3 is traveling on a curve, the departure state determination unit 11 deviates in the curve inner direction or deviates in the curve outer direction based on the departure direction and the turning direction of the vehicle 3. It has a function to determine whether or not. In addition, the departure state determination unit 11, for example, when traveling on a curved road having a plurality of lanes, the vehicle 3 is based on the travel position and map information of the vehicle 3 output by the navigation device 23. Has a function of determining whether the vehicle is traveling in the outer lane or the inner lane. The departure situation determination unit 11 has a function of outputting the determination result to the support amount calculation unit 12.

  The driver intention estimation unit 13 has a function of estimating the driver's intention to deviate. Based on the steering torque signal output from the steering input sensor 22, the driver intention estimation unit 13 detects a steering torque of a predetermined value or more in the turning direction during a turn for a predetermined time or more when the vehicle 3 travels a curve. It has a function to determine whether or not it has been determined, and when the condition is satisfied, it is estimated that there is an intention to deviate in the curve inner direction. Further, the driver intention estimation unit 13 has a function of outputting the estimated driver intention to the support amount calculation unit 12.

  The assistance amount calculation unit 12 has a function of calculating a target lateral acceleration of an alarm torque applied to the steering wheel of the vehicle 3. This warning torque is for notifying the driver that the vehicle 3 deviates from the lane, and for guiding the vehicle 3 in the lane inward direction and delaying the time until departure. The assistance amount calculation unit 12 has a function of presetting a target lateral acceleration of an alarm torque to be given when deviating from a straight lane, for example, as a predetermined value. Further, the support amount calculation unit 12 has a function of calculating a target lateral acceleration of an alarm torque to be given when deviating inward of the curve with reference to the target lateral acceleration in the set straight lane. For example, the assistance amount calculation unit 12 has a function of giving a reduction amount to the target lateral acceleration of the warning torque in the straight lane and setting the target lateral acceleration of the warning torque for the deviation in the curve inward direction. The assistance amount calculation unit 12 has a function of calculating the lateral acceleration necessary for the vehicle to turn on the curve to obtain the above-described reduction amount. Further, the support amount calculation unit 12 has a function of correcting the reduction amount described above based on an angle formed by the traveling direction of the vehicle and the white line inside the curve. Further, it has a function of determining whether to output an alarm torque based on the driver's intention to depart, the shape of the travel path, and the direction of departure, that is, whether or not the support amount is zero. Further, the assistance amount calculation unit 12 has a function of outputting a control signal for realizing an alarm torque based on the target lateral acceleration to the steering device 31.

  The steering device 31 is connected to the steering wheel and the wheel, and has a function of controlling the wheel angle (steering angle) based on the steering angle by the steering wheel operation. As the steering device 31, for example, a power steering device that applies a steering assist torque by driving a motor in accordance with a steering operation is used. Further, the steering device 31 has a function of applying an alarm torque to the steering transmission system based on the control signal output from the assistance amount calculation unit 12.

  The lane departure warning device 1 includes the above-described departure state determination unit 11, support amount calculation unit 12, driver intention estimation unit 13, and steering device 31.

  Next, operation | movement of the vehicle 3 provided with the lane departure warning apparatus 1 which concerns on this embodiment is demonstrated. FIG. 2 is a flowchart showing the operation of the vehicle 3 provided with the lane departure warning device 1 according to the present embodiment. The control process shown in FIG. 2 is repeatedly executed at a predetermined timing after, for example, the ignition is turned on or the alarm execution button provided on the vehicle 3 is turned on. In view of ease of understanding, description will be made with reference to FIG. FIG. 5 is a schematic diagram for explaining the operation of the vehicle 3 provided with the lane departure warning device 1 according to the present embodiment.

As shown in FIG. 2, the vehicle 3 starts processing from the lane information input processing (S10). Processing of S10 is executed by the white line detection sensor 20, a process of acquiring the position information of the white line _L 1 ~L ₃ or the like. The white line detection sensor 20 repeatedly acquires, for example, image information in the traveling direction of the vehicle 3 and, based on the acquired image information, for example, white lines L _{1 to} L _{3 of} the road on which the vehicle 3 illustrated in FIG. inputs the lateral shift amount D, the traveling direction of the vehicle 3 and the white line L ₁ and the angle theta _{yaw (yaw} angle) with respect to the traffic lane of the vehicle 3 (lane). The curve radius R may be input from the navigation device 23. When the process of S10 ends, the process proceeds to a vehicle speed information input process (S12).

  The process of S12 is a process executed by the vehicle speed sensor 21 to detect the speed V of the vehicle 3. When the process of S12 ends, the process proceeds to a deviation determination process inside the curve (S14).

  The process of S14 is a process executed by the departure state determination unit 11 to determine whether or not the vehicle 3 deviates in the curve inner direction. This process will be described in detail with reference to FIG. FIG. 3 is a flowchart showing the departure determination process in S14 of FIG. As shown in FIG. 3, the departure determination process starts with a departure determination process to the right (S30).

The process of S30 is a process of determining whether or not to depart to the right side (right direction). Deviation state determination unit 11, S10, the position of the white line L ₁ entered in the processing of S12, the vehicle speed V, the based on the traveling direction of the vehicle 3, it determines whether or not to deviate. Alternatively, the departure state determination unit 11 determines whether or not to depart from the displacement of the road width and the lateral deviation amount D. Then, the departure state determination unit 11 determines whether or not the departure direction is the right side. For example, the departure state determination unit 11 determines whether the departure direction is the right side based on the yaw angle θ _yaw input in the process of S10. Alternatively, for example, the case where the lateral deviation amount D is shifted from the lane center to the right side is positive, and the case where the lateral deviation amount D is shifted from the lane center to the left side is negative. If it is determined in step S30 that the vehicle deviates to the right side, the process proceeds to right curve determination processing (S32).

  The process of S32 is a process of determining whether or not the traveling road is a right curve. The departure situation determination unit 11 determines whether the curve is a right curve based on the image information input in the process of S10, for example. Alternatively, based on the road information input by the navigation device 23, it is determined whether or not it is a right curve. In the process of S32, when it is determined that the turning road is a right curve, the process proceeds to the curve inside deviation detection process (S34).

  The process of S34 is a process for determining that the vehicle 3 deviates in the curve inner direction. The departure situation determination unit 11 sets, for example, a curve inside departure flag from an initial value of 0 to 1. When the process of S34 ends, the deviation determination process inside the curve shown in FIG. 3 ends.

  On the other hand, in the process of S30, when it is determined that the vehicle 3 has not deviated to the right side, the process proceeds to the left side deviation determination (S36). The process of S36 is a process of determining whether or not to deviate to the left (left direction), and is a process in which the left and right of the process of S30 are interchanged. In the process of S36, when it is determined that the vehicle 3 deviates to the left side, the process proceeds to the left curve determination process (S38).

  The process of S38 is a process for determining whether or not the running road is a left curve, and is a process in which the left and right of the process of S32 are interchanged. In the process of S38, when it is determined that the turning road is a left curve, the process proceeds to the curve inside deviation detection process (S34).

On the other hand, in the processing of S32, if the road during turning is determined not to be the right curve, or, in the processing of S38, when the road during turning is determined not to be the left-hand curve, the curve outwardly (white line L ₂ side ), The control process shown in FIG. 3 is terminated. On the other hand, if it is determined in S36 that the vehicle 3 does not deviate to the left, the vehicle 3 does not deviate from the lane, and the control process shown in FIG.

  When the control process shown in FIG. 3 is completed, the process returns to FIG. 2 and the process of S15 is started. The process of S15 is a process executed by the support amount calculation unit 12 to determine whether or not the deviation is in the curve inner direction. When it is determined in the process of S14 that the vehicle deviates to the inside of the curve, for example, when the curve inside departure flag is 1, the process proceeds to a target lateral acceleration G reduction amount calculation process (S16).

The process of S16 is a process executed by the support amount calculation unit 12 to calculate the reduction amount of the target lateral acceleration of the warning torque in the straight lane. The assistance amount calculation unit 12 calculates the decrease amount based on the lateral acceleration necessary for the curve turning. For example, assuming that the vehicle speed during curve turning is V, the curve radius is R, the lateral acceleration required for curve turning is G _cir , and the correction coefficient is K ₀ , the reduction amount U ₀ is expressed by the following equation 1.

Here, the correction coefficient K ₀ is a coefficient for calculating a lateral acceleration necessary for actual curve turning in consideration of a road camber or the like. The correction coefficient K ₀ is determined, for example by adapted. In Equation 1, numerical values 3.6 and 9.8 are used for unit conversion of each variable R (m), V (km / h), and G _cir (G). The assistance amount calculation unit 12 calculates the reduction amount U ₀ using Equation 1. As a result, if the target lateral acceleration of the warning torque in the straight lane is G _stra , the target lateral acceleration G _dec of the warning torque for warning the deviation in the curve inner direction is expressed by the following formula 2.

The target lateral acceleration G _stra is, for example, a value that is determined in advance by the support amount calculation unit 12 using an actual measurement value or the like. When the assistance amount calculation unit 12 calculates the decrease amount U ₀ , the process of S16 ends, and the process proceeds to the driver intention estimation process (S18).

  The process of S18 is a process executed by the driver intention estimation unit 13 to estimate the driver's intention to depart from the lane. This process will be described in detail with reference to FIG. FIG. 4 is a flowchart showing the driver intention estimation process in S18 of FIG. As shown in FIG. 4, the driver intention estimation process starts with a left curve turning determination process (S40).

  The process of S40 is a process of determining whether or not the vehicle 3 is turning on the left curve. The driver intention estimation unit 13 determines whether or not the vehicle 3 is turning on the left curve, similarly to the process of S38 in FIG. In the process of S40, when it is determined that the left curve is turning, the process proceeds to the steering torque determination process (S42).

Processing S42 for the magnitude of the steering torque of the driver is a process of determining whether greater than a predetermined value T _1. Driver's intention estimator 13, for example, a steering input sensor 22 is compared with the steering torque detected with a predetermined value T _1. Here, the steering torque is positive when it is counterclockwise when viewed from the driver. Predetermined value T ₁ is a minimum steering torque input by the driver with a deviation intention to the left, for example, a value measured by experiments or the like is used. In the processing of S42, when the magnitude of the steering torque of the driver is determined to be larger than the predetermined value T _1, the process proceeds to the continuation determination process (S44).

The process of S44 is a process of determining whether or not the steering torque (steering state) of S42 has continued for a predetermined time t. Driver's intention estimator 13, magnitude predetermined value T ₁ is greater than the state of the steering torque of the driver is determined whether continued for a predetermined time t. If it is determined in the process of S44 that the predetermined time t has continued, the process proceeds to a departure intention detection process (S46).

  The process of S46 is a process for estimating that the driver has an intention to depart from the lane. For example, the driver intention estimation unit 13 sets the departure intention flag from 0 to 1 as an initial value. When the process of S46 ends, the driver intention estimation process shown in FIG. 4 ends.

  On the other hand, in the process of S40, when it is determined that the left curve is not turning, the process proceeds to the right curve turning determination process (S48). The process of S48 is a process of determining whether or not the vehicle 3 is turning on the right curve. The driver intention estimation unit 13 determines whether or not the vehicle 3 is turning on the right curve, similarly to the process of S32 of FIG. In the process of S48, when it is determined that the right curve is turning, the process proceeds to the steering torque determination process (S50).

Processing of step S50 is substantially the same as the processing of S42, the magnitude of the steering torque of the driver is a process of determining whether a predetermined value -T ₁ smaller. The predetermined value −T ₁ is a minimum steering torque input by a driver who has a intention to deviate in the right direction. In the processing of S50, when the magnitude of the steering torque of the driver is determined to a predetermined value -T ₁ smaller, the process proceeds to the continuation determination process (S44).

On the other hand, in the process of S42, if the magnitude of the steering torque of the driver is determined to a predetermined value T ₁ less than, or, in the processing of S50, is larger than the predetermined value -T ₁ the magnitude of the steering torque of the driver If it is determined that the steering torque input is less than the steering torque of the driver who has the intention to deviate, the control process shown in FIG. If it is determined in the process of S44 that the steering state has not continued for the predetermined time t, the control process shown in FIG. On the other hand, if it is determined in S48 that the vehicle is not turning on the right curve, the control process shown in FIG.

  When the control process shown in FIG. 4 ends, the process returns to FIG. 2 and the process of S20 is started. The process of S20 is a process of determining whether or not it is estimated that the driver has no intention to deviate in the process of S18. In the process of S18, when it is estimated that the driver does not have a departure intention, for example, when the departure intention flag is 0, the process proceeds to a reduction amount correction process (S22).

The process of S22 is a process executed by the support amount calculation unit 12 to correct the amount of decrease calculated in the process of S16. The support amount calculation unit 12 corrects the decrease amount U ₀ obtained by Expression 1 based on the angle (yaw angle θ _yaw ) formed by the traveling direction of the vehicle input in the process of S10 and the white line L ₁ inside the curve. To do. For example, _assuming that the decrease amount yaw angle gain is K _yaw , the corrected decrease amount U ₁ is expressed by the following Expression 3.

Here, the decrease amount yaw angle gain K _yaw is a coefficient for making the decrease amount inversely proportional to the yaw angle θ _yaw . If the gain for calculating the decrease amount yaw angle is K ₁ , the decrease amount yaw angle gain K _yaw is expressed by the following Expression 4. .

Decrease the yaw angle calculated for the gain K ₁ is determined, for example by adaptation. Support amount calculation unit 12, the larger the yaw angle theta _yaw using Equation 3 and 4, i.e., calculates reduce the decrease U ₁ larger the departure tendency. When the reduction amount U ₁ is calculated, the target lateral acceleration G _dec of the alarm torque for warning the deviation in the curve inner direction is expressed by the following formula 5.

When support amount calculation unit 12 calculates the decrease U ₁ after the correction, the process of S22, and ends, the process proceeds to the alarm torque output processing (S24).

The process of S24 is a process that is executed by the steering device 31 and outputs a warning torque that becomes the target lateral acceleration _Gdec to the driver. The assistance amount calculation unit 12 calculates the target lateral acceleration G _dec based on the decrease amounts U ₀ and U ₁ by the above-described Expression 2 or 5, and sends a control signal for achieving the calculated target lateral acceleration G _dec to the steering device 31. Output to. The steering device 31 gives an alarm torque to the steering wheel based on the input control signal. When the process of S24 ends, the control process shown in FIG. 2 ends.

  On the other hand, in the process of S20, when it is estimated that the driver has a departure intention, for example, when the departure intention flag is 1, the process proceeds to the traveling lane input process (S26). The process of S26 is a process executed by the departure situation determination unit 11 and inputting the travel lane of the vehicle 3. The departure situation determination unit 11 inputs a lane in which the vehicle 3 travels from the navigation device 23, for example. For example, in the case of a road composed of a plurality of lanes, it is input whether the traveling lane is outside or inside. If the road consists of a single lane, this is entered. When the processing of S26 is completed, the routine proceeds to lane determination processing (S28).

The process of S28 is a process executed by the departure situation determination unit 11 to determine whether or not a traveling lane exists in a direction in which the vehicle 3 deviates. For example, the departure situation determination unit 11 determines whether or not the vehicle 3 is traveling in the innermost lane on the curved road based on the information input in the process of S26. Then, when the vehicle 3 is not traveling in the innermost lane on the curved road, there is another lane inside the traveling lane, so that the control shown in FIG. 2 is performed so as not to output the alarm torque. The process ends. Thus, for example, since in the case of lane change to the inside lane from intentional outer lane that deviates from the center line L ₃ it is not a warning, it is possible to avoid that the feel is annoying the driver. On the other hand, in the process of S28, when the vehicle 3 is traveling in the innermost lane, or when traveling on a road consisting of one lane, there is no lane that can travel inside the traveling lane. Then, even if the driver intends to deviate toward the inside of the curve, the process proceeds to a reduction amount adjustment process so that an alarm torque is output (S29).

The process of S29 is a process executed by the support amount calculation unit 12 to adjust the decrease amount calculated in the process of S16. The assistance amount calculation unit 12 sets the decrease amount U0 to ₀ , for example. When the process of S29 ends, the process proceeds to an alarm torque output process (S24). Thus, when there is no lane that can travel in the departure direction, safety can be further improved by adopting a configuration in which the warning torque is output without decreasing even if the driver's intention is present. .

  On the other hand, in the process of S15, when it is determined that the vehicle does not deviate in the curve inner direction, for example, when the curve inner departure flag is 0, the control process shown in FIG.

Above, the control process shown in FIG. 2 is complete | finished. By executing the control processing shown in FIG. 2, when a departure from the white line L ₁ of the curve inward unconscious, based on the lateral acceleration G _cir required to pivot the target lateral acceleration G _stra in the straight lane as a reference What is reduced in this way can be the target lateral acceleration G _dec of the warning torque for the departure from the lane toward the inside of the curve. For this reason, it is possible to warn of a lane departure in the inward direction of the curve without giving an excessively large warning to the driver.

As described above, according to the lane departure warning device 1 according to the present embodiment, the target lateral acceleration G _stra of the warning torque to be applied when the vehicle 3 departs in a straight lane is decreased to deviate in the curve inward direction. Can be warned. Then, the reduction amounts U ₀ and U ₁ can be calculated based on the lateral acceleration G _cir required for the vehicle 3 to turn the curve. That is, the alarm torque for warning the deviation inward of the curve is decreased by the torque corresponding to the lateral acceleration _Gcir required for the vehicle to turn the curve, rather than the alarm torque for warning the deviation in the straight lane. Can do. For this reason, it is possible to make the alarm torque for warning the deviation inward of the curve the same level as the warning torque in the straight lane, so that it is possible to warn the deviation of the vehicle 3 without giving the driver a sense of incongruity. it can. That is, it is possible to reduce only the uncomfortable feeling given to the driver while maintaining the warning effect.

Further, according to the lane departure warning device 1 according to the present embodiment, the magnitude of the warning can be changed according to the angle (yaw angle θ _yaw ) formed by the traveling direction of the vehicle 3 and the white line L _1. Therefore, an appropriate warning can be given according to the departure situation while giving a warning that does not give the driver a sense of incongruity.

Further, according to the lane departure warning device 1 according to the present embodiment, as the yaw angle θ _yaw is larger, that is, the departure tendency is larger, the decrease amount U ₀ given to the warning torque in the straight lane is corrected to be smaller, and the driver It is possible to prevent the alarm given to the user from becoming weaker than necessary. Thus, by changing the magnitude of the alarm according to the yaw angle θ _yaw , it is possible to give an appropriate alarm according to the departure situation while giving an alarm that does not give the driver a sense of incongruity.

  Furthermore, according to the lane departure warning device 1 according to the present embodiment, an alarm torque smaller than the warning torque in the straight lane can be applied only when the driver unintentionally deviates toward the inside of the curve. It is possible to prevent the driver from feeling uncomfortable by giving a special alarm torque.

  In addition, embodiment mentioned above shows an example of the lane departure warning apparatus based on this invention. The lane departure warning device according to the present invention is not limited to the lane departure warning device according to the embodiment, and the lane departure warning device according to the embodiment is modified without changing the gist described in each claim. Or it may be applied to other things.

  For example, in the above-described embodiment, an example in which the lane departure warning device 1 including the driver intention estimation unit 13 estimates the driver's intention to deviate and performs control based on the estimation result has been described. 13 need not necessarily be provided, and the processing related to the driver's intention to deviate (S18, S20, S26, S28, and S29 in FIG. 2) may be appropriately performed based on the required performance. Also, the departure intention determination process of S18 of FIG. 2 may be executed before the decrease amount calculation process of S16 of FIG. 2, and the decrease amount may be calculated only when there is no departure intention.

In the above-described embodiment, the example in which the magnitude of the alarm is changed according to the yaw angle θ _yaw has been described. However, the reduction amount correction process (S22 in FIG. 2) is appropriately performed based on the required performance. Just do it.

It is a block diagram which shows the structure outline | summary of a vehicle provided with the lane departure warning apparatus which concerns on embodiment. It is a flowchart which shows operation | movement of a vehicle provided with the lane departure warning apparatus which concerns on embodiment. It is a flowchart which shows operation | movement of a vehicle provided with the lane departure warning apparatus which concerns on embodiment. It is a flowchart which shows operation | movement of a vehicle provided with the lane departure warning apparatus which concerns on embodiment. It is a schematic diagram explaining operation | movement of a vehicle provided with the lane departure warning apparatus which concerns on embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Lane departure warning device, 3 ... Vehicle, 10 ... ECU, 11 ... Deviation situation determination part (deviation determination means), 12 ... Support amount calculation part (support amount calculation means), 13 ... Driver intention estimation part (driver) Intention estimation means), 31... Steering device (alarm torque giving means).

Claims (4)

A lane departure warning device that warns a driver of a departure from a vehicle lane,
Departure determination means for determining whether to depart from the lane;
Assistance amount calculating means for calculating a target lateral acceleration of an alarm torque to be given to the steering means of the vehicle;
Warning torque applying means for applying warning torque based on the target lateral acceleration when the deviation determining means determines that the vehicle departs from the lane;
With
The assistance amount calculation means gives a reduction amount to the target lateral acceleration of the warning torque in a straight lane to obtain a target lateral acceleration of the warning torque with respect to the lane departure in an inward curve direction. Calculating based on the lateral acceleration required to turn
Lane departure warning device characterized by   2. The lane departure warning device according to claim 1, wherein the assistance amount calculation unit corrects the decrease amount based on an angle formed by a traveling direction of the vehicle and a white line inside the curve.   The lane departure warning device according to claim 2, wherein the assistance amount calculation means corrects the decrease amount as the angle formed by the traveling direction of the vehicle and the white line inside the curve increases. Driver intention estimation means for estimating the intention of lane departure to the inside of the curve,
The said warning torque provision means gives warning torque based on the target lateral acceleration which gave the said reduction | decrease amount, only when it determines with the driver | operator intention estimation means having no intention of lane departure. The lane departure warning device according to any one of the above.

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