CN-122009167-A - Lane departure warning device, lane departure warning method, and program

CN122009167ACN 122009167 ACN122009167 ACN 122009167ACN-122009167-A

Abstract

The position information of the subject vehicle is acquired based on the measurement result of the sensor mounted on the subject vehicle, and includes the horizontal position and the vertical position of the subject vehicle. A position reliability calculation method for calculating the reliability of position information of a subject vehicle includes (A) obtaining the height of a representative point at the horizontal position of the subject vehicle as a sensor-based height from the vertical position included in the position information, (B) obtaining the height of the representative point at the horizontal position of the subject vehicle as a map-based height from a height map showing the correspondence between the latitude, longitude and height of the road surface, and (C) calculating the reliability so that the greater the deviation between the sensor-based height and the map-based height, the lower the reliability.

Inventors

INOUE HIROTO

Assignees

丰田自动车株式会社

Dates

Publication Date: 20260512
Application Date: 20251106
Priority Date: 20241111

Claims (5)

1. A lane departure warning device that warns when a vehicle deviates from or is about to deviate from a lane in which the vehicle is traveling, the lane departure warning device comprising: A first warning unit that determines whether there is a possibility of the vehicle deviating from the lane in execution of lane maintenance control that maintains the vehicle within the lane, and that implements a first deviation warning when it is determined that there is a possibility of deviation; a second warning unit that determines whether or not there is a possibility of the vehicle deviating from the lane during traveling of the vehicle, and that, when it is determined that there is a possibility of deviation, performs steering control and a second deviation warning that suppress the vehicle deviating from the lane, and And a priority processing unit that performs priority processing of prioritizing implementation of the steering control and/or the second departure warning by the second warning unit over implementation of the first departure warning by the first warning unit during execution of the lane keeping control.
2. The lane departure warning apparatus according to claim 1, wherein, The priority processing is performed by advancing the timing of the steering control by the second alarm unit and/or the execution timing of the second deviation alarm than the timing of the execution of the first deviation alarm by the first alarm unit.
3. The lane departure warning apparatus according to claim 1, wherein, In the case where it is determined by the first warning unit or the second warning unit that there is a possibility that the vehicle deviates from the lane, the priority processing is performed by stopping the first deviation warning by the first warning unit and causing the second warning unit to implement the steering control and/or the second deviation warning.
4. A lane departure warning method, in which warning is given when a vehicle deviates from a lane in which the vehicle is traveling or is about to deviate, In the execution of lane keeping control that keeps the vehicle within the lane, it is determined whether there is a possibility that the vehicle deviates from the lane, and a first deviation warning is implemented when it is determined that there is a possibility of deviation, Determining whether there is a possibility of the vehicle deviating from the lane while the vehicle is traveling, and performing steering control and a second deviation warning that suppress the vehicle from deviating from the lane when it is determined that there is a possibility of deviation, In the execution of the lane keeping control, priority processing is executed in which the execution of the steering control and/or the second departure warning is prioritized over the execution of the first departure warning.
5. A program that causes a computer of a lane departure warning device that warns when a vehicle deviates from a lane in which the vehicle is traveling or is about to deviate to execute: A first warning process of determining whether there is a possibility of the vehicle deviating from the lane in execution of lane maintenance control for maintaining the vehicle in the lane, and implementing a first departure warning when it is determined that there is a possibility of deviation; A second warning process for determining whether or not there is a possibility of the vehicle deviating from the lane during traveling of the vehicle, and performing steering control and a second deviation warning for suppressing the vehicle deviating from the lane when it is determined that there is a possibility of the vehicle deviating, and And a priority process of prioritizing implementation of the steering control and/or the second departure warning based on the second warning process over implementation of the first departure warning based on the first warning process in execution of the lane keeping control.

Description

Lane departure warning device, lane departure warning method, and program Technical Field The present disclosure relates to a lane departure warning device, a lane departure warning method, and a program. Background As driving support control of a vehicle, lane departure suppression control (Lane Departure Alert Control: hereinafter referred to as LDA control) is known, which suppresses a departure of the vehicle from a driving lane. For example, patent document 1 discloses a technique of executing LDA control in advance when it is determined that the driver is putting hands, compared to when it is determined that the driver is not putting hands. Prior art literature Patent literature Patent document 1 Japanese patent application laid-open No. 2023-082651 Disclosure of Invention In the driving support Control of the vehicle, there is lane keeping support Control (LANE TRACE ASIST Control: hereinafter referred to as LTA Control) for keeping the vehicle in the running lane, in addition to the LDA Control described above. These LDA control and LTA control each perform a lane departure warning when the vehicle deviates from or is about to deviate from a lane in which the vehicle is traveling. Therefore, when the lane departure warning by LTA control and the lane departure warning by LDA control are operated in parallel, both departure warnings are continuously generated, and there is a problem that the driver feels tired. The technology of the present disclosure has been made to solve the above-described problems, and an object thereof is to effectively suppress the continuous generation of two kinds of lane departure warning. The technology of the present disclosure is a lane departure warning device that warns when a vehicle deviates from or is about to deviate from a lane in which the vehicle is traveling, the lane departure warning device including: A first warning unit that determines whether there is a possibility of the vehicle deviating from the lane in execution of lane maintenance control that maintains the vehicle within the lane, and that implements a first deviation warning when it is determined that there is a possibility of deviation; a second warning unit that determines whether or not there is a possibility of the vehicle deviating from the lane during traveling of the vehicle, and that, when it is determined that there is a possibility of deviation, performs steering control and a second deviation warning that suppress the vehicle deviating from the lane, and And a priority processing unit that performs priority processing of prioritizing implementation of the steering control and/or the second departure warning by the second warning unit over implementation of the first departure warning by the first warning unit during execution of the lane keeping control. Drawings Fig. 1 is a schematic diagram showing a hardware configuration of a vehicle according to the present embodiment. Fig. 2 is a schematic diagram showing a software configuration of the control device according to the present embodiment. Fig. 3 is a schematic diagram illustrating LDA control. Fig. 4 is a schematic diagram illustrating LDA priority processing according to the present embodiment. Fig. 5 is a schematic diagram illustrating a conventional example. Fig. 6 is a flowchart illustrating a routine of LDA priority processing according to the present embodiment. Detailed Description The lane departure warning device, the lane departure warning method, and the program according to the present embodiment will be described below with reference to the drawings. [ Hardware constitution ] Fig. 1 is a schematic diagram showing a hardware configuration of vehicle VH according to the present embodiment. Vehicle VH has ECU (Electronic Control Unit). The ECU 10 includes CPU (Central Processing Unit), ROM (Read Only Memory), 12, RAM (Random Access Memory) 13, an interface device 14, and the like. The CPU 11 is a processor that executes various programs stored in the ROM 12. The ROM 12 is a nonvolatile memory, and stores data and the like necessary for the CPU 11 to execute various programs. The RAM 13 is a volatile memory, and provides a work area developed when various programs are executed by the CPU 11. The interface device 14 is a communication apparatus for communicating with an external device. The ECU 10 is a device that serves as a center for performing driving assistance such as LDA control and LTA control. Driving assistance is a concept that includes automatic driving. The ECU 10 is communicably connected with a drive device 20, a brake device 21, a steering device 22, an inner sensor device 30, an outer sensor device 40, an HMI (Human MACHINE INTERFACE) 60, and the like. Drive device 20 generates a drive force to be transmitted to the drive wheels of vehicle VH. Examples of the driving device 20 include an electric motor and an engine. The brake device 21 applies a braking force to the wheels of the vehicle VH. Steering device