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JP-2026075330-A - Lane departure prevention device, lane departure prevention method, and program

JP2026075330AJP 2026075330 AJP2026075330 AJP 2026075330AJP-2026075330-A

Abstract

[Challenge] To effectively improve the accuracy of lane departure prevention control. [Solution] A lane departure suppression device is provided with surrounding information acquisition means that acquires information about the lane the vehicle is traveling in and surrounding information of the vehicle, including oncoming vehicles, and implements lane departure suppression control that can suppress the vehicle's lane departure when the vehicle deviates from the lane acquired by the surrounding information acquisition means or when there is a possibility of deviating from the lane, and calculates the driving trajectory of the vehicle traveling due to steering operation in the direction of lane departure by the vehicle's driver as the first trajectory, the driving trajectory that the vehicle is predicted to travel if the steering state immediately before the steering operation is maintained as the second trajectory, and the driving trajectory of the oncoming vehicle as the third trajectory, and if the second trajectory and the third trajectory interfere, lane departure suppression control is not implemented for the first trajectory. [Selection Diagram] Figure 5

Inventors

  • 二ツ木 友彦

Assignees

  • トヨタ自動車株式会社

Dates

Publication Date
20260508
Application Date
20241022

Claims (5)

  1. A lane departure prevention device comprising surrounding information acquisition means for acquiring information about the vehicle's surroundings, including the lane in which the vehicle is traveling and oncoming vehicles, and which implements lane departure prevention control capable of suppressing lane departure of the vehicle when the vehicle deviates from the lane acquired by the surrounding information acquisition means or is likely to deviate from the lane, A lane departure prevention device characterized in that it calculates the driving trajectory of the vehicle as a first trajectory due to a steering operation by the driver of the vehicle in the direction of departure from the driving lane, the driving trajectory predicted to be traveled by the vehicle if the steering state immediately before the steering operation is maintained is a second trajectory, and the driving trajectory of the oncoming vehicle is a third trajectory, and if the second trajectory and the third trajectory interfere, the lane departure prevention control is not performed for the first trajectory.
  2. A lane departure prevention device according to claim 1, A lane departure prevention device characterized in that, if the second trajectory and the third trajectory do not interfere with each other, the lane departure prevention control is performed for the first trajectory.
  3. A lane departure prevention device according to claim 1, The second trajectory is the region where the vehicle body and the road surface overlap in a bird's-eye view. The third trajectory is the region where the body of the oncoming vehicle and the road surface overlap in a bird's-eye view. A lane departure prevention device characterized in that, when at least a portion of the regions of the second trajectory and the third trajectory overlap, the lane departure prevention control for the first trajectory is not performed.
  4. A lane departure prevention method that acquires information about the vehicle's current lane and surrounding area, including oncoming vehicles, and implements lane departure prevention control that can suppress lane departure of the vehicle when the vehicle deviates from the acquired lane or is likely to deviate from it, A lane departure prevention method characterized by calculating the driving trajectory of the vehicle as a first trajectory due to a steering operation by the driver of the vehicle in the direction of departure from the driving lane, the driving trajectory predicted to be traveled by the vehicle if the steering state immediately before the steering operation is maintained is a second trajectory, and the driving trajectory of the oncoming vehicle is a third trajectory, and if the second trajectory and the third trajectory interfere, the lane departure prevention control is not performed for the first trajectory.
  5. A lane departure prevention device includes surrounding information acquisition means that acquires information about the vehicle's surroundings, including the lane in which the vehicle is traveling and oncoming vehicles, and a computer that implements lane departure prevention control capable of suppressing lane departure of the vehicle when the vehicle deviates from the lane acquired by the surrounding information acquisition means or is likely to deviate from the lane, A program characterized by calculating the driving trajectory of the vehicle as a first trajectory due to a steering operation by the driver of the vehicle in the direction of departure from the driving lane, the driving trajectory predicted to be traveled by the vehicle if the steering state immediately before the steering operation is maintained is a second trajectory, and the driving trajectory of the oncoming vehicle is a third trajectory, and executing a process in which the lane departure suppression control is not performed for the first trajectory if the second trajectory and the third trajectory interfere with each other.

Description

This disclosure relates to a lane departure prevention device, a lane departure prevention method, and a program. For example, Patent Document 1 discloses a technology that recognizes the vehicle's own lane, detects an oncoming vehicle ahead, and prohibits the output of a lane departure warning if the oncoming vehicle is located in the vehicle's lane and the lane width is less than or equal to a set width. Japanese Patent Publication No. 2009-277032 The technology described in Patent Document 1 determines whether or not to disable the lane departure warning based solely on the presence or absence of an oncoming vehicle and the lane width of the driving lane. Therefore, with the technology described in Patent Document 1, if the driver of the vehicle unintentionally deviates from the lane without intending to pass an oncoming vehicle, the lane departure warning may not function properly. For example, suppose your vehicle is traveling on a single-lane road and an oncoming vehicle steers sharply towards the shoulder as you pass it. In such a case, since your vehicle's trajectory and the oncoming vehicle's trajectory do not interfere with each other, your vehicle can maintain its normal driving line without any problems. However, according to the technical criteria described in Patent Document 1, in such a situation, if, for example, the driver of your vehicle inadvertently performs a lane departure maneuver, there is a risk that the lane departure warning system may not function properly, even if the departure maneuver was not an intended evasive maneuver. The technology disclosed herein was developed to solve the above-mentioned problems and aims to effectively improve the accuracy of lane departure prevention control in response to intentional evasive maneuvers by the driver. The technology disclosed herein is A lane departure prevention device comprising surrounding information acquisition means for acquiring information about the vehicle's surroundings, including the lane in which the vehicle is traveling and oncoming vehicles, and which implements lane departure prevention control capable of suppressing lane departure of the vehicle when the vehicle deviates from the lane acquired by the surrounding information acquisition means or is likely to deviate from the lane, The system calculates the following trajectory of the vehicle as a result of the driver of the vehicle steering in the direction of departure from the lane, calling this the first trajectory; the following trajectory is predicted to be the vehicle's trajectory if the steering state immediately before the steering operation is maintained, calling this the second trajectory; and the following trajectory is called the third trajectory of the oncoming vehicle. The system also does not perform the lane departure suppression control for the first trajectory if the second trajectory and the third trajectory interfere with each other. This is a schematic diagram showing the hardware configuration of the vehicle according to this embodiment.This is a schematic diagram showing the software configuration of the control device according to this embodiment.This is a schematic diagram showing a bird's-eye view of the trajectory of the own vehicle and the trajectory of the oncoming vehicle.This is a schematic bird's-eye view illustrating the process for determining avoidance operations according to this embodiment.This flowchart illustrates the routine for the prohibition process of the lane departure prevention control according to this embodiment. The lane departure prevention device, lane departure prevention method, and program according to this embodiment will be described below with reference to the drawings. In the following description, vehicle VH may be referred to as "the vehicle itself" when it is necessary to distinguish it from other vehicles. [Hardware Configuration] Figure 1 is a schematic diagram showing the hardware configuration of the vehicle VH according to this embodiment. The vehicle VH has an ECU (Electronic Control Unit) 10. The ECU 10 includes a CPU (Central Processing Unit) 11, ROM (Read Only Memory) 12, RAM (Random Access Memory) 13, and an interface device 14, etc. The CPU 11 is a processor that executes various programs stored in the ROM 12. The ROM 12 is a non-volatile memory that stores data necessary for the CPU 11 to execute various programs. The RAM 13 is a volatile memory that provides a work area that is expanded when various programs are executed by the CPU 11. The interface device 14 is a communication device for communicating with external devices. The ECU 10 is a central device that provides driver assistance, such as Lane Departure Alert Control (LDA control). Driver assistance encompasses the concept of autonomous driving. The ECU 10 is connected to the drive unit 20, braking unit 21, steering unit 22, internal sensor device 30, external sensor device 40, HMI (Human Machine Interface) 50, etc., in a communication-ena