Vehicle driving support control apparatus

• US 9,223,311 B2
• Filed: 11/26/2013
• Issued: 12/29/2015
• Est. Priority Date: 12/03/2012
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: Matsuno, Koji
• Primary Examiner(s): Algahaim, Helal A
• Assistant Examiner(s): Hilgendorf, Dale W
• Application Number:
  US14/091,197
• Publication Number:
  US 20140156158A1
• Time in Patent Office: 763 Days
• Field of Search: 701/23, 701/26, 701/28, 701/70
• US Class Current: 1/1
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A vehicle driving support control apparatus receives lane line information given from a first environment recognizer and information on a target three-dimensional object given from a second environment recognizer. The apparatus estimates the visual range of a driver based on the lane line information, and estimates the driving lane based on at least either one of the lane line information and the target three-dimensional object information, and estimates the driving track of the vehicle. Based on the estimated driving lane and driving track, the apparatus estimates a deviation position where the subject vehicle will deviate from the driving lane on the basis of the driving lane and the driving track estimated. If the deviation position is beyond the visual range, the apparatus executes at least either one of notification to the driver and automatic braking in accordance with the possibility of deviation from the driving lane.

Claims

1. A driving support control apparatus for a vehicle, comprising:

a first environment recognizer to obtain lane line information on a lane line defining a driving lane in which the vehicle travels, on the basis of an image in front of the vehicle;

a second environment recognizer to obtain information on a three-dimensional object along the driving lane, on the basis of a radio wave transmitted and received from an area in front of the vehicle;

a visual range estimator to estimate a visual range of a driver on the basis of the lane line information, the visual range indicating a farthest distance of a recognized lane line in front of the vehicle;

a driving lane estimator to estimate the driving lane on the basis of at least either one of the lane line information and the three-dimensional object information;

a driving track estimator to estimate the driving track of the vehicle;

a deviation position estimator to estimate a deviation position where the vehicle will deviate from the driving lane, on the basis of the driving lane estimated by the driving lane estimator and the driving track estimated by the driving track estimator; and

a lane deviation prevention controller to execute at least either one of notification to the driver and automatic braking in accordance with a possibility of deviation from the driving lane when the deviation position is beyond the visual range.

2. The vehicle driving support control apparatus according to claim 1, wherein the visual range estimator previously sets, as a first threshold, a human visual average contrast value for recognizing the lane line, and estimates, as the visual range of the driver, a distance to a lane line detected with a contrast value higher than the first threshold.

3. The vehicle driving support control apparatus according claim 2, wherein the lane deviation prevention controller notifies the possibility of lane deviation to the driver when the deviation position is beyond the visual range and the deviation position is closer than a second threshold.

4. The vehicle driving support control apparatus according to claim 3, wherein the lane deviation prevention controller executes the automatic brake when the deviation position is beyond the visual range and a distance to a position where the vehicle collides with the three-dimensional object by the side of the road is closer than a third threshold.

5. The vehicle driving support control apparatus according to claim 2, wherein the lane deviation prevention controller executes the automatic brake when the deviation position is beyond the visual range and a distance to a position where the vehicle collides with the three-dimensional object by the side of the road is closer than a second threshold.

6. The vehicle driving support control apparatus according claim 1, wherein the lane deviation prevention controller notifies the possibility of lane deviation to the driver when the deviation position is beyond the visual range and the deviation position is closer than a first threshold.

7. The vehicle driving support control apparatus according to claim 6, wherein the lane deviation prevention controller executes the automatic brake when the deviation position is beyond the visual range and a distance to a position where the vehicle collides with the three-dimensional object by the side of the road is closer than a second threshold.

8. The vehicle driving support control apparatus according to claim 1, wherein the lane deviation prevention controller executes the automatic brake when the deviation position is beyond the visual range and a distance to a position where the vehicle collides with the three-dimensional object by the side of the road is closer than a second threshold.

9. A vehicle driving support control apparatus comprising:

a first environment recognizer to detect lane line information on a driving lane in front, on the basis of image information;

a second environment recognizer to detect information on a three-dimensional object by a side of a road of the driving lane in front, on the basis of radio wave information transmitted and received;

a visual range estimator to estimate a visual range of a driver on the basis of the lane line information;

a driving lane estimator to estimate the driving lane on the basis of at least either one of the lane line information and the three-dimensional object information;

a driving track estimator to estimate the driving track of the vehicle;

a deviation position estimator to estimate a deviation position where the vehicle will deviate from the driving lane, on the basis of the driving lane estimated by the driving lane estimator and the driving track estimated by the driving track estimator; and

a lane deviation prevention controller to execute at least either one of notification to the driver and automatic braking in accordance with a possibility of deviation from the driving lane when the deviation position is beyond the visual range, wherein

the visual range estimator previously sets, as a first threshold, a human visual average contrast value for recognizing the lane line, and estimates, as the visual range of the driver, a distance to a lane line detected with a contrast value higher than the first threshold.

10. The vehicle driving support control apparatus according claim 9, wherein the lane deviation prevention controller notifies the possibility of lane deviation to the driver when the deviation position is beyond the visual range and the deviation position is closer than a second threshold.

11. The vehicle driving support control apparatus according to claim 10, wherein the lane deviation prevention controller executes the automatic brake when the deviation position is beyond the visual range and a distance to a position where the vehicle collides with the three-dimensional object by the side of the road is closer than a third threshold.

12. The vehicle driving support control apparatus according to claim 9, wherein the lane deviation prevention controller executes the automatic brake when the deviation position is beyond the visual range and a distance to a position where the vehicle collides with the three-dimensional object by the side of the road is closer than a second threshold.