Driving assistance device

• US 9,643,601 B2
• Filed: 11/22/2013
• Issued: 05/09/2017
• Est. Priority Date: 11/27/2012
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Morimoto, Akira, Fukata, Osamu, Hayakawa, Yasuhisa, Oiki, Daisuke, Tanaka, Daisuke
• Primary Examiner(s): Shaawat, Mussa A
• Assistant Examiner(s): ODEH, NADEEM N
• Application Number:
  US14/439,551
• Publication Number:
  US 20150258988A1
• Time in Patent Office: 1,264 Days
• Field of Search: 701 70
• CPC Class Codes: B60K 28/10 responsive to conditions relating to the vehicle
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/42 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/14 indicating individual free spaces in parking areas
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A driving assistance device improves the accuracy of driving assistance for parking. A traveling controller detects a line positioned on a road surface from a captured image captured by a camera. A parking frame is extracted from the detected line and acceleration suppression control of a vehicle is executed based on the extracted parking frame. At this time, the acceleration suppression control is cancelled if a crossing is detected based on the captured image.

Claims

1. A driving assistance device comprising:

an acceleration operation amount detection unit configured to detect an acceleration operation amount of an acceleration operator operated by a driver to instruct acceleration;

a driving force control unit configured to generate the acceleration depending on the acceleration operation amount detected by the acceleration operation amount detection unit in a host vehicle;

an imaging unit configured to acquire a captured image obtained by capturing an image of a periphery of the host vehicle;

a line detection unit configured to detect a line positioned on a road surface from the captured image;

a railway crossing detection unit configured to detect a railway crossing which crosses railway lines based on the captured image;

a parking frame extraction unit configured to extract a parking frame which is estimated as a line in a direction along a front-back direction of the host vehicle when the host vehicle is parked, based on the line detected by the line detection unit; and

an acceleration suppression control unit configured to suppress the acceleration when the parking frame extraction unit extracts the parking frame and the railway crossing is not detected in the captured image, and to not suppress the acceleration regardless of whether the parking frame extraction unit extracts the parking frame or not when the parking frame extraction unit extracts the parking frame and the railway crossing is detected in the captured image.

2. The driving assistance device according to claim 1, wherein the line detection unit detects the line positioned on the road surface based on an overhead image obtained by overhead-view-converting the captured image.

3. The driving assistance device according to claim 1, wherein:

the railway crossing detection unit detects a crossing related display line, which is a line displayed at a crossing position, among a plurality of lines detected by the line detection unit to detect the railway crossing, and

the parking frame extraction unit extracts a parking frame based on a line other than the line detected as the crossing related display line by the railway crossing detection unit among the lines detected by the line detection unit.

4. The driving assistance device according to claim 3,

wherein the railway crossing detection unit detects the crossing related display line based on an overhead image obtained by overhead-view-converting the captured image.

5. The driving assistance device according to claim 3, further comprising:

an interpolation processing unit configured to regard two adjacent lines discontinued by a discontinuous length within a preset interpolation distance as one line, the two adjacent lines being positioned along a single virtual line,

wherein, when two adjacent lines discontinued by a discontinuous length greater than the interpolation distance but less than a maximum interpolation length are detected, the railway crossing detection unit determines whether or not there is a line which is paired with one of the two detected adjacent lines in a line width direction of the one of the two detected adjacent lines, and when there is the paired line, and when the one of the two detected adjacent lines and the paired line have the same length and a discontinuous portion on the one of the two detected adjacent lines side and a discontinued portion on the paired line have the same discontinuous length, the railway crossing detection unit detects the one of the two adjacent lines as the crossing related display line.