Driving support apparatus

• US 9,852,635 B2
• Filed: 10/30/2014
• Issued: 12/26/2017
• Est. Priority Date: 11/27/2013
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Fukuda, Katsuyuki, Kawashima, Takeshi, Hatoh, Takeshi, Takemori, Daisuke, Konishi, Toshiyuki
• Primary Examiner(s): Lieu, Julie
• Application Number:
  US15/038,490
• Publication Number:
  US 20160300491A1
• Time in Patent Office: 1,153 Days
• Field of Search: None
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: G06T 11/60 Editing figures and text; Combining figures or text
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A driving support apparatus includes an image acquisition that acquires a captured image, a calculator that calculates distance and relative speed between a subject vehicle and a following vehicle, and distances and relative speeds between following vehicles; an evaluator that evaluates a degree of risk caused when the subject vehicle changes a lane to the adjacent lane with respect to the following vehicles on a basis of the distances and the relative speeds; and a display controller that creates support information on the degree of risk associated with a lane change in association with road sections based on positions at which the following vehicles are present, and displays a support image in which a created support information is superimposed on the captured image at a corresponding position on the display portion.

Claims

1. A driving support apparatus that is communicably connected to an imaging portion that images an adjacent lane on a rear side of a subject vehicle, a situation acquisition that acquires information on whether a plurality of following vehicles travelling in the adjacent lane on the rear side of the subject vehicle are present, or not, and information on positions of the plurality of following vehicles, and a display portion that displays an image, the driving support apparatus comprising:

an image acquisition that acquires a captured image captured by the imaging portion;

a calculator that calculates distance and relative speed between the subject vehicle and a following vehicle, and distances and relative speeds between the following vehicles, on a basis of the information acquired by the situation acquisition;

an evaluator that evaluates a degree of risk caused when the subject vehicle changes a lane to the adjacent lane with respect to the following vehicles on a basis of, calculated by the calculator, the distance and relative speed between the subject vehicle and the following vehicle, and the distances and the relative speeds between the following vehicles; and

a display controller that

creates support information on the degree of risk associated with a lane change in association with road sections based on positions at which the following vehicles are present on a basis of an evaluation result of the degree of risk by the evaluator, and

displays a support image in which a created support information is superimposed on the captured image at a corresponding position on the display portion.

2. The driving support apparatus according to claim 1, wherein:

the display controller creates the support information corresponding to the road sections immediately before and immediately after a position at which each of the following vehicles is present; and

the display controller displays the support image in which the created support information is superimposed on the road sections immediately before and immediately after each of the following vehicles, which are reflected on the captured image.

3. The driving support apparatus according to claim 1, wherein:

the display controller creates the support information corresponding to a road section in a middle region of two continuous following vehicles; and

the display controller displays the support image in which the created support information is superimposed on a position of the road section in the middle region of the two continuous following vehicles, which is reflected on the captured image.

4. The driving support apparatus according to claim 1, wherein:

the display controller displays, as the support information, the support image in which a design of a mode that is capable of discriminating the degree of risk associated with the lane change is superimposed on the captured image.

5. The driving support apparatus according to claim 4, wherein:

when a white line distinguishing lanes from each other is not detected on a road surface,

the display controller displays a region having a predetermined size or a line segment having a predetermined length as the support information.

6. The driving support apparatus according to claim 5, wherein:

the region having the predetermined size or the line segment having the predetermined length is defined by a line segment obtained by plotting average appearance of the adjacent lane displayed on the captured image.

7. The driving support apparatus according to claim 5, wherein:

the region having the predetermined size or the line segment having the predetermined length is defined by a width of the following vehicles travelling in the adjacent lane displayed on the captured image.

8. The driving support apparatus according to claim 4, wherein:

the display controller creates the support information changed in at least one of a color, a pattern, and a transparency of the design of the support information according to the degree of risk associated with the lane change; and

the display controller draws the support information in a region of the captured image except for a region overlapping with the following vehicles.

9. The driving support apparatus according to claim 4, wherein:

the display controller creates the support information in which a line segment changed in at least one of a color, a thickness, and a pattern according to the degree of risk associated with the lane change is drawn along a road surface in the captured image; and

the display controller draws the line segment in a region of the captured image except for regions overlapping with the following vehicles.

10. The driving support apparatus according to claim 4, wherein:

the display controller creates the support information in which a line segment changed in at least one of a color, a thickness, and a pattern according to the degree of risk associated with the lane change is drawn along a white line separating lanes on the road surface in the captured image; and

the display controller draws the line segment in a region of the captured image except for regions overlapping with the following vehicles.

11. The driving support apparatus according to claim 1, further comprising:

an operation determiner that determines whether an operation state of a direction indicator mounted to the subject vehicle; and

a warning portion that outputs a warning sound corresponding to the degree of risk evaluated by the evaluator to a predetermined sound output portion when the operation determiner determines that the direction indicator operates.

12. The driving support apparatus according to claim 1, further comprising:

an operation determiner that determines whether an operation state of a direction indicator mounted to the subject vehicle,

wherein;

the display controller highlights a display mode of the support information when the operation determiner determines that the direction indicator operates.