JP2010002953A - Lane departure alarm device of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a lane departure alarm device of a vehicle that recognizes the lane of the traveling direction and determines lane departure even when the front face of the vehicle does not match with the vehicle traveling direction, for example, during turning. <P>SOLUTION: When own-vehicle traveling lane LA on which one's own vehicle CA travels is linear, or has a radius smaller than a turn radius R1, a CCD camera 2 is positioned at a standard reference position facing the front face of the own vehicle CA and a traveling boundary lines of both right and left sides are imaged in an imaging region, so that an alarm means can be operated based on the recognized traveling boundary lines La and Lb. When the traveling boundary lines La and Lb turn right, the turn direction is previously recognized based on travel road information. When the vehicle comes into a turn road, the imaging direction C of the CCD camera 2 is rotated correspondingly to the turning direction. Thus, deviation from the imaging region of the traveling boundary lines La and Lb can be prevented, and lane departure determination can be performed certainly. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a lane departure warning device for a vehicle that detects a traveling boundary line on which the host vehicle is traveling by an imaging device and determines whether or not the vehicle deviates from the traveling boundary line. It relates to operation control.

  Conventionally, the front of the host vehicle is imaged by an in-vehicle camera such as a CCD, and the control unit recognizes the traveling lane of the host vehicle by detecting a lane marking such as a white line from the image captured by the in-vehicle camera. A lane departure warning device for a vehicle that issues a warning when the host vehicle deviates from the host vehicle travel lane or is likely to depart soon is known (see, for example, Patent Document 1).

  Further, in Patent Document 2, the lane division line of the traveling lane in which the host vehicle travels is detected by a plurality of in-vehicle cameras, and the curvature of the traveling lane, the vehicle width, and the pitch angle of the road surface are determined based on the detected lane. There have been proposals for calculation and use for vehicle travel control such as lane keeping.

JP 2005-346395 A JP 2005-301892 A

  Normally, in a vehicle lane departure warning device, the closer the departure judgment line is to the inner center line of the host vehicle travel lane, the earlier the lane departure alarm output timing becomes, and the departure judgment line becomes the center of the host vehicle travel lane. The further away from the line, the slower the output timing of the lane departure warning. The departure determination line is set based on a travel boundary line of the host vehicle travel lane imaged by an in-vehicle camera such as a CCD mounted on the vehicle.

In a vehicle lane departure warning device, an in-vehicle camera such as a CCD is fixed in the cabin toward the front of the vehicle, for example, on the roof lower end surface at the center in the vehicle width direction.
On the other hand, in a steering mechanism of a vehicle, a steering operated by a driver and wheels are connected via an interlocking mechanism such as a rack or a pinion. Due to the steering mechanism of the vehicle, at the time of turning, the steering and the wheel are directed in the turning direction first, and the front of the vehicle including the driver is turned in the turning direction later.

  An in-vehicle camera that captures a travel boundary line needs to detect a travel boundary line in the traveling direction, but at the time of turning, particularly at the beginning of turning, the vehicle-mounted camera is not directed in the traveling direction because of the steering mechanism of the vehicle. The boundary line deviates from the imaging area of the in-vehicle camera, and the lane departure determination does not function correctly.

  In other words, the lane departure of the vehicle is likely to occur when the driving state changes such as when turning, but as described above, the lane departure determination is performed because the traveling boundary line cannot be recognized on the steering mechanism. If it cannot function, safety cannot be ensured. In addition, the longer the turning state and the smaller the turning radius, the higher the tendency to deviate from the imaging area of the in-vehicle camera on the travel boundary line.

  An object of the present invention is to provide a lane departure warning device for a vehicle that can recognize the lane in the traveling direction and can determine the lane departure even when the front of the vehicle and the traveling direction of the vehicle do not coincide with each other, such as when turning. is there.

  The lane departure warning device for a vehicle according to the present invention includes a traveling lane recognition unit that recognizes a lane in which the host vehicle travels by detecting a traveling boundary line by an imaging unit that captures the front side of the vehicle, and a traveling direction and a vehicle speed of the vehicle. A course vector detecting means for detecting the vehicle, a deviation judging means for judging whether or not the vehicle deviates from the lane in which the host vehicle is traveling by the travel lane recognition means and the course vector detecting means, and a deviation by the deviation judging means. Alarm means for issuing an alarm when the determination is made.

  The invention according to claim 1 includes a travel path information acquisition unit that acquires travel path information in front of the host vehicle, and an imaging direction control unit that controls an imaging direction of the imaging unit, and is acquired by the travel path information acquisition unit. When the turning radius of the turning circuit ahead of the host vehicle is equal to or less than a predetermined value, the imaging direction of the imaging unit is changed by the imaging direction control unit.

  In the first aspect of the invention, it is possible to obtain in advance a situation where the vehicle front surface and the vehicle traveling direction do not coincide with each other, so-called turning information of the traveling road, from the traveling road information acquisition means. In order to make the imaging direction of the imaging means variable, an imaging area necessary for lane departure determination is secured.

  According to a second aspect of the present invention, in the first aspect of the present invention, the travel lane recognition means has a recognition determination means for determining whether or not a travel lane has been recognized. When the lane is not recognized, the operation of the alarm means is prohibited.

  According to a third aspect of the present invention, in the first or second aspect of the invention, the departure determination means sets a departure determination line inside the detected lane of the travel boundary line, and based on the departure determination line and the travel position of the host vehicle. When the traveling route information acquisition means has a turning circuit ahead of the host vehicle, the departure judgment line outside the turning circuit is referred to as the departure judgment line inside the turning circuit. Is also set inside the lane.

  According to a fourth aspect of the present invention, there is a travel path information acquisition unit that acquires travel path information in front of the host vehicle, and the turning radius of the turning circuit in front of the host vehicle acquired by the travel path information acquisition unit is equal to or less than a predetermined value. Is characterized by stopping the determination by the departure determination means.

  In the invention of claim 4, it is possible to obtain in advance a situation in which the vehicle front surface and the vehicle traveling direction do not coincide with each other, so-called turning information, and based on this information, prohibit the operation of the alarm means. Yes.

  According to the vehicle lane departure warning device of claim 1, the vehicle has a road information acquisition unit that acquires road information in front of the host vehicle, and an imaging direction control unit that changes an imaging direction of the imaging unit. When the turning radius of the turning circuit in front of the host vehicle acquired by the road information acquisition means is less than a predetermined value, the imaging direction control means changes the imaging direction of the imaging means. Even when the vehicle traveling direction does not match, the lane in the traveling direction can be recognized, and lane departure determination control can be performed.

  In other words, since the imaging direction of the imaging means is controlled to the traveling direction of the vehicle based on the turning information acquired in advance, an imaging area can be secured even when the turning radius is small, and the lane is reliably recognized by the imaging means. At the same time, the accuracy of deviation determination control can be improved.

  According to the vehicle lane departure warning device of the second aspect, the travel lane recognition means has a recognition determination means for determining whether or not the travel lane is recognized, and the recognition determination means travels when the imaging direction control means is operated. When the lane is not recognized, the operation of the warning means is prohibited, so that it is possible for the driver to positively recognize the non-operation of the warning means and the departure determination control is functioning normally. The situation where a lane departure occurs can be prevented.

  According to the vehicle lane departure warning device of claim 3, the departure determination means sets a departure determination line inside the detected travel boundary line, and the lane based on the departure determination line and the travel position of the host vehicle. When there is a turning circuit ahead of the host vehicle by the travel route information acquisition means, the departure determination line outside the turning circuit is set to be more lane than the departure determination line inside the turning circuit. Since it is set on the inner side, the alarm operation outside the turning circuit having a high possibility of departure can be operated earlier than the inside of the turning circuit, and reliable departure can be avoided.

  According to the vehicle lane departure warning device of claim 4, the vehicle has a road information acquisition means for acquiring the road information in front of the host vehicle, and the turning of the turning circuit in front of the host vehicle acquired by the road information acquisition means. When the radius is equal to or less than the predetermined value, the operation of the alarm means is prohibited, so that it is possible to avoid the state where the alarm means or the deviation determination means are operating even though the lane detection by the imaging means is not performed, It is possible to make the person actively recognize the inoperative state of the alarm means.

  The lane departure warning device for a vehicle according to the present invention includes a traveling lane recognition unit that recognizes a lane in which the host vehicle travels by detecting a traveling boundary line by an imaging unit that captures the front side of the vehicle, and a traveling direction and a vehicle speed of the vehicle. A course vector detecting means for detecting the vehicle, a deviation judging means for judging whether or not the vehicle deviates from the lane in which the host vehicle is traveling by the travel lane recognition means and the course vector detecting means, and a deviation by the deviation judging means. And alarm means for issuing an alarm when the determination is made.

A first embodiment will be described with reference to FIGS.
As shown in FIGS. 1 and 2, a lane departure warning device 1 equipped on a vehicle CA (own vehicle CA) includes a CCD camera 2, a millimeter wave radar 3, a navigation device 4, an ECU 5, a speaker 6, a buzzer 7, and a lamp. 8, a display 9 and a CCD camera rotating device 10 are provided, and these devices 2 to 10 are electrically connected as shown in FIG.

The navigation device 4 as the travel route information acquisition means can acquire travel route information such as a turning radius and a gradient in front of the host vehicle, in addition to displaying the route to the destination, and further, an accident such as GPS, or Various information such as traffic jam information may be acquired. Further, the ECU 5 is configured to receive a vehicle speed signal and a steering angle signal from the vehicle speed sensor 11 and the steering angle sensor 12.
Note that the lane departure warning device can be omitted except for at least one of the speaker 6, the buzzer 7, the lamp 8, and the display 9.

  As shown in FIGS. 1 to 3, the CCD camera 2 and the ECU 5 have traveling lane recognition means for recognizing the traveling lane of the host vehicle CA (hereinafter referred to as host vehicle traveling lane LA) in the present invention, and the host vehicle CA. A path vector detection means comprising a vehicle speed sensor 11 for detecting the vehicle speed and a rudder angle sensor 12 for detecting the traveling direction, and travel boundary lines on both sides in the width direction of the recognized host vehicle travel lane LA (hereinafter, the right side is La, the left side , Lb), a departure determination line m, and a departure determination means for determining whether or not the vehicle CA departs from the departure determination line m, an ECU 5, a speaker 6, a buzzer 7, and a lamp 8. At least one of the displays 9 corresponds to a departure warning unit that outputs a warning when an affirmative determination is made by the departure determination unit.

  The CCD camera 2 is an imaging means (on-vehicle camera) that images the front of the host vehicle CA, and is attached to the upper rear side of the windshield of the host vehicle CA, for example. The CCD camera rotating device 10 fixed to the lower rear surface of the upper rear roof is supported so as to be vertically and horizontally rotatable, and can change the imaging direction of the CCD camera 2 in accordance with an instruction from the ECU 5.

  The CCD camera 2 images a forward view including travel boundary lines La and Lb such as white lines that divide the host vehicle travel lane LA ahead of the host vehicle CA, and a plurality of parallel lanes L including the host vehicle travel lane LA. Is present, the image information taken by the CCD camera 2 is sent to the ECU 5 after taking images of travel boundary lines Lc, Ld such as white lines that divide a plurality of lanes L ahead of the host vehicle CA. .

  The millimeter wave radar 3 is a radar unit that detects the other vehicle CB in front of the host vehicle CA and can detect the relative speed between the detected other vehicle CB and the host vehicle CA. For example, with respect to the other vehicle CB that is attached to the front bumper of the own vehicle CA toward the front on the rear side of the emblem or the like and specifically travels in the own vehicle traveling lane LA ahead of the own vehicle CA, the own vehicle When there are a plurality of parallel lanes L including the traveling lane LA, the relative position of the other vehicle CB with respect to the own vehicle CA with respect to each other vehicle CB traveling in any of the plurality of lanes L ahead of the own vehicle CA The relative speed can be detected, and information detected by the millimeter wave radar 3 is supplied to the ECU 5. Various radars having the above functions can be employed instead of the millimeter wave radar 3.

  As shown in FIG. 2, the ECU 5 is a control unit having a computer and an input / output interface. The ECU 5 analyzes an image captured by the CCD camera 2 and detects a travel boundary line La, Lb... From the image. A processing unit 12, a travel lane recognition unit 13 that recognizes the host vehicle travel lane LA based on the travel boundary lines La, Lb,... A course vector detection unit 14 that detects a vehicle speed and a steering angle, and a departure determination line m. And a departure determination unit 15 that determines whether or not the host vehicle CA departs from the departure determination line m. The travel lane recognition unit 13 stores a recognition determination unit 13a that determines whether or not a travel lane of the host vehicle CA described later, so-called travel boundary lines La and Lb, has been recognized. Each of the functional units is mainly configured by a control program stored in advance in a ROM of a computer of the ECU 5.

  Further, the ECU 5 calculates a distance for calculating a distance Lx (Lxa, Lxb) from each of the travel boundary lines La, Lb on the left and right sides of the host vehicle CA detected by the travel lane recognition unit 13 to the vehicle body center of the host vehicle CA. And an imaging direction control unit 17 that operates the CCD camera 2 in the vertical and horizontal directions by rotating the CCD camera rotating device 10. The CCD camera rotation device 10 and the imaging direction control unit 17 constitute imaging direction control means.

  The travel lane recognition unit 13 detects the number of lanes in one side area from the travel boundary lines La, Lb... Detected by the image processing unit 12, and the opposite lane is adjacent to the one side area where the host vehicle CA travels. In some cases, when the median strip X can be identified, the traveling boundary line of one side region adjacent to the median strip X is detected as the median strip boundary line Ld.

  Further, when the image processing unit 12 cannot detect the median band boundary line Ld in the one side area, the opposite lane is recognized from the relative position and relative speed of the other vehicle CB with respect to the host vehicle CA detected by the millimeter wave radar 3. The traveling boundary line closest to the host vehicle CA in the oncoming lane is estimated to be the central separation zone X.

  Next, a lane departure warning process executed by the ECU 5 according to the first embodiment will be described. Si (i = 1, 2,...) Represents each step. A program for executing the lane departure warning process is stored in a ROM of a computer of the ECU 5 or the like.

  As shown in the flowchart of FIG. 4, the lane departure warning process is started when the ignition switch of the vehicle CA is turned on. First, the image processing unit 12 uses the CCD camera 2 to drive the travel boundary lines La on both sides of the host vehicle travel lane LA. , Lb, and various travel route information such as a turning radius and a gradient in the traveling direction of the host vehicle CA are acquired from the navigation device 4 (S1). In detecting the travel boundary lines La and Lb, the imaging area of the CCD camera 2 is set to a reference position in front of the front.

It is determined whether a curve exists ahead of the traveling direction of the host vehicle CA based on the various travel route information acquired in S1 (S2). If there is no curve, a lane departure determination is performed (S4).
In this lane departure determination, a travel boundary calculated by the distance calculator 16, for example, a distance Lxa from La to the center of the vehicle body of the host vehicle CA is read. Next, based on the vehicle speed and the steering angle, the rate of change in the vehicle width direction position of the host vehicle CA is calculated, and from the current time, the left front wheel or the right front wheel of the host vehicle CA is a predetermined distance lane from the travel boundary line La. The time to reach the deviation determination line m set inside is calculated (see FIG. 3). Hereinafter, the time until reaching the departure determination line m is denoted as TTLC.

When it is determined that the TTLC is shorter than the predetermined time T ₀ which is a threshold value, the departure determination unit 15 transmits a warning instruction signal to the departure warning means because the possibility of departure is high (S4), and activates the warning means. A warning is given to the driver (S5). If it is determined that TTLC is longer than the predetermined time T ₀ , it is determined that there is no lane departure at present and the process returns. Here, the predetermined time T ₀ is set to a time that can avoid a deviation when the driver performs a steering wheel operation after the alarm is generated, and is stored in the ROM of the ECU 5 in advance. The predetermined time T ₀ is corrected according to the vehicle speed and the road surface friction coefficient μ, and is set to be longer as the vehicle speed is higher and shorter as the road surface friction coefficient μ is higher. The same processing is performed for the lane departure determination with respect to the travel boundary line Lb.

  As a result of the determination in S2, if there is a curve in the traveling direction of the host vehicle CA, the process proceeds to S3 to determine whether the turning radius R of the curve is less than R1. When the turning radius R is equal to or greater than R1, the curve is a gentle curve, and the traveling boundary lines La and Lb of the host vehicle traveling lane LA do not deviate from the imaging region of the CCD camera 2 even when traveling in the current traveling state. Transition to the above-described lane departure determination. The value of R1 is set in advance from the relationship between the imaging area of the CCD camera 2, the turning radius, and the vehicle speed, and is stored in the ROM of the ECU 5. It is also possible to set a reference value in advance based on the imaging area of the CCD camera 2 and the turning radius, and calculate according to the vehicle speed.

  If the turning radius R of the curve is less than R1, R2 set to be smaller than R1 is compared with the turning radius R in the traveling direction (S6). If the turning radius R is less than R2, the alarm operation is canceled. (Stop) (S12). The condition of R2 is the value of the turning radius when it is better to use the lane from the inside to the outside for the sake of traveling safety such as a hairpin curve on a mountain road. Note that due to mechanical limitations of the CCD camera rotation device 10, even if the CCD camera 2 is rotated in the turning direction to the rotation limit, the vehicle lane does not enter the imaging area, or the vehicle speed and the image processing speed In view of the above relationship, it is necessary to set the range in which imaging and image recognition can be performed reliably.

  As a result of the determination in S6, the turning radius R is equal to or greater than R2, that is, the so-called traveling state is a state in which the turning radius R needs to perform lane departure control (greater than R2). Is out of the imaging area of the CCD camera 2 (less than R1), the process proceeds to S7 to determine the turning direction.

  It is determined whether or not the vehicle is a right curve based on the travel route information input from the navigation device 4 (S7). If the curve is a right curve, the imaging direction control unit 17 rotates the CCD camera rotation device 10 to the right (S8). If it is a left curve, the imaging direction control unit 17 rotates the CCD camera rotation device 10 to the left (S9). The left and right turning angles are set in advance so that a traveling lane having a turning radius between R1 and R2 is imaged at the center position of the imaging region. It is also possible to prepare a table of the turning radius R and the turning angle of the CCD camera turning device 10 in advance, and to rotate the turning angle corresponding to the turning radius R based on the traveling path information. .

  After the rotation of the CCD camera 2 is completed, it is determined whether or not the travel lanes of the host vehicle CA, so-called travel boundary lines La and Lb, are recognized by the recognition determination unit 13a in the travel lane recognition unit 13 (S10). In this embodiment, it is determined whether or not the distance between the both-side travel boundary lines La and Lb is in the range of 3 to 3.5 m in consideration of the standard lane width. When at least one of the both-side travel boundary lines La and Lb cannot be recognized, it is determined that the lane departure determination is impossible, and the alarm operation is canceled (stopped) (S12).

If both the traveling boundary lines La and Lb are recognized as a result of the determination in S10, the process proceeds to S11, and the deviation determination line m outside the curve, that is, the deviation determination line m outside the turn is the lane from the deviation determination line m inside the turn. Set to the inner (center) side. This is because when the host vehicle CA turns, a centrifugal force is applied to the vehicle body on the outside of the turn, so that the possibility of departure from the lane is increased and the warning means is activated earlier than on the inside of the turn. .
After setting the departure determination line m for the left and right travel boundary lines La and Lb, the process proceeds to S4, and the processing after the lane departure determination step (S4) described above is performed.

  The operation and effect of the present embodiment will be described with reference to FIG. For the sake of convenience, it is assumed that the host vehicle CA is traveling in one lane LA on one side, the center line is indicated by X, and the axis in the imaging direction of the CCD camera 2 is indicated by C.

When the vehicle lane LA in which the vehicle CA is traveling is a straight line or less than the turning radius R1,
The CCD camera 2 is a reference position facing directly in front of the host vehicle CA, and the left and right traveling boundary lines La and Lb are imaged in the imaging area. In this case, a departure determination line m that is equal to each other is set based on the recognized travel boundary lines La and Lb, and after calculating TTLC, it is compared with the determination threshold value T _0, and there is a situation where there is a possibility of lane departure or departure. If it is determined, the alarm means is activated to ensure driving safety.

  As described above, when the host vehicle travel lane LA is a straight line or travels less than the turning radius R1, the travel boundary lines La and Lb are located in the image capture area of the CCD camera 2 in the left and right imaging ranges. The left and right pivoting operation of 2 is not performed. Note that when the vehicle speed is high, the imaging area is positioned further forward than the imaging area at the reference position, so that the imaging direction of the CCD camera 2 can be increased. In addition, when the host vehicle travel lane is an uphill lane according to the travel route information, the imaging direction of the CCD camera 2 can be increased in accordance with the uphill slope.

Next, the turning radius R of the curve ahead in the traveling direction is in a state where it is necessary to perform lane departure control (R2 or more), and when the CCD camera 2 is at the reference position, the traveling lane of the host vehicle is out of the imaging area of the CCD camera 2 The case of (less than R1) will be described.
As shown in FIG. 5, when the traveling boundary lines La and Lb are turning right, the traveling boundary lines La and Lb do not fit in the imaging area in the CCD camera 2 facing the reference position. The setting of the deviation determination line m by 15 and the deviation determination cannot be performed accurately.

  Accordingly, when the host vehicle CA enters a curve, the turning direction is detected based on the traveling road information, and the imaging direction C of the CCD camera 2 is rotated in the turning direction before the curve, so that the traveling boundary lines La and Lb Deviation from the imaging area can be prevented. In this embodiment, the lane departure control is performed by recognizing the both-side travel boundary lines La and Lb, but the other-side travel boundary line that cannot be recognized even if only the one-side travel boundary line La or Lb is recognized. It is also possible to perform lane departure control by estimating based on the recognized one-side travel boundary line. Further, by raising and lowering the imaging direction C of the CCD camera 2 in the vertical direction in accordance with the gradient of the traveling road and the vehicle speed described above, a better imaging area can be obtained.

  In particular, in this embodiment, the departure determination line m2 outside the turn is set on the lane inner side than the departure determination line m1 inside the turn. As a result, it is possible to make the warning operation timing outside the turn highly likely to deviate from the lane earlier, and it is possible to further ensure safety. As for the separation distance from the deviation determination line m2, the so-called travel boundary line Lb, it is preferable from the viewpoint of traveling safety that the separation distance is larger as the turning radius is smaller and the vehicle speed is higher.

  When the turning radius R is less than R2, it is better to use the so-called travel safety upper lane from the inside to the outside, the operation of the alarm means is canceled (stopped), so the driver is bothered by an unnecessary alarm operation. Nothing will happen. Furthermore, even when the travel boundary lines La and Lb cannot be recognized or when a travel boundary line of another lane is recognized, the operation of the warning means is canceled (stopped), so that the driver can normally perform the lane departure control. It is possible to avoid a situation where the vehicle is deviating from the lane even though it is recognized as operating.

In this embodiment, the operation of the warning means is canceled (stopped) at the stage before the lane departure control is performed. However, after the lane departure control is performed, only the operation of the warning means can be canceled. .
Furthermore, it is preferable to notify the driver about the cancellation of the operation of the warning means by any one of the speaker 6, the buzzer 7, the lamp 8, and the display 9.

Next, a modification in which the above embodiment is partially changed will be described.
1] In the above-described embodiment, the example in which the TTLC is calculated based on the departure determination line m has been described, but it is also possible to calculate the TTLC based on the travel boundary line without setting the departure determination line m. . Further, the departure determination can be performed based on the departure determination line m or the distance between the travel boundary line and the host vehicle without using TTLC, and can be used as a simple process.

2) In the above-described embodiment, an example in which one CCD camera is installed has been described. However, the distance between the lane and the relative speed of the vehicle ahead is detected while the traveling boundary line is detected by each CCD camera. It is possible to detect and omit the millimeter wave radar.

  In addition, those skilled in the art can implement the present invention by adding various modifications without departing from the spirit of the present invention, and the present invention includes such modifications.

It is a perspective view of the front part of a car. It is a block diagram of a lane departure warning device. It is a top view which shows the specific example of a road. It is a flowchart of the lane departure warning process which concerns on an Example. It is explanatory drawing of the lane departure warning process which concerns on an Example.

Explanation of symbols

CA own vehicle CB other vehicle L lane LA own vehicle travel lane La, Lb travel boundary line m, m1, m2 departure judgment line 1 lane departure warning device 2 CCD camera 4 navigation device 5 ECU
6 Speaker 7 Buzzer 8 Lamp 9 Display 10 CCD Camera Turning Device 13 Traveling Lane Recognition Unit 13a Recognition Determination Unit 14 Path Vector Detection Unit 15 Deviation Determination Unit 16 Distance Calculation Unit 17 Imaging Direction Control Unit

Claims (4)

A travel lane recognition means for recognizing a lane in which the host vehicle travels by detecting a travel boundary line by an imaging means for capturing an image of the front of the vehicle; a course vector detection means for detecting a traveling direction and a vehicle speed of the vehicle; A vehicle having departure determining means for determining whether or not the vehicle deviates from the lane in which the host vehicle is traveling by means of the lane recognition means and the route vector detecting means, and alarm means for giving an alarm when the departure determination is made by the departure determining means In the lane departure warning device of
Traveling road information acquisition means for acquiring traveling road information ahead of the host vehicle;
Imaging direction control means for making the imaging direction of the imaging means variable,
A vehicle lane departure characterized by changing the imaging direction of the imaging means by the imaging direction control means when the turning radius of the turning circuit in front of the host vehicle acquired by the travel path information acquisition means is less than a predetermined value Alarm device. The travel lane recognition means includes recognition determination means for determining whether or not a travel lane is recognized,
2. The vehicle lane departure warning device according to claim 1, wherein when the driving direction is not recognized by the recognition determination unit when the imaging direction control unit is operated, the operation of the warning unit is prohibited. The departure determination means sets a departure determination line inside the lane of the detected travel boundary line, and determines whether or not to depart from the lane based on the departure determination line and the travel position of the host vehicle. ,
The departure judgment line outside the turning circuit is set inside the lane with respect to the departure judgment line inside the turning circuit when a turning circuit exists in front of the host vehicle by the travel route information acquisition means. The vehicle lane departure warning device according to 2. A travel lane recognition means for recognizing a lane in which the host vehicle travels by detecting a travel boundary line by an imaging means for capturing an image of the front of the vehicle; a course vector detection means for detecting a traveling direction and a vehicle speed of the vehicle; A vehicle having departure determining means for determining whether or not the vehicle deviates from the lane in which the host vehicle is traveling by means of the lane recognition means and the route vector detecting means, and alarm means for giving an alarm when the departure determination is made by the departure determining means In the lane departure warning device of
Having travel path information acquisition means for acquiring travel path information in front of the host vehicle;
A lane departure warning device for a vehicle, wherein when the turning radius of the turning circuit in front of the host vehicle acquired by the travel path information acquisition unit is less than a predetermined value, the determination by the departure determination unit is stopped.