Driving assistance device
A driving assistance device that includes a processor and a memory and assists driving of a vehicle includes: an external environment information acquisition unit that acquires external environment information of the vehicle; an obstacle detection unit that detects an obstacle in front of the vehicle from the external environment information; a lane detection unit that detects a lane boundary line and a road edge from the external environment information; an alarm unit that issues an alarm or performs steering assist when deviation from the lane boundary line or the road edge is detected; and a state management unit that suppresses the alarm or the steering assist when the obstacle detection unit detects the obstacle.
1 . A driving assistance device that includes a processor and a memory and assists driving of a vehicle, the driving assistance device comprising:
an external environment information acquisition unit that acquires external environment information of the vehicle;
an obstacle detection unit that detects an obstacle in front of the vehicle from the external environment information;
a lane detection unit that detects a lane boundary line and a road edge from the external environment information;
an alarm unit that issues an alarm or performs steering assist when deviation from the lane boundary line or the road edge is detected; and
a state management unit that suppresses the alarm or steering assist by the alarm unit when the obstacle detection unit detects the obstacle, wherein
the alarm unit includes:
a lane deviation prevention alarm unit that issues an alarm or performs steering assist in a case where the vehicle deviates from the lane boundary line,
a road edge deviation prevention alarm unit that issues an alarm or performs steering assist in a case where the vehicle deviates from the road edge or where there is a possibility that the vehicle may deviate from the road edge, and wherein
when the obstacle is detected, the state management unit suppresses the alarm or steering assist of the lane deviation prevention alarm unit, and
the road edge deviation prevention alarm unit determines deviation from the road edge using an own-vehicle rectangle having a size larger than an own-vehicle rectangle used by the lane deviation prevention alarm unit.
2 . The driving assistance device according to claim 1 , wherein
the alarm unit determines whether or not the obstacle can be avoided based on a positional relationship between the obstacle, the lane boundary line, and the road edge, and
when the obstacle can be avoided, the state management unit suppresses the alarm or steering assist of the lane deviation prevention alarm unit and continues the road edge deviation prevention alarm unit.
3 . The driving assistance device according to claim 1 , wherein
when the obstacle is detected in a traveling lane divided by the lane boundary line, the alarm unit determines whether or not the obstacle can be avoided by deviation from a lane boundary line on the road edge side, and
when the obstacle can be avoided, the state management unit suppresses the alarm or steering assist of the lane deviation prevention alarm unit and continues the road edge deviation prevention alarm unit.
4 . The driving assistance device according to claim 1 , further comprising an interface that displays a result of detecting the lane boundary line and the road edge.
5 . The driving assistance device according to claim 1 , further comprising an interface that displays suppression of the alarm or steering assist of the lane deviation prevention alarm unit.
6 . A driving assistance device that includes a processor and a memory and assists driving of a vehicle, the driving assistance device comprising:
an external environment information acquisition unit that acquires external environment information of the vehicle;
a lane detection unit that detects a lane boundary line and a road edge from the external environment information;
a travel route prediction unit that predicts a travel route of the vehicle and calculates a predicted route;
a lane return determination unit that determines that the predicted route temporarily deviates from the lane boundary line;
an alarm unit that issues an alarm or performs steering assist when deviation from the lane boundary line or the road edge is detected; and
a state management unit that suppresses the alarm or steering assist by the alarm unit when the lane return determination unit determines a temporary deviation from the lane boundary line, wherein
the alarm unit includes:
a lane deviation prevention alarm unit that issues an alarm or performs steering assist in a case where the vehicle deviates from the lane boundary line, and
a road edge deviation prevention alarm unit that issues an alarm or performs steering assist in a case where the vehicle deviates from the road edge or where there is a possibility that the vehicle may deviate from the road edge, and wherein
when the temporary deviation from the lane boundary line is determined, the state management unit suppresses the alarm or steering assist of the lane deviation prevention alarm unit, and
the road edge deviation prevention alarm unit determines deviation from the road edge using an own-vehicle rectangle having a size larger than an own-vehicle rectangle used by the lane deviation prevention alarm unit.
7 . The driving assistance device according to claim 6 , wherein
the travel route prediction unit calculates the predicted route when a curve is detected in front of the vehicle, and
the lane return determination unit determines, as a temporary deviation from the lane boundary line, that the vehicle inside a turn on the predicted route returns to a traveling lane after deviating from the lane boundary line.
8 . The driving assistance device according to claim 1 , wherein
while the alarm or steering assist of the lane deviation prevention alarm unit remains suppressed, actively continues performing certain activities, and
the certain activities include: i) adjusting alarm volume or steering assist force, ii) maintaining other active alarm functions, and iii) monitoring predicted trajectory and managing transitions between states.
9 . The driving assistance device according to claim 6 , wherein
while the alarm or steering assist of the lane deviation prevention alarm unit remains suppressed, actively continues performing certain activities, and
the certain activities include: i) adjusting alarm volume or steering assist force, ii) maintaining other active alarm functions, and iii) monitoring predicted trajectory and managing transitions between states.