Device and method for warning of lane deviation detection
In a driving lane deviation detection and warning system, a deviation detection ECU suppress a warning unit to supply a warning when an obstacle placed in a front of a vehicle is detected, and the driver's operation allows the vehicle to deviate from a driving lane. That is, when the driver's operation allows the vehicle to deviate from the driving lane in order to escape any collision with an obstacle, the deviation detection ECU instructs the warning unit to prevent the supply of a warning to the driver. This prevents the warning unit to provide an unnecessary warning to the driver even if the driver intends for the vehicle to deviate from the current driving lane of the vehicle. That is, it is possible to reliably instruct the warning unit to supply the warning to the driver when the vehicle deviates from the current driving lane against the driver's will.
1. A deviation detection and warning device, to be mounted on a vehicle, which detects a risk of the vehicle deviating from a driving lane of the vehicle, and instructs a warning means to supply a warning to a driver of the vehicle, comprising:
lane boundary line detection means that detects a lane boundary line as a boundary of the driving lane, on which the vehicle is running, in image data of an area in a driving direction of the vehicle;
deviation judgment means that detects an approaching speed of the vehicle toward the detected lane boundary line, and judges a probability of the vehicle deviating from the driving lane based on the detected approaching speed;
warning instruction means that instructs a warning means to warn about the possible deviation to the driver of the vehicle when the probability of the vehicle deviating from the driving lane is higher than a predetermined reference value;
obstacle detection means that detects an obstacle which is present in the driving direction of the vehicle;
operation detection means that detects an operation of the driver of the vehicle to deviate from the driving lane; and
suppression means that suppresses the warning instruction means from instructing the warning means to supply a warning to the driver when the obstacle detection means detects the obstacle and the operation detection means detects the operation of the driver of the vehicle to allow the deviation of the vehicle from the driving lane.
2. The deviation detection and warning device according to claim 1 , further comprising:
area detection means that compares a width of a possible driving area including the lane driving line to allow the vehicle to enter with a predetermined reference width, when the vehicle approaches the lane driving line; and
suppression inhibiting means preventing the suppression means from suppressing the warning instruction means to instruct the warning means to supply the warning to the driver when the area detection means detects that the width of the possible driving area is less than the predetermined reference width.
3. The deviation detection and warning device according to claim 2 , wherein the area detection means extracts an obstacle that is present in the area including the lane boundary line from the obstacles detected by the obstacle detection means, and specifies an area from the lane boundary line to the extracted obstacle as the possible driving area.
4. The deviation detection and warning device according to claim 2 , wherein the area detection means specifies, as the possible driving area, an area which does not contain any edge component regarding an obstacle in the area including the lane boundary line in the image data.
5. The deviation detection and warning device according to claim 3 , wherein the area detection means specifies, as the possible driving area, an area which does not contain any edge component regarding an obstacle in the area including the lane boundary line in the image data.
6. A computer program having a set of instructions embodied on a non-transitory computer readable medium to detect a probability of a vehicle deviating from a driving lane of the vehicle, and provide a warning to a driver of the vehicle, wherein the computer program comprising steps of:
detecting a lane boundary line as a boundary of the driving lane, on which the vehicle is running, in image data of an area in a driving direction of the vehicle;
detecting an approaching speed of the vehicle toward the detected lane boundary line, and judging a probability of the vehicle deviating from the driving lane based on the detected approaching speed;
instructing a warning means to warn about the possible deviation to the driver of the vehicle when the probability of the vehicle deviating from the driving lane is higher than a predetermined reference value;
detecting an obstacle which is present in the driving direction of the vehicle;
detecting an operation of the driver of the vehicle to allow the deviation of the vehicle from the driving lane; and
suppressing the instruction to instruct the warning means to supply a warning to the driver of the vehicle when the presence of the obstacle is detected and the operation of the driver of the vehicle to allow the deviation of the vehicle from the driving lane is detected.