# US 2014/0156158 A1 · Vehicle driving support control apparatus

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- Number: US 2014/0156158 A1
- Document ID: US20140156158A1
- Status: Published application
- Kind: A1
- Application number: 14/091,197
- Filed: 2013-11-26
- Published: 2014-06-05
- Earliest claimed: 2012-12-03
- Assignees: Fuji Jukogyo Kabushiki Kaisha
- Applicants: Fuji Jukogyo Kabushiki Kaisha
- Inventors: Koji MATSUNO
- Web page: https://patentgrep.com/patent/US20140156158A1

## CPC

- G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)}
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- G01S 13/867: {Combination of radar systems with cameras}
- G01S 13/931: of land vehicles
- G05D 1/0238: {using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93)}
- G05D 1/0242: {using non-visible light signals, e.g. IR or UV signals}
- G05D 1/0246: {using a video camera in combination with image processing means}
- G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)}
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

A vehicle driving support control apparatus receives lane line information given from a first environment recognizer and information on a target three-dimensional object given from a second environment recognizer. The apparatus estimates the visual range of a driver based on the lane line information, and estimates the driving lane based on at least either one of the lane line information and the target three-dimensional object information, and estimates the driving track of the vehicle. Based on the estimated driving lane and driving track, the apparatus estimates a deviation position where the subject vehicle will deviate from the driving lane on the basis of the driving lane and the driving track estimated. If the deviation position is beyond the visual range, the apparatus executes at least either one of notification to the driver and automatic braking in accordance with the possibility of deviation from the driving lane.

## Claims

### Claim 1

A vehicle driving support control apparatus comprising:
a first environment recognizer to detect lane line information on a driving lane in front, on the basis of image information;
a second environment recognizer to detect information on a three-dimensional object by a side of a road of the driving lane in front, on the basis of radio wave information transmitted and received;
a visual range estimator to estimate the visual range of a driver on the basis of the lane line information;
a driving lane estimator to estimate the driving lane on the basis of at least either one of the lane line information and the three-dimensional object information;
a driving track estimator to estimate the driving track of the vehicle;
a deviation position estimator to estimate a deviation position where the vehicle will deviate from the driving lane, on the basis of the driving lane estimated by the driving lane estimator and the driving track estimated by the driving track estimator; and
a lane deviation prevention controller to execute at least either one of notification to the driver and automatic braking in accordance with a possibility of deviation from the driving lane when the deviation position is beyond the visual range.

### Claim 2 (depends on 1)

The vehicle driving support control apparatus according to claim 1, wherein the visual range estimator previously sets, as a threshold, a human visual average contrast value for recognizing the lane line, and estimates, as the visual range of the driver, a distance to a lane line detected with a contrast value higher than the threshold.

### Claim 3 (depends on 1)

The vehicle driving support control apparatus according claim 1, wherein the lane deviation prevention controller notifies the possibility of lane deviation to the driver when the deviation position is beyond the visual range and the deviation position is closer than a predetermined threshold.

### Claim 4 (depends on 2)

The vehicle driving support control apparatus according claim 2, wherein the lane deviation prevention controller notifies the possibility of lane deviation to the driver when the deviation position is beyond the visual range and the deviation position is closer than a predetermined threshold.

### Claim 5 (depends on 1)

The vehicle driving support control apparatus according to claim 1, wherein the lane deviation prevention control unit executes the automatic brake when the deviation position is beyond the visual range and a distance to a position where the vehicle collides with the three-dimensional object by the side of the road is closer than a predetermined threshold.

### Claim 6 (depends on 2)

The vehicle driving support control apparatus according to claim 2, wherein the lane deviation prevention control unit executes the automatic brake when the deviation position is beyond the visual range and a distance to a position where the vehicle collides with the three-dimensional object by the side of the road is closer than a predetermined threshold.

### Claim 7 (depends on 3)

The vehicle driving support control apparatus according to claim 3, wherein the lane deviation prevention control unit executes the automatic brake when the deviation position is beyond the visual range and a distance to a position where the vehicle collides with the three-dimensional object by the side of the road is closer than a predetermined threshold.

### Claim 8 (depends on 4)

The vehicle driving support control apparatus according to claim 4, wherein the lane deviation prevention control unit executes the automatic brake when the deviation position is beyond the visual range and a distance to a position where the vehicle collides with the three-dimensional object by the side of the road is closer than a predetermined threshold.