Abstract:
Disclosed are a driving support device, a driving support method, and a program, which are capable of relieving driver&#39;s concern by making it possible to easily identify the travelling position of a vehicle in a lane. Specifically disclosed is a driving support device ( 100 ) which is provided with: a lane detection unit ( 120 ) for detecting the right and left ends of a lane on which a vehicle is travelling from a captured image; a vehicle position calculating unit ( 130 ) for calculating the displacement direction and displacement amount toward the lane width direction of the vehicle relative to the center of the lane on which the vehicle is travelling; and a display image generating unit ( 140 ) for generating a display image in which a vehicle image ( 330 ) is displaced in the center of the travelling lane from the position of a lane center marker ( 320 ) toward the lane width direction in accordance with the displacement direction and displacement amount that are calculated by the vehicle position calculating unit ( 130 ), and superimposed on a lane image composed of lane boundary markers ( 310 ) indicating the right and left ends of the lane and the lane center marker ( 320 ) indicating the center of the travelling lane.

Description:
TECHNICAL FIELD 
       [0001]    The present invention relates to a driving support apparatus, driving support method, and program, and more particularly to a driving support apparatus and driving support method that provide a driver with information relating to the traveling position of a vehicle, and provide support so as to enable traveling in an appropriate position. 
       BACKGROUND ART 
       [0002]    In Patent Literature 1, a lane keeping support apparatus is disclosed that gives notification by changing the color of an image when a vehicle departs from a lane in which it is currently traveling or there is a possibility of such departure. The lane keeping support apparatus described in Patent Literature 1 displays an image indicating a vehicle and an image indicating left and right lane boundary lines on a display screen, offsets the image indicating the vehicle within the display screen according to the departure direction, provides blinking display of a lane boundary line in the departure direction, and gives notification by changing the color of an image indicating the vehicle according to the speed of travel in the departure direction. 
         [0003]    In Patent Literature 2, a lane keeping support apparatus is disclosed that displays the situation around a traveling vehicle. The lane keeping support apparatus described in Patent Literature 2 identifies a lane in which a vehicle is traveling and also determines whether the vehicle is straddling lanes, and corrects the display position of a vehicle mark so that the vehicle also straddles lanes on the display screen if the vehicle is straddling lanes, or so that the vehicle does not straddle lanes on the display screen if the vehicle is not straddling lanes. 
       CITATION LIST 
     Patent Literature 
       [0000]    
       
         PTL 1 
         Japanese Patent Application Laid-Open No. 11-126300 
         PTL 2 
         Japanese Patent Application Laid-Open No. 11-264868 
       
     
       SUMMARY OF INVENTION 
     Technical Problem 
       [0008]    However, with the lane keeping support apparatus described in Patent Literature 1, notification is not given of a case in which a vehicle is traveling while deviating in a certain direction but not to the extent of departing from a lane, and it is difficult to support ascertainment of a vehicle&#39;s traveling position within a lane. In particular, a problem for a driver who does not have a feel for the width of the vehicle, such as an inexperienced driver, is the difficulty of judging what degree of evasion is appropriate in order to avoid contact with an oncoming vehicle or a vehicle parked at the side of the road. 
         [0009]    Also, with the lane keeping support apparatus described in Patent Literature 2, although it is possible to ascertain whether a vehicle is traveling within a lane or is straddling lanes, it is still difficult to support a driver in a situation in which it is necessary to ascertain a vehicle&#39;s traveling position within a lane, such as when the vehicle is traveling while deviating in a certain direction but not to the extent of departing from a lane. 
         [0010]    It is an object of the present invention to provide a driving support apparatus, driving support method, and program that enable a driver&#39;s judgment to be facilitated by making it possible to easily confirm the traveling position of a vehicle within a lane. 
       Solution to Problem 
       [0011]    A driving support apparatus of the present invention employs a configuration having: an imaging section that images the surroundings of a vehicle; a lane detection section that detects the left and right edges of a traveling lane in which the vehicle is traveling from a captured image; a vehicle position calculation section that calculates a displacement direction and displacement amount of the vehicle in the lane width direction with respect to the center of the traveling lane; a display image generation section that generates a display image in which, in a lane image that includes lane boundary markers indicating the left and right edges of the traveling lane and a lane center marker indicating the center of the traveling lane, the center position of the vehicle image is superimposed displaced in the lane width direction from the position of the lane center marker in accordance with the displacement direction and displacement amount calculated by the vehicle position calculation section; and a display section that outputs the display image. 
         [0012]    A driving support method has: a step of imaging the surroundings of a vehicle; a step of detecting the left and right edges of a traveling lane in which the vehicle is traveling from a captured image; a step of calculating a displacement direction and displacement amount of the vehicle in the lane width direction with respect to the center of the traveling lane; a display image generation step of generating a display image in which, in a lane image that includes lane boundary markers indicating the left and right edges of the traveling lane and a lane center marker indicating the center of the traveling lane, the center position of the vehicle image is superimposed displaced in the lane width direction from the position of the lane center marker in accordance with the displacement direction and displacement amount calculated by the calculation step; and a step of outputting a generated display image. 
         [0013]    From another viewpoint, the present invention is a program that causes a computer to execute each step of the above-described driving support method. 
       Advantageous Effects of Invention 
       [0014]    The present invention makes it possible to easily confirm the traveling position of a vehicle within a lane, thereby facilitating the judgment of a driver who does not have an adequate feel for the width of the vehicle, such as an inexperienced driver, as to whether there is sufficient margin of width to avoid an oncoming vehicle or a vehicle parked at the side of the road. 
     
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         [0015]      FIG. 1  is a block diagram showing the configuration of a driving support apparatus according to Embodiment 1 of the present invention; 
           [0016]      FIG. 2  is a drawing explaining a vehicle position calculation method of a driving support apparatus according to above Embodiment 1; 
           [0017]      FIG. 3  is a drawing explaining a display image generation method of a driving support apparatus according to above Embodiment 1; 
           [0018]      FIG. 4  is a drawing showing examples of display images in the case of a plurality of lanes generated by a display image generation section of a driving support apparatus according to above Embodiment 1; 
           [0019]      FIG. 5  is a drawing showing examples of display images generated by a display image generation section of a driving support apparatus according to above Embodiment 1; 
           [0020]      FIG. 6  is a drawing showing how a display image is displayed on a windshield by a display section of a driving support apparatus according to above Embodiment 1; 
           [0021]      FIG. 7  is a block diagram showing the configuration of a driving support apparatus according to Embodiment 2 of the present invention; 
           [0022]      FIG. 8  is a drawing showing a display image of a display section generated by a display image generation section of a driving support apparatus according to above Embodiment 2; 
           [0023]      FIG. 9  is a block diagram showing the configuration of a driving support apparatus according to Embodiment 3 of the present invention; 
           [0024]      FIG. 10  is a drawing showing display images of a display section generated by a display image generation section of a driving support apparatus according to above Embodiment 3; 
           [0025]      FIG. 11  is a block diagram showing the configuration of a driving support apparatus according to Embodiment 4 of the present invention; and 
           [0026]      FIG. 12  is a drawing showing examples in which a display image of a display section generated by a driving support apparatus according to above Embodiment 4 cannot be correctly grasped. 
       
    
    
     DESCRIPTION OF EMBODIMENTS 
       [0027]    Now, embodiments of the present invention will be described in detail with reference to the accompanying drawings. 
       Embodiment 1 
       [0028]      FIG. 1  is a block diagram showing the configuration of a driving support apparatus according to Embodiment 1 of the present invention. The present embodiment is an example of application to a lane keeping support apparatus that provides information relating to a vehicle&#39;s traveling position to a driver, and provides support so as to enable traveling in an appropriate position. 
         [0029]    As shown in  FIG. 1 , lane keeping support apparatus  100  has a configuration that includes imaging section  110 , lane detection section  120 , vehicle position calculation section  130 , display image generation section  140 , and display section  150 . 
         [0030]    Imaging section  110  is a visible light or infrared light stereo camera that is positioned so as to image an area that includes at least the road surface of a lane in which a vehicle is traveling ahead of the vehicle, and that transfers a captured image to lane detection section  120 . A CCD (Charge Coupled Device), CMOS (Complementary Metal Oxide Semiconductor), or suchlike image sensor is mainly used as an imaging method. When a wide-angle lens is used, in particular, distortion may occur in a captured image. Imaging section  110  also performs correction of such distortion. 
         [0031]    Lane detection section  120  detects the left and right edges of a lane in which a vehicle is traveling (hereinafter referred to as “traveling lane”) from a captured image. A lane includes one or a plurality of lanes. The left and right edges of a traveling lane may be a white line, side wall, or the like, and are detected using a known image recognition algorithm. 
         [0032]    Vehicle position calculation section  130  calculates a displacement direction and displacement amount of a vehicle in the lane width direction with respect to the center of the traveling lane, based on a position in a captured image of the left and right edges of the traveling lane detected by lane detection section  120 . 
         [0033]    Display image generation section  140  generates a lane image that includes lane boundary markers indicating the left and right edges of the traveling lane and a lane center marker indicating the center of the traveling lane. Then display image generation section  140  generates a display image in which a vehicle image is positioned in the lane image with the center of the vehicle displaced according to the displacement direction and displacement amount in the lane width direction with respect to the center of the traveling lane of the vehicle calculated by vehicle position calculation section  130 . 
         [0034]    Display section  150  is a display that displays a composite image in front of the driver within the passenger compartment of a vehicle, and displays an image generated by display image generation section  140 . Display section  150  is installed in a position in which it does not obstruct the driver&#39;s forward field of view. As for type, the display may be a liquid crystal display, an organic EL (Organic Electro-Luminescence) or suchlike light emitting display, a fluorescent tube display, a laser display, or an HUD (Head-Up Display) combining an optical system and combiner (a screen displaying a virtual and real image at the same distance) with any of these. A head-up display is installed so that an image is displayed on the windshield, for example. 
         [0035]    The operation of lane keeping support apparatus  100  configured as described above will now be explained. 
         [0036]    Using  FIG. 2  and  FIG. 3 , a description will be given of a method whereby vehicle position calculation section  130  calculates a displacement direction and displacement amount of a vehicle in the lane width direction with respect to the center of the traveling lane, and a display image generation method. 
         [0037]      FIG. 2  is a drawing explaining a vehicle position calculation method of lane keeping support apparatus  100 , and shows captured image  200  received by imaging section  110 . 
         [0038]      FIG. 3  is a drawing explaining a display image generation method of lane keeping support apparatus  100 . 
         [0039]    First, vehicle position calculation section  130  finds center line  210  in captured image  200  indicating the center of the vehicle in the width direction from the camera installation position and direction as shown in  FIG. 2 . 
         [0040]    Next, vehicle position calculation section  130  finds the coordinates of points  240 ,  250 , and  260  at identical vertical-direction positions on center line  210 , and left boundary line  220  and right boundary line  230  of the traveling lane detected by lane detection section  120 . 
         [0041]    Then vehicle position calculation section  130  finds length D 1  between point  240  on center line  210  and point  250  on left boundary line  220  of the traveling lane, and length D 2  between point  240  on center line  210  and point  260  on right boundary line  230  of the traveling lane. 
         [0042]    The displacement direction is left when D 1 &lt;D 2 , no-displacement when D 1 =D 2 , and right when D 2 &gt;D 1 , and the displacement amount is found as a proportional value calculated as |S 2 −S 1 |/2(S 1 +S 2 ). 
         [0043]    Display image generation section  140  generates lane image  300  that includes lane boundary markers  310  representing the left boundary line and right boundary line of the traveling lane, and lane center marker  320  indicating the center of the traveling lane, shown in  FIG. 3A . 
         [0044]    If there are a plurality of lanes, a lane image such as shown in  FIG. 4 , for example, is generated. 
         [0045]      FIG. 4  is a drawing showing examples of display images in the case of a plurality of lanes generated by display image generation section  140  of lane keeping support apparatus  100 .  FIG. 4A  shows an example in which there are two lanes, and  FIG. 4B  shows an example in which there are three lanes. 
         [0046]    Next, display image generation section  140  generates a display image in which vehicle image  330  representing the vehicle is superimposed on lane image  300 , as shown in  FIG. 3B . 
         [0047]    At this time, vehicle image  330  is positioned horizontally displaced by length L leftward from lane center marker  320 . Here, the displacement direction is calculated by vehicle position calculation section  130  ( FIG. 3B  shows a case in which the displacement direction is left), and length L is a length calculated by multiplying length X between the left and right boundary lines of lane boundary markers  310  by a displacement amount calculated by vehicle position calculation section  130 . 
         [0048]      FIG. 5  is a drawing showing display section  150  display images generated by display image generation section  140 .  FIG. 5A  shows an example of a display image when traveling along the center of a lane, and  FIGS. 5B and 5C  show examples of display images when traveling to the right-of-center of a lane. 
         [0049]    In an example of conventional technology, for instance, no notification is given in cases such as those in  FIGS. 5A and 5B , in which a vehicle is traveling while deviating in a certain direction but not to the extent of departing from a lane. In particular, a driver who does not have a feel for the width of the vehicle, such as an inexperienced driver, does not know what degree of evasion is appropriate in order to avoid contact with an oncoming vehicle or a vehicle parked at the side of the road, and feels anxious. In contrast, in the present embodiment, lane boundary markers  310 , lane center marker  320 , and vehicle image  330  are displayed as shown in  FIG. 5 , enabling the driver to easily confirm the traveling position of his or her vehicle within a lane. 
         [0050]      FIG. 6  is a drawing showing how display image  420  is displayed on windshield  410  by display section  150 . By this means, the driver can easily grasp the position of the vehicle with respect to the traveling lane while driving, making it possible to correct the position of the vehicle. 
         [0051]    As described in detail above, lane keeping support apparatus  100  of the present embodiment is provided with lane detection section  120  that detects the left and right edges of a traveling lane in which a vehicle is traveling from a captured image, vehicle position calculation section  130  that calculates a displacement direction and displacement amount of the vehicle in the lane width direction with respect to the center of the lane in which the vehicle is traveling, and display image generation section  140  that generates a display image in which, in a lane image that includes lane boundary markers  310  indicating the left and right edges of a lane and lane center marker  320  indicating the center of the traveling lane, vehicle image  330  is superimposed with its center displaced in the lane width direction from the lane center marker  320  position in accordance with the displacement direction and displacement amount calculated by vehicle position calculation section  130 . 
         [0052]    As shown in  FIG. 5 , display section  150  displays a display image in which vehicle image  330  is positioned in a lane image displaced according to a displacement direction and displacement amount in the lane width direction with respect to the center of the traveling lane. Showing the driver the position of the vehicle within a lane enables the driver to see at a glance where in the lane the vehicle is traveling, and enables anxiety as to whether or not there is a sufficient margin of width to avoid an oncoming vehicle or a vehicle parked at the side of the road to be eliminated. Furthermore, the driver can easily perform an operation so that the vehicle travels along the center of the lane, and can grasp the margins of width on the left and right of the lane. 
         [0053]    Also, in the present embodiment, displaying a display image on the windshield by means of a head-up display enables the driver to confirm the view ahead while simultaneously viewing the display image, and to grasp the position of the vehicle and the view ahead in an associated fashion, enabling the driver to get a better feel for the width of the vehicle. 
       Embodiment 2 
       [0054]    Embodiment 2 is an example in which an appropriate speed marker is also displayed. 
         [0055]      FIG. 7  is a block diagram showing the configuration of a driving support apparatus according to Embodiment 2 of the present invention. Configuration parts in  FIG. 7  identical to those in  FIG. 1  are assigned the same reference numbers as in  FIG. 1 , and duplicate descriptions thereof are omitted here. 
         [0056]    As shown in  FIG. 7 , lane keeping support apparatus  500  comprises imaging section  110 , lane detection section  120 , vehicle position calculation section  130 , appropriate speed calculation section  160 , vehicle speed calculation section  170 , display image generation section  141 , and display section  150 . 
         [0057]    Appropriate speed calculation section  160  calculates appropriate speed Vr based on speed limit information relating to the road being traveled and the road environment. For example, appropriate speed calculation section  160  calculates a maximum legal speed from information on the type of road being traveled acquired from car navigation apparatus  510  or the like, and sets a value obtained by multiplying the maximum legal speed by a predetermined factor (for example, 0.8) as appropriate speed Vr. 
         [0058]    If appropriate speed calculation section  160  recognizes a road sign or road marking specifying a maximum speed from an image captured by imaging section  110 , appropriate speed calculation section  160  takes a value obtained by multiplying the recognized specified maximum speed by a predetermined factor (for example, 0.8) as appropriate speed Vr. Also, if, as a road environment, appropriate speed calculation section  160  detects a curve ahead by means of a method such as recognizing a road sign or road marking indicating a curve in a captured image, or detects a wet or icy road surface by means of a raindrop sensor, reflection of the road surface in a captured image, or the like, appropriate speed calculation section  160  may lower appropriate speed Vr. 
         [0059]    Vehicle speed calculation section  170  compares vehicle speed Vo acquired from speed sensor  520  or the like and appropriate speed Vr calculated by appropriate speed calculation section  160 , and calculates Vo−Vr, the relative speed of the vehicle with respect to the appropriate speed. 
         [0060]    Display image generation section  141  generates a lane image comprising a lane center marker indicating the center of the traveling lane, and an appropriate speed marker positioned so as to be perpendicular to lane boundary markers indicating the left and right edges of the traveling lane or the lane center marker. Then display image generation section  141  generates a display image in which a vehicle image is positioned in the lane image with the center of the vehicle displaced according to the displacement direction and displacement amount in the lane width direction with respect to the center of the traveling lane of the vehicle calculated by vehicle position calculation section  130 , and displaced in a front-back direction of the lane from the appropriate speed marker  610  ( FIG. 8 ) position according to the relative speed of the vehicle with respect to the appropriate speed calculated by vehicle speed calculation section  170 . 
         [0061]      FIG. 8  is a drawing showing a display section  150  display image generated by display image generation section  141 , and shows an example of a case in which a vehicle is traveling at a speed faster than an appropriate speed to the left-of-center of a lane. 
         [0062]    Thus, according to the present embodiment, lane keeping support apparatus  500  is provided with appropriate speed calculation section  160  that calculates an appropriate speed using speed limit information relating to the road a vehicle is traveling, and vehicle speed calculation section  170  that calculates the relative speed of the vehicle with respect to the appropriate speed calculated by appropriate speed calculation section  160 . Display image generation section  141  displays a display image in which a vehicle image is positioned in the lane image with the center of the vehicle displaced according to the relative speed of the vehicle with respect to the appropriate speed in addition to the displacement direction and displacement amount in the lane width direction with respect to the center of the traveling lane, producing an effect of enabling the driver to see at a glance the traveling position and speed of the vehicle within the lane, and to control the traveling position while also adjusting the speed when operating on a curve or the like, thereby facilitating lane keeping. 
         [0063]    In the present embodiment, appropriate speed calculation section  160  and vehicle speed calculation section  170  are combined with lane keeping support apparatus  100  in  FIG. 1 , but it is also possible for appropriate speed calculation section  160  and vehicle speed calculation section  170  to be applied individually to a driving support apparatus. 
       Embodiment 3 
       [0064]    Embodiment 3 is an example in which a position at which an obstacle is avoided is also displayed. 
         [0065]      FIG. 9  is a block diagram showing the configuration of a driving support apparatus according to Embodiment 3 of the present invention. Configuration parts in  FIG. 9  identical to those in  FIG. 1  are assigned the same reference numbers as in  FIG. 1  and duplicate descriptions thereof are omitted here. 
         [0066]    As shown in  FIG. 9 , lane keeping support apparatus  700  has a configuration that includes imaging section  110 , lane detection section  120 , vehicle position calculation section  130 , forward obstacle detection section  180 , display image generation section  142 , and display section  150 . 
         [0067]    In the event of detecting an obstacle such as a bicycle traveling in the vicinity of the traveling lane, or a stationary vehicle or oncoming vehicle protruding into the traveling lane, forward obstacle detection section  180  notifies display image generation section  142  of the position of the obstacle in the lane width direction. Forward obstacle detection section  180  detects an obstacle or the like outside the vehicle based on an image captured by an extra-vehicle imaging camera and extra-vehicle radar output, for example. 
         [0068]    Display image generation section  142  generates a lane image comprising a lane center marker indicating the center of the traveling lane and lane boundary markers indicating the left and right edges of the traveling lane. Then display image generation section  142  generates a display image in which recommended traveling position marker  810  ( FIG. 10 ) is superimposed on a lane image, and also a vehicle image is positioned in the lane image with the center of the vehicle displaced according to the displacement direction and displacement amount in the lane width direction with respect to the center of the traveling lane of the vehicle calculated by vehicle position calculation section  130 . If there is notification of an obstacle such that the center overlaps the lane center marker  320  position, this is positioned displaced in the lane width direction so as to avoid the obstacle. Obstacle marker  820  ( FIG. 10 ) indicating an obstacle position may also be incorporated in the display image. 
         [0069]      FIG. 10  is a drawing showing display section  150  display images generated by display image generation section  142 .  FIG. 10A  shows an example of a case in which traveling to the left-of-center is recommended due to the protrusion of obstacle marker  820  representing an oncoming vehicle, and  FIG. 10B  shows an example of a case in which temporarily traveling while protruding beyond the right edge of the lane is recommended in order to avoid obstacle marker  820  representing a vehicle parked on the left. 
         [0070]    Thus, according to the present embodiment, lane keeping support apparatus  700  is provided with forward obstacle detection section  180  that detects an obstacle such as a bicycle traveling in the vicinity of the traveling lane, or a stationary vehicle or oncoming vehicle protruding into the traveling lane, and display image generation section  142  generates a display image that indicates a recommended traveling position according to a situation ahead in addition to and combined with a vehicle&#39;s traveling position. By this means, a driver can see at a glance in what position the vehicle should travel in order to avoid an obstacle, and can easily travel with this reflected in the operation of the vehicle. 
         [0071]    Here, by making recommended traveling position marker  810  and vehicle image  330  the same shape, displacement can be grasped through the nature of overlapping between vehicle image  330  and recommended traveling position marker  810 , enabling the support effect to be heightened. At this time, color or texture may also be changed to enable the driver to distinguish between recommended traveling position marker  810  and vehicle image  330 . 
       Embodiment 4 
       [0072]    Embodiment 4 is an example in which display is performed that makes it possible to grasp an actual situation more correctly. 
         [0073]      FIG. 11  is a block diagram showing the configuration of a driving support apparatus according to Embodiment 4 of the present invention. Configuration parts in 
         [0074]      FIG. 11  identical to those in  FIG. 7  are assigned the same reference numbers as in  FIG. 7 , and duplicate descriptions thereof are omitted here. 
         [0075]    As shown in  FIG. 11 , in addition to lane keeping support apparatus  500  in  FIG. 7 , lane keeping support apparatus  900  comprises lane width calculation section  910 , storage section  920 , and display image generation section  930 . 
         [0076]    Lane width calculation section  910  calculates the lane width of a traveling lane created by left and right lane boundaries in an image detected by lane detection section  120 . Specifically, lane width calculation section  910  finds a three-dimensional position in a camera coordinate system using parallax for two points that are vertically identical positions on a left boundary line and right boundary line in a stereo image acquired by imaging section  110 . The difference between the two points calculated by lane width calculation section  910  is the lane width of the traveling lane. 
         [0077]    Storage section  920  stores vehicle width information and vehicle image vehicle width information. 
         [0078]    Display image generation section  930  generates a lane image in accordance with the lane width, and then generates a display image by positioning the vehicle image. 
         [0079]    The actual display image generation method used by display image generation section  930  will now be described. 
         [0080]    Display image generation section  930  first calculates the display width of lane boundary markers indicating the left and right edges of the traveling lane. When the vehicle width of a vehicle image stored in storage section  920  is designated CG [Pix], the actual vehicle width of the vehicle is designated Cw [m], and the vehicle width calculated by lane width calculation section  910  is designated Lw [m], width LG [Pix] of the lane boundary markers that are part of a vehicle image is calculated by means of the following equation. 
         [0000]    
       
      
       LG=Lw·CG/Cw  
      
     
         [0081]    Next, a lane center marker indicating the center of the traveling lane is positioned midway between the lane boundary markers. Furthermore, a vehicle image is generated by positioning an appropriate speed marker so as to be perpendicular to these lane boundary markers or the lane center marker. 
         [0082]    Then display image generation section  930  generates a display image in which a vehicle image is positioned in the lane image with the center of the vehicle displaced according to a displacement direction and displacement amount in the lane width direction with respect to the center of the traveling lane of the vehicle calculated by vehicle position calculation section  130 , and displaced in a front-back direction of the lane from an appropriate speed marker  610  ( FIG. 8 ) position according to the relative speed of the vehicle with respect to an appropriate speed calculated by vehicle speed calculation section  170 . 
         [0083]    By generating a display image in this way, the actual positional relationship between a vehicle and lane can be represented more correctly in the display image. 
         [0084]      FIG. 12  is a drawing showing examples in which a display section  150  display image generated by a driving support apparatus according to the present embodiment cannot be correctly grasped. 
         [0085]    For example, when a vehicle is traveling on a comparatively wide road such as shown in  FIG. 12A , if the vehicle image and lane boundary marker widths are fixed as narrow, a display image is generated in which the vehicle appears to be departing from the lane, as shown in  FIG. 12B . Also, when a vehicle is traveling on a comparatively narrow road, if the vehicle image and lane boundary marker widths are fixed as wide, even though the vehicle is actually traveling while departing from the lane as shown in  FIG. 12C , a display image is generated in which the vehicle only appears to be traveling while slightly displaced from the center of the lane, as shown in  FIG. 12D . 
         [0086]    Thus, according to the present embodiment, lane keeping support apparatus  900  is provided with lane width calculation section  910  that calculates a lane width, and storage section  920  that stores a lane boundary marker width standard value, vehicle image vehicle width, and actual vehicle width information. Display image generation section  930  displays a display image in which a vehicle image is positioned in a lane image displaced according to the relative speed of the vehicle with respect to an appropriate speed in addition to a displacement direction and displacement amount in the lane width direction with respect to the center of the traveling lane. In addition to this, display image generation section  930  adjusts the display width of lane boundary markers when a display image is generated. By this means, an effect is produced of enabling the driver to grasp the traveling position and speed of the vehicle within a lane more correctly, and to control the traveling position while also adjusting the speed, thereby facilitating lane keeping. 
         [0087]    In the present embodiment, the vehicle image width is fixed and the lane boundary width is adjusted, but the lane boundary width may be fixed and the vehicle image width adjusted. 
         [0088]    In the present embodiment, lane width calculation section  910  and storage section  920  are combined with lane keeping support apparatus  500  in  FIG. 7 , but it is also possible for these to be applied to lane keeping support apparatus  100  in  FIG. 1  that does not use appropriate speed calculation section  160  and vehicle speed calculation section  170 . 
         [0089]    In the present embodiment, forward obstacle detection section  180  of lane keeping support apparatus  700  in  FIG. 9  has not been added, but it is of course also possible to add forward obstacle detection section  180  and include display of a recommended traveling position according to a situation ahead. 
         [0090]    The above description presents examples of preferred embodiments of the present invention, but the scope of the present invention is not limited to these. 
         [0091]    For example, in the above embodiments it is also possible to perform presentation in combination with another information presentation means, such as sound, speech information, or vibration, for example. Combined use of a meter display is also possible. 
         [0092]    In the above embodiments, the terms “driving support apparatus” and “driving support method” have been used, but this is simply for convenience of description, and a term such as “lane keeping support apparatus” may also be used for an apparatus, and a term such as “vehicle information display method” for a method. 
         [0093]    Details of configuration sections composing an above-described driving support apparatus, such as the type of a lane detection section and the superimposed image generation method of a display image generation section, for example, are not limited to those in the above embodiments. 
         [0094]    An above-described driving support method is implemented by a program for causing this driving support method to function. This program is stored in a computer-readable recording medium. 
         [0095]    The disclosure of Japanese Patent Application No. 2009-169119, filed on Jul. 17, 2009, including the specification, drawings and abstract, is incorporated herein by reference in its entirety. 
       INDUSTRIAL APPLICABILITY 
       [0096]    A driving support apparatus and driving support method according to the present invention alleviate driver anxiety by being installed in a vehicle, and are suitable for use as a driving support system that supports safe driving. They can also be applied to a use such as improving a driver&#39;s driving technique. 
       REFERENCE SIGNS LIST 
       [0000]    
       
           100 ,  500 ,  700 ,  900  Lane keeping support apparatus 
           110  Imaging section 
           120  Lane detection section 
           130  Vehicle position calculation section 
           140 ,  141 ,  142  Display image generation section 
           150  Display section 
           160  Appropriate speed calculation section 
           170  Vehicle speed calculation section 
           180  Forward obstacle detection section 
           910  Lane width calculation section 
           920  Storage section 
           930  Display image generation section