JP2005216086A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device which is capable of supporting driver's driving so as to enable the driver to smoothly turn to the right. <P>SOLUTION: A driving support device 1 determines whether the vehicle can turn to the right at an intersection or not on the basis of a direction in which the vehicle enters the intersection, and features of the intersection when the vehicle approaches the intersection. Meanwhile, the driving support device 1 detects driver's intention to turn to the right. In the case that the driving support device 1 determines that the vehicle can turn to the right at the intersection, and detects driver's intention to turn to the right, the driving support device 1 detects and presents the change of a signal state at the intersection to the driver. Thus the driving support device 1 causes the driver to properly recognize the signal change at the intersection. Consequently, the driving support device 1 can support driver's driving so as to enable the driver to smoothly turn to the right. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a driving support device.

Conventionally, a driving support device that extracts the traveling state of an oncoming vehicle traveling on a road, determines the possibility of a right turn collision from the extracted information, and informs the driver of the presence of an oncoming vehicle that may have a collision is known. ing. (For example, see Patent Document 1)
JP 2002-260193 A

  However, the conventional driving support apparatus only notifies the driver of the presence of an oncoming vehicle that may have a collision, and does not cause the driver to make a smooth right turn in response to a change in the signal at the intersection. That is, in order to make a right turn smoothly at an intersection, the driver needs to recognize the signal state. However, when the signal state changes, the driver's right turn determination may be delayed, and the driver's right turn determination may be delayed. You may not be able to make a right turn.

  The present invention has been made to solve such a conventional problem, and an object of the present invention is to provide a driving support device capable of supporting a driver's driving so that a smooth right turn action can be performed. It is to provide.

  The driving support apparatus of the present invention includes position detection means, intersection approach detection means, and right turn availability determination means. The position detecting means detects the position of the traveling vehicle, and the intersection approach detecting means determines that the own vehicle is approaching the intersection based on the vehicle position detected by the position detecting means. It is to detect. Further, the right turn availability determination means can turn right at the intersection based on the approach direction of the own vehicle to the intersection detected to be approaching by the intersection approach detection means and the characteristics of the intersection where the own vehicle enters. It is determined whether or not.

  Further, the driving support device includes a right turn intention detection unit, a signal state change detection unit, and a presentation unit. The right turn intention detecting means detects a driver's intention to turn right. The signal state change detecting means detects a change in the signal state at the intersection. The presenting means is a signal state change detecting means when the right turn intention detecting means detects that the intersection can be turned right and the right turn intention detecting means detects the driver's right turn intention. Information on the detected signal state change is presented to the driver.

  According to the present invention, when it is detected that the host vehicle is approaching the intersection, it is determined whether the intersection can turn right, while the driver's intention to turn right is detected. It is possible to determine whether or not the own vehicle approaches the intersection and the driver is going to turn right at the intersection. In addition, when the intersection can turn right and the driver's intention to turn right is detected, the change in the signal state of the detected intersection is presented to the driver. Change will be recognized properly. Therefore, it is possible to assist the driver's driving so that a smooth right turn action can be performed.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described with reference to the drawings.

  FIG. 1 is a configuration diagram of a driving support apparatus according to an embodiment of the present invention. As shown in the figure, the driving support device 1 of the present embodiment is for supporting the driving operation of the driver, and includes a position detection unit (position detection unit) 10 and a storage unit (storage unit) 11. And an intersection approach detection unit (intersection approach detection unit) 12, a reading unit (reading unit) 13, and an approach direction detection unit (approach direction detection unit) 14. The driving support device 1 also includes a right turn permission determination unit (right turn permission determination unit) 15, a right turn intention detection unit (right turn intention detection unit) 16, a signal state change detection unit (signal state change detection unit) 17, and a presentation. Part (presentation means) 18.

  The position detection unit 10 detects the position of the host vehicle during traveling. Specifically, the position detection unit 10 detects position coordinates where the host vehicle is currently traveling by a navigation system.

  The storage unit 11 stores characteristics of a plurality of intersections. Here, the characteristic of the intersection means the shape of the intersection, that is, a cross intersection, a T-shaped intersection, a Y-shaped intersection, and the like. Therefore, the storage unit 11 stores the shape of the intersection of each point. Moreover, the memory | storage part 11 has memorize | stored the positional information on several intersections. In the following description, the characteristic of the intersection will be described as the shape of the intersection.

  The intersection approach detection unit 12 detects that the host vehicle is approaching the intersection based on the host vehicle position detected by the position detection unit 10. At the time of this detection, the intersection approach detection unit 12 reads position information of a plurality of intersections from the storage unit 11, and determines whether or not the vehicle is approaching any of the plurality of intersections.

  The reading unit 13 reads the shape of the intersection detected by the intersection approach detection unit 12 among the plurality of intersections stored in the storage unit 11. The reading unit 13 is connected to the approach direction detection unit 14 and the right turn possibility determination unit 15 and is configured to transmit the read information about the shape of the intersection.

  The approach direction detection unit 14 detects the approach direction of the host vehicle to the intersection from the shape of the intersection read by the reading unit 13. Specifically, the approach direction detection unit 14 inputs the information of the own vehicle position in time series from the position detection unit 10 to obtain the movement direction of the own vehicle, and determines the approach direction from the obtained movement direction and the shape of the intersection. It is configured to detect. In addition, the approach direction detection unit 14 is configured to transmit information on the detected approach direction to the right turn availability determination unit 15.

  The right turn permission determination unit 15 can turn right at the intersection based on the approach direction of the own vehicle to the intersection detected to be approaching by the intersection approach detection unit 12 and the shape of the intersection where the own vehicle enters. It is a judgment whether it is a thing. Specifically, whether or not the right turn determination unit 15 can turn right at the intersection based on the approach direction detected by the approach direction detection unit 14 and the shape of the intersection read by the reading unit 13. Is to judge.

  For example, if the intersection read by the reading unit 13 is a T-shaped intersection and the vehicle enters from a direction in which the host vehicle cannot go straight on, the T-shaped intersection Judge that you can turn right. On the other hand, even if it is a T-shaped intersection, the right turn availability determination unit 15 determines that the T-shaped intersection cannot be turned right when the vehicle enters from a direction in which the vehicle can go straight and turn left. .

  The right turn intention detection unit 16 detects the driver's intention to turn right. Specifically, the right turn intention detection unit 16 detects the driver's intention to turn right by inputting an operation signal of the right turn signal when the driver is operating the right turn signal when approaching the intersection.

  Further, the right turn intention detection unit 16 detects the driver's right turn intention when the vehicle is traveling in the rightmost lane when the vehicle approaches the intersection. In this case, the right turn intention detection unit 16 captures the front landscape of the host vehicle with the imaging device, performs image recognition based on the captured image, and determines whether the host vehicle is traveling in the rightmost lane. To do. Further, the right turn intention detection unit 16 may be configured to detect a right turn intention even when a right turn is urged by route guidance by navigation.

  The signal state change detection unit 17 detects a change in the signal state at the intersection. Specifically, the signal state change detection unit 17 detects the signal state of the intersection where the host vehicle is approaching, that is, the state of the signal on the host vehicle side visible from the host vehicle, the signal on the host vehicle side visible from the oncoming vehicle. Information on the state and the state of the signal on the side of the crossing vehicle that is visible from the crossing vehicle that crosses the traveling lane of the host vehicle is received wirelessly from a traffic light etc., and the change of the signal state is detected from the received information is there.

  The presenting unit 18 operates when it is determined by the right turn possibility determination unit 15 that the approaching intersection can turn right, and when the right turn intention detection unit 16 detects the driver's right turn intention. . At the time of this operation, the presentation unit 18 is configured to present information on changes in the signal state detected by the signal state change detection unit 17 to the driver.

  Specifically, the presentation unit 18 is a display installed in a vehicle interior space such as the cluster C that can be visually recognized by the driver, a display device such as a HUD, a voice output device that provides a voice presentation, or a tactile presentation. It may be a device.

  Next, an outline of the operation of the driving support apparatus 1 according to the first embodiment will be described. First, during traveling of the host vehicle, the position detection unit 10 acquires position information of the host vehicle. Then, the position detection unit 10 transmits the acquired information on the own vehicle position to the intersection approach detection unit 12.

  When the intersection approach detection unit 12 inputs the vehicle position information, the intersection approach detection unit 12 reads the position information of a plurality of intersections from the storage unit 11, and the vehicle is approaching the intersection based on the information on the vehicle position and the intersection position. Detect that there is. At this time, the intersection approach detection unit 12 detects that the host vehicle is approaching the intersection based on whether or not the own vehicle is located within a predetermined distance range from the intersection. When the intersection approach detection unit 12 detects that the host vehicle is approaching the intersection, the intersection approach detection unit 12 transmits information indicating that the vehicle is approaching to the reading unit 13 and the right turn availability determination unit 15.

  Thereafter, the reading unit 13 reads from the storage unit 11 the shape of the intersection detected by the intersection approach detection unit 12 as approaching. Then, the reading unit 13 transmits the read information on the shape of the intersection to the approach direction detection unit 14 and the right turn availability determination unit 15.

  The approach direction detection unit 14 detects the approach direction of the host vehicle to the intersection from the shape of the intersection read by the reading unit 13 and the moving direction of the host vehicle. Thereafter, the approach direction detection unit 14 transmits information on the detected approach direction to the right turn availability determination unit 15.

  Thereafter, the right turn availability determination unit 15 determines whether or not the intersection can turn right. At this time, the right turn possibility determination unit 15 inputs the shape information of the approaching intersection from the reading unit 13 and the information on the approach direction of the own vehicle, and based on these information, the approaching intersection can turn right. It is judged whether it is a thing. Thereafter, when the right turn possibility determination unit 15 determines that the approaching intersection can be turned to the right, the right turn determination unit 15 transmits information indicating that a right turn is possible to the presentation unit 18.

  Moreover, while the said process is performed, the right turn intention detection part 16 has detected the driver | operator's right turn intention. The right turn intention detection unit 16 detects the driver's right turn intention from the fact that the driver has actuated the right turn signal and that the host vehicle is traveling in the rightmost lane. When the right turn intention detection unit 16 detects the driver's right turn intention, the right turn intention detection unit 16 transmits information indicating that the right turn intention has been detected to the presentation unit 18.

  Further, while the above processing is performed, the signal state change detection unit 17 detects a change in the signal state at the intersection. At this time, the signal state change detection unit 17 acquires signal state information on the own vehicle side, the oncoming vehicle side, and the crossing vehicle side by wireless communication, and detects a change in the signal state from the acquired information. When the signal state change detection unit 17 detects a change in the signal state, the signal state change detection unit 17 transmits information on the change in the signal state to the presentation unit 18.

  When the presentation unit 18 inputs information indicating that it is possible to turn right at an approaching intersection from the right turn permission determination unit 15 and inputs information indicating that the driver's intention to turn right is detected from the right turn intention detection unit 16 , Make a presentation. At that time, the presentation unit 18 presents the driver with information on the change in the signal state detected by the signal state change detection unit 17.

  FIG. 2 is an explanatory diagram showing an example of the configuration and presentation of the presentation unit 18, (a) showing a configuration example of the presentation unit 18, and (b) showing a presentation example when the signal changes from blue to yellow. Show. (C) shows an example of presentation when the signal changes from yellow to red, (d) shows an example of presentation when the signal changes from red to blue, and (e) shows no change in signal. An example of presentation is shown.

  First, as shown in FIG. 2A, the presentation unit 18 is installed in the cluster C and does not present a change in signal state by voice or touch, but presents a change in signal state by display. Suppose that it is a device.

  Then, when it is determined that the intersection is right-turnable by the right-turn availability determination unit 15 and the driver's intention to turn right is detected by the right-turn intention detection unit 16, the signal state change detection unit 17 detects the signal state of the intersection. Is changed from blue to yellow. In this case, as shown in FIG. 2B, the presentation unit 18 performs a display indicating that the signal state has changed from blue to yellow.

  Further, in the above case, when the signal state change of the intersection is changed from yellow to red by the signal state change detection unit 17, the presentation unit 18 changes the signal state from yellow to red as shown in FIG. Display to show.

  Further, in the above case, when the signal state at the intersection changes from red to blue by the signal state change detection unit 17, the presentation unit 18 changes the signal state from red to blue as shown in FIG. Display to show.

  On the other hand, in the above case, when there is no change in the signal state, the signal state change detection unit 17 does not detect a change in the signal state at the intersection. For this reason, the presentation unit 18 does not display anything as shown in FIG.

  Next, an example of detailed operation of the driving support device 1 according to the first embodiment will be described. 3 and 4 are flowcharts showing an example of detailed operation of the driving support apparatus 1 according to the first embodiment. FIG. 3 shows the first half part, and FIG. 4 shows the second half part.

  First, as shown in FIG. 3, the driving assistance device 1 detects that the host vehicle is traveling (ST10). Then, the driving assistance device 1 detects the vehicle position coordinates and the intersection position coordinates (ST11). At this time, the driving assistance device 1 detects the vehicle position coordinates by the position detection unit 10, and detects the intersection position coordinates based on the position information of the intersection stored in the storage unit 11.

  Thereafter, the intersection approach detection unit 12 determines whether or not the difference d between the vehicle position coordinates and the intersection position coordinates is equal to or less than the threshold value D (ST12). If it is determined that the difference d between the vehicle position coordinates and the intersection position coordinates is not equal to or less than the threshold value D (ST12: NO), the intersection approach detection unit 12 determines that the vehicle is not approaching the intersection (ST13), and the process proceeds to step ST10. Will return.

  On the other hand, when it is determined that the difference d between the vehicle position coordinates and the intersection position coordinates is equal to or less than the threshold value D (ST12: YES), the intersection approach detection unit 12 determines that the vehicle is approaching the intersection (ST14). Then, the reading unit 13 reads information on the shape of the intersection detected to be approaching, and transmits the information to the approach direction detection unit 14 and the right turn possibility determination unit 15.

  Thereafter, the approach direction detection unit 14 detects the approach direction to the intersection from the shape of the intersection and the time-series data of the vehicle position (ST15). Then, the approach direction detection unit 14 transmits information on the approach direction to the right turn availability determination unit 15.

  Next, the right turn availability determination unit 15 determines whether or not the approaching intersection can turn right (ST16). That is, the right turn permission determination unit 15 determines whether the approaching intersection can turn right based on the shape of the intersection from the reading unit 13 and the information on the approach direction from the approach direction detection unit 14. .

  Here, if it is determined that the approaching intersection cannot turn right (ST16: NO), the process returns to step ST11, and the vehicle position coordinates and the intersection position coordinates are detected again. On the other hand, if it is determined that the approaching intersection can turn right (ST16: YES), the process proceeds to step ST17 in FIG.

  In step ST17, the right turn intention detector 16 determines whether or not a right winker operation signal is detected (ST17). If it is determined that the right winker operation signal has been detected (ST17: YES), the process proceeds to step ST19. On the other hand, when it is determined that the operation signal of the right winker is not detected (ST17: NO), the right turn intention detection unit 16 determines whether or not the host vehicle is traveling in the rightmost lane (ST18).

  If it is determined that the host vehicle is not traveling in the rightmost lane (ST18: NO), the process returns to step ST11 shown in FIG. 3, and the detection of the host vehicle position coordinate and the intersection position coordinate is performed again. It becomes. On the other hand, when it is determined that the host vehicle is traveling in the rightmost lane (ST18: YES), the process proceeds to step ST19.

  In step ST19, the signal state change detection unit 17 detects a change in the signal state on the own vehicle side (ST19). And the signal state change detection part 17 detects a change also about the signal state by the side of an oncoming vehicle (ST20). Thereafter, the presentation unit 18 displays a change in the signal state (ST21).

  As a result, the driver can know the change in the signal state on the host vehicle side and the target vehicle side, and can smoothly perform the right turn action. In steps ST19 to ST21, not only the signal state on the own vehicle side and the target vehicle side but also a change in the signal state on the crossing vehicle side may be detected and presented.

  The detection of the signal state in steps ST19 and ST20 is performed when the intention to turn right is confirmed in steps ST17 and ST18. However, the processing in steps ST19 and ST20 and the processing in steps ST17 and ST18 are interchanged. The signal state may be constantly detected.

  After the signal state is displayed as described above, the presentation unit 18 continues the display for T (s) (ST22), and then erases the display (ST23). Then, the process ends. Note that the processing shown in FIGS. 3 and 4 is repeated until, for example, the ignition switch is turned off.

  In this way, according to the driving assistance apparatus 1 according to the first embodiment, when it is detected that the host vehicle is approaching the intersection, it is determined whether or not the intersection can turn right. Since the driver's intention to make a right turn is detected, it is possible to determine whether or not the vehicle has approached an intersection and the driver is making a right turn at the intersection. In addition, when the intersection can turn right and when the driver's intention to turn right is detected, the change in the detected signal state is presented to the driver. Become eligible for recognition. Therefore, it is possible to assist the driver's driving so that a smooth right turn action can be performed.

  Moreover, since the memory | storage part 11 which memorize | stores the characteristic of a some intersection is provided, it becomes less likely that the characteristic of an intersection becomes unknown. For example, in the case of a configuration in which the characteristics of an intersection are received from outside the vehicle by wireless communication, the characteristics of the intersection become unknown due to poor wireless communication, but the storage unit 11 stores the characteristics of a plurality of intersections. As a result, the possibility of poor wireless communication is eliminated, and the possibility that the characteristics of the intersection become unclear is reduced. Therefore, it is possible to ensure the right turn determination.

  Moreover, since the memory | storage part 11 has memorize | stored the shape of the intersection as a characteristic of an intersection, it can judge whether right turn is possible easily in relation to the approach direction to an intersection.

  Next, a second embodiment of the present invention will be described. The driving support apparatus 2 according to the second embodiment is the same as that of the first embodiment, but the configuration and part of the processing contents are different from those of the first embodiment.

  Hereinafter, the driving assistance apparatus 2 which concerns on 2nd Embodiment is demonstrated. FIG. 5 is a schematic configuration diagram of the driving support apparatus 2 according to the second embodiment. As shown in the figure, the driving support device 2 according to the present embodiment newly includes a host vehicle travel state detection unit (host vehicle travel state detection unit) 19 and a right turn stop determination unit (right turn stop determination unit) 20. I have.

  The own vehicle traveling state detector 19 detects the traveling state of the own vehicle. Here, the own vehicle traveling state detection unit 19 is configured to detect the distance from the stop line at the intersection to the own vehicle as the traveling state of the own vehicle.

  When the signal state change detection unit 17 detects a change in the signal state on the own vehicle side, the right turn stop determination unit 20 is based on the traveling state detected by the own vehicle traveling state detection unit 19 and a predetermined condition. Thus, it is determined whether or not the right turn of the own vehicle should be stopped. Here, the predetermined condition is satisfied when the distance from the stop line of the intersection to the own vehicle is equal to or greater than a predetermined threshold T1, and the distance from the stop line of the intersection to the own vehicle is a predetermined threshold T1. It is judged that it does not satisfy when it becomes less than.

  The right turn cancellation determination unit 20 is configured to determine that the right turn of the host vehicle should be stopped when a predetermined condition is satisfied. Further, when the right turn cancellation determination unit 20 is connected to the presentation unit 18 and determines that the right turn should be stopped, the right turn cancellation determination unit 20 transmits information to that effect to the presentation unit 18.

  In the second embodiment, the presentation unit 18 is configured to present information indicating that the right turn action should be stopped when the information indicating that the right turn should be stopped is input from the right turn cancellation determination unit 20.

  Since it is configured in this manner, the driving support device 2 according to the second embodiment works favorably in the following situation. For example, it is assumed that the host vehicle is away from the stop line at the intersection by a threshold T1 or more. At this time, if the signal state on the own vehicle side is blue, the driver determines that he or she may perform a right turn action while paying attention to the oncoming vehicle.

  However, immediately after the above determination, it is assumed that the signal state on the own vehicle side has changed from blue to yellow. In this case, it is assumed that the distance from the intersection stop line to the host vehicle is equal to or greater than the threshold T1 (a predetermined condition is satisfied). That is, it is assumed that the host vehicle is away from the intersection. In such a case, the right turn stop determination unit 20 determines that the right turn should be stopped. Thereafter, the right turn cancellation determination unit 20 transmits information to that effect to the presentation unit 18. Then, the presentation unit 18 presents information indicating that the right turn should be stopped. As described above, when the right turn becomes dangerous due to a change in the signal state, the device 2 presents the driver with information to stop the right turn and stops the right turn.

  On the other hand, it is assumed that the distance from the stop line of the intersection to the host vehicle is less than the threshold value T1 (the predetermined condition is not satisfied). That is, it is assumed that the host vehicle is approaching the intersection. In such a case, the right turn stop determination unit 20 determines that the right turn should not be stopped. That is, even if the stop of the right turn is urged immediately before the intersection, it is necessary to perform sudden braking to stop the vehicle, and there is a possibility that it may be dangerous. Thereafter, the right turn cancellation determination unit 20 transmits information to that effect to the presentation unit 18. Then, the presentation unit 18 presents information indicating that the right turn should be stopped.

  As described above, the present device 2 prompts to stop the right turn when the distance from the intersection stop line to the host vehicle is long, and does not prompt the right turn to stop when the distance is short. To help.

  FIG. 6 is an explanatory diagram showing a presentation example of the presentation unit 18 and shows a presentation example when the signal changes from yellow to red. Note that the presentation unit 18 illustrated in FIG. 6 is a display device that presents the driver with a display.

  As shown in the figure, the presentation unit 18 displays that the signal has changed from yellow to red. Further, in addition to the above, the presenting unit 18 displays information indicating that the right turn should be stopped, such as “We recommend that you stop the right turn action”.

  As a result, for example, the driver concentrates on the right turn and does not concentrate on the signal, and the signal state on the vehicle side changes from blue to yellow or from yellow to red, making the right turn dangerous. Even if the driver does not recognize this, the driver can easily know that the right turn should be stopped by the presentation.

  Next, an example of detailed operation of the driving support device 2 according to the second embodiment will be described. FIG. 7 is a flowchart showing an example of detailed operation of the driving support apparatus 2 according to the second embodiment, and shows the latter half. The first half is the same as the flowchart shown in FIG. In addition, the processes shown in steps ST30 to ST34, ST38, and ST39 in FIG. 7 are the same as steps ST17 to ST21, ST22, and ST23 shown in FIG.

  As shown in the figure, the presentation unit 18 displays a change in signal state (ST34). In parallel with or before this processing, the host vehicle traveling state detection unit 19 detects the distance to the stop line that is the traveling state of the host vehicle. Then, the right turn cancellation determination unit 20 determines whether or not the change in the signal state on the own vehicle side is a change from blue to yellow or from yellow to red (ST35).

  When it is determined that the change in the signal state on the own vehicle side is neither a change from blue to yellow or a change from yellow to red (ST35: NO), the process ends. On the other hand, when it is determined that the change in the signal state on the own vehicle side is a change from blue to yellow or from yellow to red (ST35: YES), the right turn stop determination unit 20 determines whether or not a predetermined condition is satisfied. (ST36). That is, the right turn cancellation determination unit 20 determines whether or not the distance to the stop line of the host vehicle is equal to or greater than the threshold value T1.

  When it is determined that the distance to the stop line of the host vehicle is not equal to or greater than the threshold value T1 (ST36: NO), the process ends. On the other hand, when it is determined that the distance to the stop line of the host vehicle is equal to or greater than the threshold value T1 (ST36: YES), the right turn stop determination unit 20 transmits information indicating that the right turn should be stopped to the presentation unit 18.

  Then, the presentation unit 18 displays information indicating that the right turn should be stopped (ST39). Thereafter, similarly to steps ST22 and ST23 shown in FIG. 3, the process ends through steps ST38 and ST39. Note that the processing shown in FIG. 7 is repeated until, for example, the ignition switch is turned off.

  In this way, according to the driving support device 2 according to the second embodiment, as in the first embodiment, it is possible to support the driver's driving so that a smooth right-turning action can be performed, and the right turn determination is ensured. Therefore, it is possible to easily determine whether or not a right turn is possible.

  Furthermore, according to the second embodiment, when it is determined that it is better to stop the right turn action based on the traveling state of the own vehicle when a change in the signal state on the own vehicle side is detected, the right turn action is stopped. Presents information to the effect. For this reason, for example, if the host vehicle is approaching the intersection but is slightly away from the intersection, and the signal status on the host vehicle side changes from blue to yellow, the right turn action should be stopped. Present information. And by presenting the information that the right turn action should be stopped, the driver should stop turning right even if the driver concentrates on the right turn and does not concentrate on the signal. It is easy to know and you can cancel the right turn. Therefore, it is possible to favorably support the right turn action.

  Further, since the distance from the stop line of the intersection to the own vehicle is detected as the traveling state of the own vehicle, it is possible to make a suitable presentation according to the degree of proximity of the own vehicle to the intersection. It becomes. Therefore, the driver's right turn behavior can be more suitably supported.

  The predetermined condition is satisfied when the distance from the stop line of the intersection to the own vehicle is equal to or greater than a predetermined threshold T1, and the distance from the stop line of the intersection to the own vehicle is less than the predetermined threshold T1. It is determined that the condition is not satisfied. For this reason, it becomes possible to perform suitable presentation according to the distance of the own vehicle and the stop line of an intersection. Therefore, the driver's right turn behavior can be more suitably supported.

  Next, a third embodiment of the present invention will be described. The driving support device 3 according to the third embodiment is the same as that of the second embodiment, but the configuration and part of the processing contents are different from those of the second embodiment.

  Hereinafter, the driving assistance apparatus 3 which concerns on 3rd Embodiment is demonstrated. FIG. 8 is a schematic configuration diagram of the driving support device 3 according to the third embodiment. As shown in the figure, the driving support apparatus 3 according to the present embodiment newly includes a signal state determination unit (signal state determination means) 21.

  The signal state determination unit 21 determines whether or not the oncoming vehicle side signal has changed from blue to yellow and yellow to red prior to the own vehicle side signal. That is, the signal state determination unit 21 determines whether or not the signal at the intersection is a time difference type. The signal state determination unit 21 is connected to the signal state change detection unit 17, and is based on a change in the signal state on the own vehicle side detected by the signal state change detection unit 17 and a change in the signal state on the oncoming vehicle side. It is configured to determine whether or not the signal is a time difference type signal.

  In addition, the signal state determination unit 21 is connected to the presentation unit 18, and when the oncoming vehicle side signal changes from blue to yellow or yellow to red before the own vehicle side signal, information indicating that fact Is configured to transmit.

  In the third embodiment, when the information indicating that the oncoming vehicle side signal has changed from blue to yellow or yellow to red before the oncoming vehicle side signal is input, the presentation unit 18 presents that fact to the driver. It is configured.

  Usually, when the signal at the intersection is a time difference type, it is difficult for the driver to understand the signal state on the oncoming vehicle side. However, since the signal state determination unit 21 is provided in the third embodiment, when the oncoming vehicle signal first changes from blue to yellow or from yellow to red, the presentation unit 18 notifies the driver accordingly. It will be. Thus, the driver can easily know whether or not to make a right turn even when the oncoming vehicle signal is not visible.

  Moreover, in 3rd Embodiment, the signal state judgment part 21 is connected to the own vehicle running condition detection part 19, and inputs the information of the running condition of the own vehicle. Further, the signal state determination unit 21 is configured to determine whether or not the traveling state satisfies a predetermined condition when information on the traveling state of the host vehicle is input.

  Here, the predetermined condition is the same as that described in the second embodiment, and is satisfied when the distance from the intersection stop line to the host vehicle is equal to or greater than a predetermined threshold T2, and It is determined that the distance from the stop line to the host vehicle is not satisfied when the distance is less than a predetermined threshold T2. Further, the signal state determination unit 21 is configured to transmit information indicating whether or not a predetermined condition is satisfied to the presentation unit 18.

  Furthermore, the presentation unit 18 of the third embodiment indicates that the signal on the oncoming vehicle has changed from blue to yellow first and that yellow to red first when the predetermined condition is satisfied by the signal state determination unit 21. It is configured to present both of the changes. On the other hand, when the predetermined condition is not satisfied by the signal state determination unit 21, the presentation unit 18 does not present that the oncoming vehicle side has changed from blue to yellow first, but first changed from yellow to red. It is configured to present only that.

  Here, the presentation by the presentation unit 18 will be described. From the above, the case where the predetermined condition is satisfied is a case where the host vehicle is away from the intersection. Accordingly, the presentation unit 18 presents both the change from blue to yellow and from yellow to red when the host vehicle is away from the intersection. On the other hand, the case where the predetermined condition is not satisfied is a case where the host vehicle is approaching the intersection. Therefore, when the host vehicle is approaching the intersection, the presenting unit 18 presents only that the vehicle has changed from yellow to red without presenting that the vehicle has changed from blue to yellow.

  In this way, when the host vehicle is close to the intersection, the information amount is reduced, so that the driver is not bothered and the time difference signal is transmitted.

  Next, an example of detailed operation of the driving support device 3 according to the third embodiment will be described. FIG. 9 is a flowchart illustrating an example of detailed operation of the driving support device 3 according to the third embodiment.

  First, it is assumed that the processes from steps ST10 to ST20 shown in FIGS. 3 and 4 are performed before the process shown in FIG. 9 is performed. And the signal state judgment part 21 inputs the information of the change of a signal state about both the own vehicle side and the other vehicle side from the signal state change detection part 17. FIG. Then, the signal state determination unit 21 determines whether or not the oncoming vehicle side signal has changed from blue to yellow or from yellow to red before the own vehicle side signal (ST40).

  Here, when it is determined that the oncoming vehicle signal has not changed from blue to yellow or from yellow to red first (ST40: NO), the signal at the intersection is not a time difference type, so the presentation unit 18 The signal change is displayed as usual (ST42). Thereafter, the process proceeds to step ST44.

  On the other hand, if it is determined that the oncoming vehicle signal has changed from blue to yellow or yellow to red first (ST40: YES), the signal state determination unit 21 determines whether or not a predetermined condition is satisfied ( ST41). That is, the signal state determination unit 21 determines whether or not the distance to the stop line of the host vehicle is equal to or greater than the threshold value T2.

  If it is determined that the distance to the stop line of the host vehicle is greater than or equal to the threshold T2 (ST41: YES), the presentation unit 18 has changed the signal state on the oncoming vehicle side from blue to yellow or from yellow to red. Is presented (ST42). That is, the presentation unit 18 displays the change in the signal state on the oncoming vehicle as usual. Then, the process proceeds to step ST44.

  On the other hand, when it is determined that the distance to the stop line of the host vehicle is not equal to or greater than the threshold T2 (ST41: NO), the presentation unit 18 presents only that the signal state on the oncoming vehicle side has changed from yellow to red (ST43). ). For this reason, when the oncoming vehicle side signal changes from blue to yellow, the presentation unit 18 does not present a change in the signal state. Then, the process proceeds to step ST44.

  In step ST44, the right turn cancellation determination unit 20 determines whether the change in the signal state on the vehicle side is from blue to yellow or from yellow to red (ST44). Thereafter, similarly to steps ST35 to ST39 shown in FIG. 7, the processing of steps ST44 to ST48 is performed, and the processing ends. Then, for example, the process is repeated until the ignition switch is turned off.

  In this way, according to the driving support device 3 according to the third embodiment, as in the second embodiment, it is possible to support the driver's driving so that a smooth right-turning action can be performed, and the right turn determination is ensured. Therefore, it is possible to easily determine whether or not a right turn is possible.

  Further, the right turn behavior can be favorably supported, and the driver's right turn behavior can be further favorably supported. .

  Furthermore, according to the third embodiment, in order to determine whether the oncoming vehicle side signal has changed from blue to yellow and from yellow to red before the own vehicle side signal, the intersection uses a time difference type signal. It is possible to judge the hiring. In addition, when the driving condition of the host vehicle satisfies the predetermined condition (for example, when the vehicle is not approaching the intersection), both the fact that the oncoming vehicle signal has changed from blue to yellow and that the signal from yellow to red has changed. When the driving condition of the vehicle does not meet the specified conditions (for example, when the vehicle is very close to the intersection), the oncoming vehicle signal changes from blue to yellow and changes from yellow to red. Present only what you did. For this reason, in a situation where it is difficult for the driver to understand the signal state of the oncoming vehicle, such as a time difference signal, a change in the signal is presented, and appropriate presentation is made with less trouble according to the driving situation. It will be. Therefore, the driver's right turn behavior can be more suitably supported.

  Next, a fourth embodiment of the present invention will be described. The driving support device 4 according to the fourth embodiment is the same as that of the third embodiment, but the configuration and part of the processing contents are different from those of the third embodiment.

  Hereinafter, the driving assistance apparatus 4 which concerns on 4th Embodiment is demonstrated. FIG. 10 is a schematic configuration diagram of the driving support device 4 according to the fourth embodiment. As shown in the figure, the driving support apparatus 4 according to the present embodiment is newly provided with an oncoming vehicle traveling state detection unit (oncoming vehicle traveling state detection unit) 22 and a stop prediction unit (stop prediction unit) 23. Yes.

  The oncoming vehicle traveling state detection unit 22 detects the traveling state of the oncoming vehicle. Here, the oncoming vehicle traveling state detection unit 22 is configured to detect the position of the oncoming vehicle, the vehicle speed, and the vehicle speed change as the traveling state of the oncoming vehicle.

  The stop prediction unit 23 predicts the stop of the oncoming vehicle. Specifically, the stop prediction unit 23 calculates the distance from the oncoming vehicle position detected by the oncoming vehicle traveling state detection unit 22 to the signal stop line of the oncoming vehicle side lane, and the current position of the oncoming vehicle is calculated with respect to the distance. It is determined whether or not the vehicle is going to stop based on the deceleration.

  Note that there is a possibility of making an erroneous determination when the vehicle speed is originally high only by deceleration and distance. For example, if the vehicle speed is abnormally high and a high deceleration is detected, but the vehicle cannot be stopped before the stop line, there is a possibility of making an erroneous stop determination. For this reason, when the stop prediction unit 23 determines that the oncoming vehicle is about to stop, the stop prediction unit 23 detects whether the oncoming vehicle speed is equal to or lower than a certain value V1. A stop may be predicted.

  Further, the stop prediction unit 23 is connected to the presentation unit 18 and transmits a determination result of prediction of stop to the presentation unit 18. In the fourth embodiment, the presentation unit 18 is configured to perform presentation according to the determination result when the determination result of the stop prediction is input. That is, when the stop prediction unit 23 predicts the oncoming vehicle stop, the presentation unit 18 presents oncoming vehicle stop information. When the stop prediction unit 23 does not predict the oncoming vehicle stop, The approach information is presented.

  With this configuration, the driver can easily determine whether to perform a right turn action or stop based on the stop information and the approach information.

  Further, the oncoming vehicle traveling state detection unit 22 detects the traveling state of not only one oncoming vehicle but also other oncoming vehicles. For example, on a road with multiple lanes on one side, not only the oncoming vehicle closest to the host vehicle but also the following vehicle traveling in the adjacent lane is detected.

  Moreover, the stop prediction unit 23 is configured to perform stop prediction for the other oncoming vehicles. And the stop prediction part 23 becomes a structure which transmits the information to that effect to the presentation part 18, when a stop is not estimated about another oncoming vehicle.

  The presentation unit 18 according to the fourth embodiment presents warning information when information indicating that a stop of another oncoming vehicle is not predicted is input after the stop information of the oncoming vehicle is predicted and the stop information is presented. Yes.

  Due to such a configuration, the driver can perform a smoother right turn action. That is, when information indicating that the oncoming vehicle is stopped is usually presented, the driver may not pay attention to the following vehicle in the adjacent lane due to a sense of security. However, even if the driver does not pay attention to the following vehicle, the warning information is presented when the following vehicle approaches, so the driver can perform a smoother right turn action.

  Next, an example of detailed operation of the driving support device 4 according to the fourth embodiment will be described. FIG. 11 is a flowchart illustrating an example of detailed operation of the driving support device 4 according to the fourth embodiment.

  First, it is assumed that the processing from steps ST10 to ST20 shown in FIGS. 3 and 4 is executed before the processing shown in FIG. 11 is performed. And the signal state judgment part 21 inputs the information of the change of a signal state about both the own vehicle side and the other vehicle side from the signal state change detection part 17. FIG. Then, the signal state determination unit 21 determines whether or not the oncoming vehicle side signal has changed from blue to yellow or from yellow to red before the own vehicle side signal (ST50).

  Here, when it is determined that the signal on the oncoming vehicle has not changed from blue to yellow or from yellow to red first (ST50: NO), the signal at the intersection is not a time difference type or the like. The signal change is displayed as usual (ST52). Thereafter, the process proceeds to step ST55.

  On the other hand, when it is determined that the oncoming vehicle signal has changed from blue to yellow or from yellow to red first (ST50: YES), the signal state determination unit 21 determines whether or not a predetermined condition is satisfied ( ST51). That is, the signal state determination unit 21 determines whether or not the distance to the stop line of the host vehicle is equal to or greater than the threshold value T2.

  If it is determined that the distance to the stop line of the host vehicle is not equal to or greater than the threshold value T2 (ST51: YES), the oncoming vehicle traveling state detection unit 22 detects information on the traveling state of the oncoming vehicle. Thereafter, the stop prediction unit 23 predicts whether or not the oncoming vehicle stops (ST53). When the oncoming vehicle is predicted to stop (ST53: YES), the presentation unit 18 presents that the oncoming vehicle signal state has changed from blue to yellow or from yellow to red (ST52). That is, the presentation unit 18 displays the change in the signal state on the oncoming vehicle as usual. Then, the process proceeds to step ST55.

  As described above, in the fourth embodiment, when the oncoming vehicle is predicted to be stopped by the stop predicting unit 23, even when the predetermined condition is not satisfied (when the own vehicle is approaching the intersection), the oncoming vehicle Not only that the signal on the side has changed from yellow to red, but also that it has changed from blue to yellow.

  This is due to the following reason. For example, the driver of the oncoming vehicle may stop the vehicle because the signal changes from blue to yellow. In such a case, if the driver quickly decides to make a right turn, a smooth right turn can be realized. Therefore, when it is predicted that the oncoming vehicle will stop, the fact that the oncoming vehicle signal changes from blue to yellow is presented.

  Then, the driver of the own vehicle predicts the stop of the oncoming vehicle and starts the right turn action because the signal on the oncoming vehicle side has changed from blue to yellow. Thereby, this apparatus 4 can support right-turning behavior more suitably.

  On the other hand, when the stop of the oncoming vehicle is not predicted (ST53: NO), the presentation unit 18 presents only that the signal state of the oncoming vehicle has changed from yellow to red (ST53). For this reason, when the oncoming vehicle side signal changes from blue to yellow, the presentation unit 18 does not present a change in the signal state. For this reason, the situation where the driver of the host vehicle starts the right turn action is prevented without notifying the driver of the host vehicle that the signal on the oncoming vehicle has changed from blue to yellow. Then, the process proceeds to step ST55.

  In addition, when it is determined that the distance to the stop line of the host vehicle is equal to or greater than the threshold T2 (ST51: YES), the presentation unit 18 has changed the signal state on the oncoming vehicle side from blue to yellow, or from yellow to red. (ST52), and the process proceeds to step ST55.

  In step ST55, the stop prediction unit 23 determines whether to stop the oncoming vehicle and the following vehicle, and the presentation unit 18 displays any one of approach information, stop information, and warning information (ST55). Thereafter, in steps ST56 to ST60, processing similar to that in steps ST35 to ST39 shown in FIG. 7 is performed, and the processing ends. Then, for example, the process is repeated until the ignition switch is turned off.

  FIG. 12 is a flowchart showing details of the process in step ST55 shown in FIG. First, the oncoming vehicle traveling state detection unit 22 detects the traveling state of the oncoming vehicle (ST70). Thereafter, the stop prediction unit 23 predicts the stop of the oncoming vehicle (ST71). Then, the stop prediction unit 23 transmits the prediction result to the presentation unit 18.

  Thereafter, the presentation unit 18 determines whether or not the oncoming vehicle is predicted to stop (ST72). If it is determined that the oncoming vehicle has not been stopped (ST72: NO), the presentation unit 18 displays approach information to inform the driver of the approaching oncoming vehicle (ST73). This prevents the driver from turning right. Then, the process returns to step ST56 in FIG.

  On the other hand, when it is determined that a stop of the oncoming vehicle is predicted (ST72: YES), the presentation unit 18 displays stop information to notify the driver of the stop of the oncoming vehicle (ST74). As a result, the driver is advised that the driver can make a right turn, and supports a smooth right turn action.

  Thereafter, the oncoming vehicle running condition detection unit 22 determines whether there is another oncoming vehicle (ST75). If it is determined that there is no other oncoming vehicle (ST75: NO), the process returns to step ST56 in FIG.

  On the other hand, when it is determined that there is another oncoming vehicle (ST75: YES), the oncoming vehicle traveling state detection unit 22 detects the traveling state of the other oncoming vehicle (ST76). Thereafter, the stop prediction unit 23 performs stop prediction for other oncoming vehicles (ST77). Then, the stop prediction unit 23 transmits the prediction result to the presentation unit 18.

  Thereafter, the presentation unit 18 determines whether or not the other oncoming vehicle is predicted to stop (ST78). Here, when it is determined that a stop of another oncoming vehicle is predicted (ST78: YES), the process returns to step ST56 of FIG.

  On the other hand, when it is determined that the stop of another oncoming vehicle has not been predicted (ST78: NO), the presentation unit 18 displays warning information to notify the driver of the approach of another oncoming vehicle (ST79). This prevents the driver from turning right. Then, the process returns to step ST56 in FIG.

  In this way, according to the driving support device 4 according to the fourth embodiment, as in the third embodiment, it is possible to support the driver's driving so that a smooth right-turning action can be performed, and the right turn determination is ensured. Therefore, it is possible to easily determine whether or not a right turn is possible.

  Further, the right turn behavior can be favorably supported, and the driver's right turn behavior can be further favorably supported.

  Furthermore, according to the fourth embodiment, whether or not the oncoming vehicle stops is predicted, and when it is predicted that the oncoming vehicle will stop, the driver displays the stop information of the oncoming vehicle to the driver. It can be performed smoothly. On the other hand, when it is predicted that the oncoming vehicle will not stop, the approach information of the oncoming vehicle is presented to the driver, so that the driver can easily determine that the right turn action should be stopped. Therefore, the driver's right turn behavior can be more suitably supported.

  In addition, after the stop information of the oncoming vehicle is presented, when the stop is not predicted for the other oncoming vehicle, warning information indicating the approach of the other oncoming vehicle is presented. Here, when the driver is presented with information that the oncoming vehicle will stop, for example, the driver will not pay attention to another oncoming vehicle (for example, a succeeding vehicle that travels in the lane next to the oncoming vehicle on a road with multiple lanes on one side). Tend. However, when a stop is not predicted for another oncoming vehicle, the approach of the vehicle is warned, so the stop information can be relieved and a smooth right turn is not hindered. Therefore, the driver's right turn behavior can be more suitably supported.

  In addition, when it is predicted that the oncoming vehicle will stop, only when the oncoming vehicle signal has changed from yellow to red even when a predetermined condition (for example, the vehicle is very close to the intersection) is not satisfied. Rather, it shows that it changed from blue to yellow. For example, the driver of the oncoming vehicle may stop the vehicle because the signal changes from blue to yellow. In such a case, if the driver quickly decides to make a right turn, a smooth right turn can be realized. Therefore, when it is predicted that the oncoming vehicle will stop, the fact that the signal has changed not only from yellow to red but also from blue to yellow is presented. Thereby, the driver of the own vehicle can predict the stop of the oncoming vehicle and start the right turn action because the oncoming vehicle signal has changed from blue to yellow. Therefore, it is possible to support the right turn action more preferably.

  As mentioned above, although this invention was demonstrated based on embodiment, this invention is not restricted to the said embodiment, You may combine each embodiment. Moreover, you may add a change in the range which does not deviate from the meaning of this invention. Changes may be made without departing from the spirit of the present invention.

It is a lineblock diagram of a driving support device concerning an embodiment of the present invention. It is explanatory drawing which shows an example of a structure and presentation of a presentation part, (a) shows the example of a structure of a presentation part, (b) shows the example of presentation when a signal changes from blue to yellow, (c) is An example of presentation when the signal changes from yellow to red is shown, (d) shows an example of presentation when the signal changes from red to blue, and (e) shows an example of presentation when the signal does not change. ing. It is a flowchart, and shows the first half part of an example of detailed operation | movement of the driving assistance device which concerns on 1st Embodiment. It is a flowchart, and shows the second half part of an example of detailed operation | movement of the driving assistance device which concerns on 1st Embodiment. It is a schematic block diagram of the driving assistance device which concerns on 2nd Embodiment. It is explanatory drawing which shows the presentation example of a presentation part, and has shown the presentation example when a signal changes from yellow to red. It is a flowchart which shows an example of the detailed operation | movement of the driving assistance device which concerns on 2nd Embodiment, and has shown the second half part. It is a schematic block diagram of the driving assistance device which concerns on 3rd Embodiment. It is a flowchart which shows an example of detailed operation | movement of the driving assistance device which concerns on 3rd Embodiment. It is a schematic block diagram of the driving assistance device which concerns on 4th Embodiment. It is a flowchart which shows an example of detailed operation | movement of the driving assistance device which concerns on 4th Embodiment. It is a flowchart which shows the detail of a process of step ST55 shown in FIG.

Explanation of symbols

1-4 ... Driving assistance device 10 ... Position detection part (position detection means)
11: Storage section (storage means)
12 ... intersection approach detection unit (intersection approach detection means)
13 ... Reading section (reading means)
14 ... Approaching direction detector (entrance direction detecting means)
15 ... Right turn availability determination unit (Right turn availability determination means)
16 ... Right turn intention detection unit (right turn intention detection means)
17... Signal state change detection unit (signal state change detection means)
18 ... Presentation section (presentation means)
19: Own vehicle running condition detection unit (own vehicle running condition detecting means)
20 ... Right turn stop determination unit (right turn stop determination means)
21 ... Signal state determination unit (signal state determination means)
22 ... Oncoming vehicle running status detection unit (opposed vehicle running status detection means)
23: Stop prediction unit (stop prediction means)

Claims (12)

Position detecting means for detecting the position of the vehicle during traveling;
An intersection approach detecting means for detecting that the own vehicle is approaching the intersection based on the own vehicle position detected by the position detecting means;
Based on the approach direction of the own vehicle to the intersection detected as approaching by the intersection approach detecting means and the characteristics of the intersection where the own vehicle enters, it is determined whether or not the intersection can be turned to the right. Means for determining whether to make a right turn,
A right turn intention detection means for detecting a driver's right turn intention;
A signal state change detecting means for detecting a change in the signal state of the intersection;
Detected by the signal state change detection means when the right turn possibility determination means determines that the intersection can be turned right, and when the right turn intention detection means detects the driver's right turn intention Presenting means for presenting information of changes in signal state to the driver;
A driving support apparatus comprising: Storage means for storing characteristics of a plurality of intersections;
Reading means for reading out characteristics of an intersection detected by the intersection approach detection means among a plurality of intersections stored in the storage means;
An approach direction detecting means for detecting an approach direction of the host vehicle to the intersection read by the reading means;
The right turn availability determination means determines whether or not the intersection can be turned right based on the approach direction detected by the approach direction detection means and the characteristics of the intersection read by the reading means. The driving support device according to claim 1, wherein The storage means stores the shape of each of a plurality of intersections as the characteristics of the plurality of intersections,
The said reading means reads the shape of the intersection detected as approaching by the said intersection approach detection means among the some intersection memorize | stored in the said memory | storage means. Driving assistance device. Own vehicle running status detecting means for detecting the running status of the own vehicle;
A right turn stop judging means for judging whether or not the right turn of the own vehicle should be stopped,
When the signal state change detecting means detects a change in the signal state on the own vehicle side, the right turn stop determining means uses the traveling condition of the own vehicle detected by the own vehicle traveling condition detecting means and a predetermined condition. Based on whether the vehicle should turn right or not,
The presenting means presents information indicating that the right turn action should be stopped when it is determined by the right turn stop determining means that the right turn of the host vehicle should be stopped. The driving support device according to any one of the above. A signal state judging means for judging whether or not the oncoming vehicle side signal has changed from blue to yellow and yellow to red before the own vehicle side signal;
The presenting means, when it is judged by the signal state judging means that the oncoming vehicle signal has changed from blue to yellow and yellow to red first, the traveling of the own vehicle detected by the own vehicle running condition detecting means When the situation satisfies the predetermined condition, it shows both that the signal on the oncoming vehicle has changed from blue to yellow and from yellow to red, and when the driving situation of the host vehicle does not meet the predetermined condition, The driving support device according to claim 4, wherein the vehicle side signal is not presented that the signal has changed from blue to yellow, but only that the signal has changed from yellow to red.   The driving support device according to claim 4, wherein the own vehicle traveling state detection unit detects a distance from the stop line of the intersection to the own vehicle as the traveling state of the own vehicle. .   The predetermined condition is satisfied when the distance from the stop line of the intersection to the own vehicle is equal to or greater than a predetermined threshold, and when the distance from the stop line of the intersection to the own vehicle is less than a predetermined threshold. It is judged that it does not satisfy | fill, The driving assistance apparatus of Claim 6 characterized by the above-mentioned. Oncoming vehicle running status detecting means for detecting the running status of the oncoming vehicle,
Stop prediction means for predicting the stop of the oncoming vehicle,
The stop prediction unit predicts a stop of the oncoming vehicle based on the oncoming vehicle running status detected by the oncoming vehicle running status detection unit,
The presenting means presents stop information of the oncoming vehicle when the stop predicting means predicts the stop of the oncoming vehicle, and if the stop predicting means does not predict the stop of the oncoming vehicle, the presenting means The driving assistance device according to any one of claims 1 to 7, wherein vehicle approach information is presented.   The presenting means presents warning information indicating the approach of another oncoming vehicle when the stop prediction means does not predict the stop of another oncoming vehicle after the stop information of the oncoming vehicle is presented. The driving support apparatus according to claim 8, wherein the driving support apparatus is characterized. Oncoming vehicle running status detecting means for detecting the running status of the oncoming vehicle,
Stop prediction means for predicting the stop of the oncoming vehicle,
The stop prediction unit is configured to stop the oncoming vehicle based on the oncoming vehicle running state detected by the oncoming vehicle running state detecting unit and the oncoming vehicle side signal state change detected by the signal state change detecting unit. Predict
When the oncoming vehicle is predicted to be stopped by the stop prediction unit, the presenting unit not only indicates that the oncoming vehicle signal has changed from yellow to red even when the predetermined condition is not satisfied. The driving support device according to claim 5, wherein a change from blue to yellow is presented.   The driving assistance according to any one of claims 8 to 10, wherein the oncoming vehicle traveling state detection means detects a position of the oncoming vehicle, a vehicle speed, and a vehicle speed change as a traveling state of the oncoming vehicle. apparatus. When the host vehicle approaches the intersection, it is determined whether or not the vehicle can turn right based on the direction in which the host vehicle enters the intersection and the characteristics of the intersection. Detect intentions,
When it is determined that the intersection can turn right and the driver's intention to make a right turn is detected, a change in the signal state of the intersection is detected and presented to the driver.

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