JP2010205219A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device capable of making a driver know the change in the indication of a traffic signal while the driver is operating an input device without giving the driver a feeling of complexity. <P>SOLUTION: The driving support device includes: a detection means 11 for detecting that an indication of a traffic signal in front of a driver's own vehicle has changed from start non-permission to start permission while the own vehicle is stopped; a monitoring means 13 for monitoring whether the driver is operating an input device 40; and a determination means 14 for determining whether the driver is when he or she can recognize the indication of start permission of the traffic signal based on the result of the detection means 11 and the monitoring means 13. The driving support device makes the driver know the change in the indication of the traffic signal when determination means 12 determines that the vehicle has not started within a first predetermined time period Ta (Ta=1 second, for example), and the determination means 14 determines that the driver is not while he or she can recognize the indication. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a driving support device that notifies that a signal from a traffic light in front of a vehicle has changed from a start not permitted to a start permitted while the vehicle is stopped.

  Conventionally, as a driving assistance device for notifying that the instruction (display) of the traffic light in front of the vehicle has changed from no start permission (red) to start permission (blue) while the vehicle is stopped, the driver It is determined whether or not a change in the direction of the traffic light has been seen, and if it is determined that the vehicle has not been viewed after a predetermined time has elapsed, a change in the direction of the traffic signal is notified. (For example, refer to Patent Document 1). According to this driving support device, it is possible to notify the change in the instruction of the traffic light without giving the driver a sense of complexity.

JP 2006-92129 A

  However, the driving support device described in Patent Document 1 does not mention the case where the driver is operating the input device. When the driver is operating the input device, the driver's awareness concentrates on the operation of the input device. Therefore, even if it is determined that the driver has seen a change in the display of the traffic light based on the direction of the driver's line of sight, the driver may actually miss the change in the indication of the traffic light.

  The present invention has been made in view of the above, and when the driver is operating the input device, it is possible to notify the driver of a change in the instruction of the traffic light without giving the driver a sense of complexity. The purpose is to provide.

In order to achieve the above object, the driving support device of the present invention provides:
Detection means for detecting that the instruction of the traffic light in front of the vehicle has changed from the start disapproval to the start permission while stopping,
Discrimination means for discriminating whether or not the vehicle has started within a first predetermined time from the time when the instruction of the traffic light changes to start permission using the result of the detection means;
Monitoring means for monitoring whether the driver is operating the input device;
Determination means for determining whether or not the driver is in a state capable of recognizing the start permission of the traffic light based on the results of the detection means and the monitoring means;
When it is determined by the determination means that the vehicle has not started within the first predetermined time and the determination means determines that the vehicle is not in a recognizable state, the driver is notified that the instruction of the traffic light has changed. Notification means.

  ADVANTAGE OF THE INVENTION According to this invention, when the driver is operating the input device, the driving assistance apparatus which can alert | report the change of the instruction | indication of a traffic signal is given, without giving a driver a complicated feeling.

It is a functional block diagram which shows one Example of the driving assistance device of this invention. It is a figure which shows an example of the operation menu image group displayed on the display part 42b. It is a figure which shows an example of the map image around the own vehicle displayed on the display part 42b. 6 is a diagram illustrating an example of an image displayed on a display 46. FIG. FIG. 6 is a timing diagram for explaining an example of determination processing by a determination unit 14. It is a flowchart which shows an example of the alerting | reporting control process performed by ECU10. 7 is a flowchart illustrating another example of a notification control process executed by the ECU 10.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

  FIG. 1 is a functional block diagram showing an embodiment of the driving support apparatus of the present invention. The driving support device is a device that gives a notification when an instruction (display color) of a traffic light in front of the vehicle changes from a start disapproval (red) to a start permission (blue) while the vehicle is stopped. The driving support apparatus is configured around an electronic control unit (hereinafter referred to as “ECU”) 10.

  ECU10 is comprised as a microcomputer which consists of CPU, ROM, RAM, etc. which were mutually connected via the bus | bath which is not shown in figure. The CPU executes a program stored in the ROM or the like. Data generated during execution of the CPU is stored in a RAM or the like.

  The ECU 10 may be a part of the navigation device. The navigation device has a function of recognizing the position of the host vehicle on a map using information received from a GPS satellite by the GPS receiver and map information in the map database. In addition, the navigation device has a function of displaying a map image around the host vehicle on the display unit 42b described later, a voice prompting a warning when the host vehicle approaches a curve (for example, a voice to the effect of “curve ahead”), and A function for outputting a graphic image is provided.

  The ECU 10 is connected with an information acquisition means 20, an input device 40, and a speaker 50 via an in-vehicle network such as CAN or LIN.

  The information acquisition unit 20 is a unit that acquires vehicle periphery information and vehicle information. The information acquisition unit 20 outputs the acquired information to the ECU 10 every predetermined time. The information acquisition unit 20 includes, for example, a peripheral imaging unit 22, a wireless communication device 24, and various sensors 32-36.

  The peripheral imaging unit 22 is a unit that captures an image in front of the vehicle. The peripheral imaging means 22 processes the captured image and identifies the display color of the traffic light ahead of the vehicle, thereby identifying the instruction of the traffic light ahead of the vehicle.

  The wireless communication device 24 acquires the instruction information of the traffic signal ahead of the vehicle through vehicle-to-vehicle communication or road-to-vehicle communication. Here, the instruction information refers to information related to an instruction of a traffic light, and includes information related to a waiting time until the signal changes from a red signal to a blue signal in addition to information related to a display color of the traffic light. For example, the wireless communication device 24 communicates with a wireless communication device installed in a traffic signal in front of the vehicle, and acquires instruction information of the traffic signal in front of the vehicle. Further, the wireless communication device 24 may communicate with a wireless communication device mounted on the preceding vehicle to acquire instruction information of a traffic signal in front of the vehicle.

  The various sensors 32 to 36 are means for acquiring vehicle information. The pedal effort detection switch 32 detects the brake pedal effort. The accelerator sensor 34 detects the accelerator pedal opening. The vehicle speed sensor 36 detects the vehicle speed.

  The input device 40 is a device for a driver to input. The input device 40 outputs a signal corresponding to the input by the driver to the ECU 10. The input device 40 includes a touch panel 42 and a display switch 44, for example.

  The touch panel 42 is provided at a position where it can be operated from the driver, for example, near the center of the upper part of the instrument panel. The touch panel 42 is a combination of an operation unit 42a operated by a driver and a display unit 42b that displays various images described later.

  The operation unit 42 a outputs an operation signal corresponding to the input operation on the touch panel 42 to the ECU 10. The ECU 10 controls various in-vehicle devices (for example, an air conditioner) so as to realize a function (including switching of an operation menu image on the display unit 42b) according to the operation signal.

  The display unit 42b is disposed below the operation unit 42a. The image displayed on the display unit 42b is controlled by the ECU 10. In addition to various operation menu images, a map image around the host vehicle is displayed on the display unit 42b.

  FIG. 2 is a diagram illustrating an example of an operation menu image group displayed on the display unit 42b. The operation menu image is an image that supports a driver's input operation to the operation unit 42a. The operation menu image represents the switch arrangement position and its function in the operation unit 42a. The operation menu image serves to notify the driver of various functions implemented by input operations on the operation unit 42a and to inform the driver of the position of each operation switch to be operated to realize the various functions.

  The operation menu image shown in FIG. 2A includes graphic images F1 to F8 simulating eight operation switches in the operation unit 42a. The size and position of the graphic images F1 to F8 in the operation menu image correspond to the size and position of the operation area of the corresponding operation switch in the operation unit 42a. The driver viewing the display unit 42b can know the functions that can be realized by operating the operation switches by viewing the characters in the graphic images F1 to F8.

  Various operation menu images may be prepared, and may be switched as appropriate in accordance with the operation status in the operation unit 42a. In this case, according to the switching of the operation menu image, the position of the operation switch in the operation unit 42a and its function are changed.

  The operation menu image shown in FIG. 2B is obtained by operating an operation switch (hereinafter referred to as “various setting switch”) at a position corresponding to the graphic image F7 including the characters “various settings” in FIG. Displayed. The operation menu image shown in FIG. 2B is an image that displays the setting status of various functions of the navigation device and supports setting changes by the driver.

  The operation menu image shown in FIG. 2C is obtained by operating an operation switch (hereinafter referred to as “scroll switch”) at a position corresponding to the graphic image F9 including the “next” character in FIG. Displayed. When the driver wishes to change the curve guidance function of the navigation device from on to off, the driver operates the operation switch (hereinafter referred to as “release”) in the position corresponding to the graphic image F10 including the characters “No” in the curve warning column. It can be understood that the switch is called). In addition, when the driver wants to confirm the setting change, he / she understands that an operation switch (hereinafter referred to as “completion switch”) located at a position corresponding to the graphic image F11 including the characters “complete” may be pressed. be able to.

  In the example illustrated in FIG. 2, the driver can change the setting of the curve guidance function to a desired setting by pressing all of a plurality of switches (various setting switches, scroll switches, release switches, and completion switches).

  FIG. 3 is a diagram illustrating an example of a map image around the host vehicle displayed on the display unit 42b. Graphic images F12 and F13 simulating operation switches for changing the scale of the map image are superimposed and displayed on the map image around the host vehicle. When the driver wants to switch the scale of the map image, the operation switch (hereinafter referred to as “enlarge switch”, “reduced” respectively) at the position corresponding to the graphic image F12 or F13 including the characters “detail” or “wide area”. It can be understood that the switch is called). The scale of the map image is switched in multiple stages (for example, 13 stages). Further, the ECU 10 can move the map image so that the operation position on the map image is the center.

  In the example shown in FIG. 3, the driver can change the scale of the map image to a desired setting by pressing the enlargement switch (reduction switch) once or repeatedly.

  The display switch 44 is a switch for switching the display of the display 46 arranged in the meter. The display switch 44 is installed at a position where it can be operated by the driver, for example, on the upper surface of the steering handle. The display switch 44 is normally in an off state, and outputs an on signal to the ECU 10 when depressed.

  The image displayed on the display 46 is switched every time an ON signal is output from the display switch 44 under the control of the ECU 10.

  FIG. 4 is a diagram illustrating an example of an image displayed on the display 46. As shown in FIG. 4, the image displayed on the display 46 is an image showing the continuously travelable distance (FIG. 4A) and instantaneous fuel consumption each time the display switch 44 is pushed down under the control of the ECU 10. Is switched to an image showing the average fuel consumption (FIG. 4C).

  In the example shown in FIG. 4, the driver can change the display image on the display 46 to a desired image by pressing the display switch 44 once or repeatedly pressing the display switch 44 a plurality of times.

  As shown in FIG. 1, the ECU 10 includes a detection unit 11, a determination unit 12, a monitoring unit 13, a determination unit 14, and a notification unit 15. ECU10 implement | achieves the function which each means 11-15 has by storing the control program corresponding to each means 11-15 in ROM etc., and making CPU execute processing of each control program.

  The detecting means 11 is means for detecting that the instruction (display color) of the traffic light in front of the vehicle has changed from the start disapproval (red) to the start permission (blue) while the vehicle is stopped. That the vehicle is stopped is detected based on vehicle speed information output from the vehicle speed sensor 36, for example. Further, the change in the instruction of the traffic light is detected based on information output from the peripheral imaging means 22 and the wireless communication device 24.

  The discriminating means 12 uses the result of the detecting means 11 to discriminate whether or not the vehicle has started within a first predetermined time Ta (for example, Ta = 1 second) from the time when the instruction of the traffic light changes to start permission. It is. Whether or not the vehicle has started is determined based on information output from the pedal force detection switch 32, the accelerator sensor 34, and the vehicle speed sensor 36. For example, it is determined that the vehicle has started when the operation of the brake pedal is released or the operation of the accelerator pedal is performed.

  Further, the determination means 12 determines whether or not the vehicle has started within a second predetermined time Tb (for example, Tb = 4 seconds) longer than the first predetermined time Ta from the time when the instruction of the traffic light changes to start permission. May be.

  The monitoring unit 13 is a unit that monitors whether or not the driver is operating the input device 40. In the present embodiment, the monitoring unit 13 performs monitoring based on information input by the driver via the input device 40. The monitoring unit 13 may perform monitoring by performing image processing on the driver's image captured by the in-vehicle camera and detecting the driver's line-of-sight direction and face direction. In this embodiment, since monitoring is performed using information input by the driver, a dedicated device such as an in-vehicle camera becomes unnecessary.

  For example, the monitoring unit 13 is operating from the time when one registered information is input to the time when all other information registered in association with the one information is input. That is, the monitoring means 13 is operating from when one switch registered in the ROM or the like is pressed until all other switches registered in the ROM or the like in association with the one switch are pressed. To do.

  In the example shown in FIG. 2, the setting of the curve guidance function can be changed to a desired setting by pressing all of the plurality of switches as described above. Therefore, the monitoring unit 13 determines whether the driver is operating the operation unit 42a when various setting switches are pressed, and whether the scroll switch, the release switch, and the completion switch registered in association with the various setting switches are pressed. Monitor whether or not. Then, it is assumed that the monitoring unit 13 completes the operation of the operation unit 42a by the driver when all the switches registered in association are pressed. The monitoring means 13 may monitor only whether or not the completion switch has been pressed since the completion switch should be pressed last when various setting switches are pressed. As a result, the number of switches to be monitored is reduced, so that the processing load can be reduced.

  Further, the monitoring means 13 is operating from the time when one registered information is input until the time when one information is not re-input for a third predetermined time Tc (for example, Tc = 1 second). . That is, the monitoring means 13 is operating from when one switch registered in the ROM or the like is pressed until when one switch is not pressed again for the third predetermined time Tc or longer.

  In the example shown in FIG. 3, as described above, the scale of the map image can be changed to a desired setting by pressing the enlargement switch (reduction switch) once or repeatedly. Accordingly, when the enlargement switch (reduction switch) is pressed, the monitoring unit 13 determines that the driver is operating the operation unit 42a and uses the timer to measure the elapsed time since the enlargement switch (reduction switch) was pressed. . Then, the monitoring unit 13 assumes that the operation of the operation unit 42a by the driver is completed when the enlargement switch (reduction switch) is not pressed again for the third predetermined time Tc or longer.

  In the example shown in FIG. 4, as described above, the display image on the display 46 can be changed to a desired image by pressing the display switch 44 once or repeatedly pressing the display switch 44 a plurality of times. Therefore, when the display switch 44 is pressed, the monitoring unit 13 determines that the driver is operating the display switch 44 and measures the elapsed time since the display switch 44 was pressed using a timer. Then, the monitoring unit 13 assumes that the operation of the display switch 44 by the driver is completed when the display switch 44 is not pressed again for the third predetermined time Tc or longer.

  The determination means 14 is a means for determining whether or not the driver can recognize the start permission instruction (blue light) of the traffic light based on the results of the detection means 11 and the monitoring means 13.

  For example, the determination means 14 is the case where the instruction of the traffic light changes from the start permission not permitted to the start permission during the operation of the input device 40 and the fourth predetermined time Td after the traffic light instruction changes to the start permission. When the operation is not completed within (for example, Td = 1 second), it is determined that the state is not recognizable.

  FIG. 5 is a timing chart for explaining an example of determination processing by the determination unit 14. In FIG. 5, the horizontal axis is a time axis. In the example shown in FIG. 5, the input operation by the driver is being executed at the time (time T0) when the instruction of the traffic light changes from the start disapproval to the start permission. Further, the input operation by the driver is not completed when the fourth predetermined time Td has elapsed from time T0 (time T1). In this case, since the driver's consciousness is concentrated on the input operation, it is determined that the driver is not in a state where the driver can recognize the start permission instruction (green light).

  Note that the determination unit 14 may determine that the state is not in a recognizable state when the instruction of the traffic light changes from the start not permitted to the start permitted during the operation of the input device 40.

  The notification means 15 is determined by the determination means 12 that the vehicle has not started within the first predetermined time Ta (for example, Ta = 1 second), and is determined not to be recognizable by the determination means 14. In this case, it is means for notifying the driver that the instruction of the traffic light has changed (a green signal). The notification unit 15 performs notification by controlling the speaker 50, for example. From the speaker 50, under the control of the notification means 15, a voice prompting the start (for example, a voice indicating “green signal” or “please confirm ahead”) is output.

  In addition, when a predetermined operation registered is performed when the instruction of the traffic light changes from the start permission not permitted to the start permission, the notification unit 15 elapses the first predetermined time Ta according to the state of the operation. Notification may be performed without waiting. For example, if the registered operation is performed when the traffic light instruction changes from start permission to start permission and the operation is in the initial stage, it takes time to complete the operation. Therefore, the notification is made without waiting for the first predetermined time Ta to elapse. Accordingly, it is possible to promptly notify the change of the instruction of the traffic light without giving the driver a sense of complexity.

  Here, the determination as to whether or not a predetermined registered operation has been performed when the instruction of the traffic light has changed from the start disapproval to the start permission is performed using the results of the detection unit 11 and the monitoring unit 13. In addition, the determination as to whether or not the operation stage is the initial stage is performed in association with each other monitored by the monitoring unit 13 when the registered predetermined operation is an operation completed by inputting a plurality of pieces of information. This is performed based on the type and number of remaining information to be input among the plurality of pieces of information.

  The operation that is completed by inputting a plurality of pieces of information may be a setting operation of the route searching function of the navigation device in addition to the setting operation of the curve guidance function of the navigation device shown in FIG. 2, and is not particularly limited. When searching for a travel route to a destination using the route search function, the driver first selects the genre of the facility and then selects the name of the prefecture where the facility is located in order to set the destination (for example, a specific facility) Then, since it is necessary to select a specific facility from a plurality of candidates, the driver needs to input a plurality of information.

  In addition, when the determination unit 12 determines that the vehicle has not started within the second predetermined time Tb (for example, Tb = 4 seconds), the notification unit 15 indicates that the instruction of the traffic light has changed (the signal is a blue signal). ) May be notified to the driver.

  FIG. 6 is a flowchart illustrating an example of a notification control process executed by the ECU 10. For example, the ECU 10 repeatedly executes the processing after S100 every predetermined time from when the ignition switch of the engine is turned on until it is turned off.

  In S100, the detection means 11 checks whether or not the vehicle is stopped. When the vehicle is not stopped (S100, NO), there is no need to notify the driver, so the process returns to S100 and the processes after S100 are continued. On the other hand, when the vehicle is stopped (S100, YES), the process proceeds to S102.

  In S102, the monitoring unit 13 monitors whether the driver is operating the input device 40 or not.

  In S104, the detection means 11 checks whether or not the traffic light has changed from a red signal to a blue signal. In the case of a red signal (S104, NO), there is no need to notify the driver, so the process returns to S100 and the processes after S100 are continued. On the other hand, in the case of a green light (S104, YES), the process proceeds to S106.

  In S106, the determination unit 12 checks whether or not the vehicle is stopped for a first predetermined time Ta (for example, Ta = 1 second) after the traffic light changes from a red signal to a blue signal. When the vehicle has started (S106, NO), since the driver recognizes the green light, the process returns to S100, and the processes after S100 are continued. On the other hand, when the vehicle is stopped (S106, YES), there is a possibility that the driver does not recognize the green light, so the process proceeds to S108.

  In S108, the determination unit 14 checks whether or not the traffic light has changed from a red signal to a green signal during the operation of the input device 40 by the driver. If it is not in operation (S108, NO), there is a possibility that the driver is recognizing a green light, so the process proceeds to S120 described later. On the other hand, if it is being operated (S108, YES), since the driver's consciousness was concentrated on the operation of the input device 40 when the traffic light changed to a green light, the process proceeds to S110.

  In S110, the determination unit 14 checks whether or not an operation is being performed for a third predetermined time Tc (for example, Tc = Ta = 1 second) after changing to a green light. If the operation has been completed (S110, NO), there is a possibility that the driver recognizes the green light, and the process proceeds to S120 described later. On the other hand, if it is being operated (S110, YES), since the driver's consciousness is still concentrated on the operation of the input device 40, it is determined that the driver is not in a state capable of recognizing the green light, and the process proceeds to S112.

  In S112, the notification unit 15 notifies the driver that the traffic light has changed to a green light, and ends the current process.

  In S120, the determination unit 12 checks whether or not the vehicle has stopped for a second predetermined time Tb (for example, Tb = 4 seconds) after the traffic light has changed from a red signal to a blue signal. If the vehicle has started (S120, NO), since the driver recognizes the green light, the current process is terminated. On the other hand, when the vehicle is stopped (S120, YES), the process proceeds to S112, the driver is notified that the traffic light has changed to a green light, and the current process is terminated.

  In S108 of FIG. 6 described above, when it is determined that the traffic light has changed from a red signal to a blue signal during operation of the input device 40 by the driver (S108, YES), the process proceeds to S110. However, the present invention is not limited to this. Not. In this case (S108, YES), since the driver's consciousness was concentrated on the operation of the input device 40 when the traffic light changed to a green signal, it is determined that the driver is not in a state where the driver can recognize the green signal, and instead of proceeding to S110 Alternatively, the process may proceed to S112 to notify the driver that the traffic light has changed to a green light.

  FIG. 7 is a flowchart illustrating another example of the notification control process executed by the ECU 10. Hereinafter, the process of FIG. 7 will be described, but the same processes as those of FIG. 6 are denoted by the same reference numerals and description thereof will be omitted.

  In the example shown in FIG. 7, when the traffic light has changed from a red signal to a blue signal in S104 (S104, YES), the process proceeds to S200.

  In S200, the determination unit 14 checks whether or not the traffic light has changed from a red signal to a green signal during the operation of the input device 40 by the driver. If not in operation (S200, NO), the process proceeds to S120. On the other hand, if it is being operated (S200, YES), since the driver's consciousness was concentrated on the operation of the input device 40 when the traffic light changed to a green light, the process proceeds to S202.

  In S202, the notification unit 15 checks whether or not the operation performed when the traffic light has changed from the red signal to the blue signal is the registered predetermined operation and the initial operation. If the condition is satisfied in S202 (S202, YES), it takes time until the operation is completed. Therefore, the process proceeds to S112, the driver is notified that the traffic light has changed to a green light, and the current process is terminated. On the other hand, if the condition is not satisfied in S202 (S202, NO), the process proceeds to S204.

  In S204, the determination unit 12 checks whether or not the vehicle is stopped for a first predetermined time Ta (for example, Ta = 1 second) after the traffic light changes from a red signal to a blue signal. When the vehicle has started (S204, NO), since the driver recognizes the green light, the current process is terminated. On the other hand, when the vehicle is stopped (S204, YES), there is a possibility that the driver does not recognize the green light, so the process proceeds to S110.

  As described above, according to the driving support device of the present embodiment, whether or not the driver is operating the input device 40 and determines whether or not the driver can recognize the green light. When the driver is operating the input device 40, it is possible to notify a change in the instruction of the traffic light without giving the driver a sense of complexity.

  In addition, according to the driving support device of the present embodiment, when the vehicle has not started even after a long time Tb has elapsed since the traffic light changed to a green light, the driver is not inconvenienced. A change in the instruction of the traffic light can be notified.

  In addition, according to the driving support device of the present embodiment, the state of the driver is determined based on information input by the driver via the input device 40, and therefore a dedicated device (for example, an in-vehicle camera) for performing the determination. Is no longer necessary.

  Further, according to the driving support device of the present embodiment, when a registered predetermined operation is performed when the instruction of the traffic light is changed from start not permitted to start permitted, according to the state of the operation, Since the notification is performed without waiting for the elapse of one predetermined time Ta, it is possible to promptly notify the change of the instruction of the traffic light without giving the driver a sense of complexity.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the embodiment described above, the input device 40 is various switches, but the present invention is not limited to this. For example, the input device 40 may be a device that accepts voice input.

  In the above-described embodiment, the notification unit 15 controls the speaker 50 and outputs voice guidance to notify the driver. However, the present invention is not limited to this. For example, the notification unit 15 may notify the driver by controlling the display unit 42b and outputting a warning image.

10 ECU
DESCRIPTION OF SYMBOLS 11 Detection means 12 Discriminating means 13 Monitoring means 14 Determination means 15 Notification means 40 Input device 42 Touch panel 42a Operation part 42b Display part 44 Display switch 46 Display 50 Speaker

Claims (8)

Detection means for detecting that the instruction of the traffic light in front of the vehicle has changed from the start disapproval to the start permission while stopping,
Discrimination means for discriminating whether or not the vehicle has started within a first predetermined time from the time when the instruction of the traffic light changes to start permission using the result of the detection means;
Monitoring means for monitoring whether the driver is operating the input device;
Determination means for determining whether or not the driver is in a state capable of recognizing the start permission of the traffic light based on the results of the detection means and the monitoring means;
When it is determined by the determination means that the vehicle has not started within the first predetermined time and the determination means determines that the vehicle is not in a recognizable state, the driver is notified that the instruction of the traffic light has changed. A driving support device comprising a notification means. The determination means further determines whether or not the vehicle has started within a second predetermined time longer than the first predetermined time from the time when the instruction of the traffic light changes to start permission,
2. The driving support device according to claim 1, wherein when the determining unit determines that the vehicle has not started within a second predetermined time, the notifying unit notifies the driver that the instruction of the traffic light has changed.   The driving support device according to claim 1, wherein the monitoring unit performs monitoring based on information input by a driver via the input device.   4. The monitoring means is in operation from when one registered information is input to when all other information registered in association with the one information is input. Driving assistance device.   4. The driving support apparatus according to claim 3, wherein the monitoring unit is operating from the time when the registered information is input to the time when the information is not input again for a third predetermined time.   The determination means is a case where the instruction of the traffic light changes from start not permitted to start permission during operation of the input device, and within a fourth predetermined time after the traffic light instruction changes to start permission. The driving support device according to claim 1, wherein when the operation is not completed, it is determined that the state is not recognizable.   The driving according to any one of claims 1 to 5, wherein the determination unit determines that the vehicle is not in a recognizable state when an instruction of the traffic light changes from start not permitted to start permitted during operation of the input device. Support device.   In the case where the registered predetermined operation has been performed when the instruction of the traffic light has changed from the start disapproval to the start permission, the informing means determines whether the first predetermined time has elapsed according to the state of the operation. The driving support device according to any one of claims 1 to 7, wherein notification is performed without waiting.

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