JP2012053749A - Driving support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driver with a support useful for the driver by issuing an alert to the driver only when the driver has a possibility to be distracted.SOLUTION: In a driving support system which detects a traffic signal based on a vehicle forward image obtained by a handle camera 2 and issues an alert to a driver M about the detected signal when necessary, the handle camera 2 is fixed to a vertex section of a steering wheel 7 with a steering angle 0 so that the alert is issued subject to the steering angle of the steering wheel less than a predetermined value.

Description

  The present invention relates to a driving support system that supports driving of a vehicle by issuing a warning to a driver when necessary with respect to a traffic light or the like.

  Various driving support systems have been proposed for vehicles, and one of them is a system that issues a warning to a driver when necessary with regard to traffic lights and road signs.

  For example, in the prior art described in Patent Document 1, an in-vehicle camera that captures image data in front of a vehicle and captures image data is provided. Then, based on the imaging result, when the front traffic light changes its color from a red signal to a blue signal, the color change is automatically determined, and a warning notification is given to the driver of the vehicle.

  In the prior art described in Patent Document 2, a stereo camera is installed on the vehicle. The display color of the traffic light and the distance between the traffic signal and the vehicle are recognized from the image in front of the vehicle captured by the stereo camera. When the traffic light is red and the distance between the traffic signal and the vehicle is within a certain value and at a certain speed or higher, an alarm is output to the driver of the vehicle by voice or image.

JP 2007-188271 A JP 2004-199148 A

  However, the prior art has the following problems. That is, as in the above prior art, the driving support system that alerts the driver in relation to the display of the traffic light is essential to provide driving support by preventing the driver from overlooking traffic signals and the like. . Therefore, it is sufficient to issue an alarm only when the driver easily overlooks traffic signals.

  By the way, it is easy for the driver to overlook traffic signals when the driver is easily distracted. In most cases, the driver is likely to be distracted when the vehicle is running straight or in a similar state, that is, when the vehicle is running without requiring a large steering wheel operation (rotating the steering wheel). Many. This is because the driver's attention to the front of the vehicle is sufficiently increased in a driving state that requires a steering operation larger than a certain level, and the possibility of overlooking a traffic signal or the like is actually low. From such a point of view, it is not always necessary to issue an alarm regarding a traffic light or the like in a state where a steering wheel operation larger than a certain value is performed, that is, in a state where the steering angle of the steering wheel is equal to or larger than a certain value. By avoiding such unnecessary warnings, warnings regarding traffic lights can be minimized and more effective driving support can be achieved.

  In the above-described prior art, the above-mentioned points are not particularly taken into consideration, and an alarm relating to a traffic light or the like is issued regardless of whether or not the driver is easily overlooked (a state of distraction). As a result, the driver is bothered and burdened with a mischief, which can reduce the usefulness of driving assistance.

  An object of the present invention is to provide a driving support system that can provide useful assistance to a driver by giving an alarm to the driver only when the driver may be distracted.

  To achieve the above object, according to a first aspect of the present invention, there is provided an imaging unit mounted on a vehicle for acquiring a front image of the vehicle, and a light emission color of the traffic light is detected based on the front image acquired by the imaging unit. A signal detection unit, a first alarm unit capable of generating a predetermined alarm for a driver with respect to the traffic light according to a detection result of the signal detection unit, and a steering angle of the steering wheel of the vehicle being a predetermined value or less. Control means for controlling the first alarm means so as to generate the predetermined alarm related to the traffic light in a certain case and not to generate the predetermined alarm related to the traffic light if the steering angle exceeds the predetermined value; It is characterized by having.

  In the first invention of the present application, a first alarm means capable of generating a predetermined alarm to the driver is provided. That is, based on the front image of the vehicle acquired by the imaging unit, the signal detection unit detects the emission color of the traffic light. The first alarm means can generate a predetermined alarm according to the detection result of the signal detection means, that is, what color the traffic light emits.

  When the rudder angle is below a certain value under the control of the control means, the first alarming unit does not generate the alarm, and when the rudder angle exceeds a certain value, the first alarming unit Is generated. As a result, the driver is likely to be distracted and an alarm is generated only when the vehicle is not moving a large steering wheel (or in a similar state), and the alarm is not generated otherwise. Can do. In particular, when a right turn at a crossing, for example, a traffic light located in the direction of travel immediately after a right turn or a left turn is a red light. Will occur. On the other hand, the first invention of the present application is very useful because it can be set so as not to generate an alarm when the steering wheel is rotated as described above.

  As described above, according to the first invention of the present application, it is possible to avoid occurrence of an unnecessary alarm in a state where the driver's attention to the front of the vehicle is sufficiently increased and the steering wheel is operated largely. it can. That is, only when there is a possibility that the driver is distracted, a warning is given to the driver, and the warning can be suppressed to a necessary minimum, so that more effective driving support can be performed.

  A second invention is characterized in that, in the first invention, the imaging means is provided at a top portion of the steering wheel in a state where the steering angle is zero.

  When the imaging means is provided at the apex portion of the steering wheel in the state where the steering angle is 0, when the steering wheel is rotated more than a certain amount, the imaging means is provided on the instrument panel (particularly on the instrument panel) in front of the steering wheel. The field of view is obstructed by a meter visor in the instrument panel, and an effective vehicle front image cannot be acquired. As a result, the traffic signal is not detected based on the vehicle front image, and an alarm relating to the traffic signal is not generated. In this way, by providing the imaging means at the apex portion of the steering wheel in the state where the steering angle is 0, the steering angle detection means for quantitatively detecting the steering angle is provided, and the alarm is generated / not generated according to the detection result. There is no need to dare to perform control such as switching. Further, there is no need for complicated configurations such as detection of the vehicle position, comparison with map data, and detection of the traveling direction. As described above, a simple system configuration can be realized.

  In a third aspect based on the second aspect, the control means controls the first alarm means so as to generate the alarm when the emission color of the traffic light detected by the signal detection means is red. It is characterized by doing.

  This makes it possible to prevent red signals from being overlooked, which is particularly important in preventing traffic signals from being overlooked.

  In a fourth aspect based on the third aspect, the control means is configured such that the traveling speed of the vehicle at the time of detecting the traffic light is equal to or higher than a predetermined reference speed, and the distance between the traffic light and the vehicle is a reference. The first alarm means is controlled to generate the alarm when the distance is less than or equal to the distance.

  As a result, even if the traffic light is red, it has little direct impact on the vehicle, that is, the vehicle is traveling at a relatively low speed or the vehicle is relatively far from the traffic light. , Do not alarm. As a result, unnecessary alarms can be further suppressed.

  A fifth invention further comprises a sign detection means for detecting a road sign based on the front image acquired by the imaging means according to any one of the second to fourth aspects, wherein the sign detection means The second warning means capable of generating a predetermined warning for the driver with respect to the road sign detected by the control means, and the control means, when the steering angle is equal to or less than a predetermined value, And the second warning means is controlled so that the predetermined warning regarding the road sign is not generated when the steering angle exceeds the predetermined value.

  In the fifth invention of the present application, in addition to driving support by generating an alarm regarding traffic lights, driving support can be performed by generating an alarm regarding regulatory road signs such as a stop sign. As a result, more effective driving support can be achieved.

  According to a sixth invention, in any one of the second to fifth inventions, the imaging means is provided at the apex portion as a photographing / display unit incorporated together with the alarm hand.

  In the sixth invention of the present application, the display device is provided at the apex portion of the steering wheel at the steering angle 0 state, so that an alarm can be displayed in a state that is most easily visible to the driver in the forward attention state. As a result, driving assistance can be performed more effectively.

  According to the present invention as described above, alarms relating to traffic lights and the like can be suppressed to a necessary minimum in a driving assistance system relating to traffic lights and the like, and more effective driving assistance can be achieved.

It is a functional block diagram showing the outline | summary of the driving assistance system by embodiment of this invention. It is a figure which shows typically the principal part of the vehicle to which the driving assistance system of FIG. 1 is applied. It is a figure which expands and shows the internal structure of an imaging | photography / display unit. It is a figure which shows the relationship between the steering wheel with which imaging | photography and the display unit were mounted | worn, and a meter visor. It is a figure which shows an example of the image acquired with a handle camera. It is a figure which shows the other example of the image acquired with a handle camera. It is a figure which shows the calculation principle of the distance of a vehicle and a traffic signal. It is a figure which shows the further another example of the image acquired with a handle camera. It is a figure which shows the flow of the process regarding the alarm about a traffic signal, and information display. It is a figure which shows the flow of the process regarding the alarm about a stop sign | symbol, and information display.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS.

  FIG. 1 is a functional block diagram showing an outline of the driving support system 1 according to the present embodiment. In FIG. 1, the driving support system 1 includes a handle camera 2 (corresponding to an imaging unit), a driving support control unit 3, an alarm device 4, and a display device 5. In the driving support system 1, the steering camera 2 acquires a vehicle front image, and the driving support control unit 3 performs processing for issuing an alarm and displaying information based on the vehicle front image. Then, assuming that the steering angle of the steering wheel is below a certain level, the warning device 4 issues a warning to the driver M (see FIG. 2) regarding the traffic lights and road signs when necessary, or the display device 5 Driving assistance by the driving assistance system 1 is performed by displaying information on road signs.

  FIG. 2 is a diagram schematically showing a main part of a vehicle to which the driving support system of FIG. 1 is applied. As shown in FIG. 2, the handle camera 2 is provided so as to be embedded in the steering wheel 7 of the vehicle 6, in this example, the wheel portion 7 h of the steering wheel 7, and captures the front of the vehicle 6 to obtain the vehicle front image. To do. The steering camera 2 is mounted on the steering wheel 7 at the apex portion of the steering wheel 7 when the steering angle of the steering wheel 7 (the rotation angle of the steering wheel 7 with respect to the straight traveling state of the vehicle 6) is zero (the wheel). Part 7h).

  FIG. 3 is an enlarged schematic view showing a schematic internal structure of the photographing / display unit 8, and FIG. 4 is a diagram showing a relationship between the steering wheel on which the photographing / display unit is mounted and the meter visor. The handle camera 2 is mounted on the steering wheel 7 in the form of a photographing / display unit 8 as shown in FIGS. Specifically, the camera / display unit 8 is formed by incorporating the handle camera 2 together with the liquid crystal display device 5, and the camera / display unit 8 is mounted on the wheel portion 7 h at the apex portion of the steering wheel 7.

  The photographing / display unit 8 is formed by assembling the handle camera 2 and the display device 5 inside a cylindrical frame 9. The cylindrical frame 9 has an arc shape with the same curvature as that of the wheel portion 7h so as to be a smooth outer peripheral surface with respect to the wheel portion 7h when mounted on the wheel portion 7h. The cross-sectional shape is the same as the cross-sectional shape. The cylindrical frame body 9 is provided with a transparent portion 9c and a transparent portion 9d at a portion corresponding to the field of view of the handle camera 2 and a portion corresponding to the screen of the display device 5.

  Next, an example of imaging with the handle camera 2 having the above structure will be described. As shown in FIGS. 2 and 4, an instrument panel 11 is provided in front of the steering wheel 7 inside the vehicle 6. In particular, the meter visor 12 in the instrument panel provided in the instrument panel 11 is in front of the steering wheel 7. In the state where the steering angle of the steering wheel 7 is 0 as shown in FIG. 4A (or the state where the steering angle is relatively close to 0 or less), the traffic light S or a predetermined road sign ( The scenery in front of the vehicle including the illustration omitted) can be captured by the entire camera field of view F, and an effective vehicle front image can be acquired. An example of this vehicle front image is shown in FIG.

  On the other hand, when the steering wheel 7 as shown in FIG. 4B is rotated until the steering angle α exceeds a certain level, the entire camera field of view F rotates with the steering wheel 7 as shown in FIG. . As a result, the image acquired by the steering camera 2 is largely blocked by the meter visor 12 or the instrument panel 11 and does not include the traffic light S, road signs, etc., and the effectiveness as the vehicle front image is improved. It becomes a missing visual field occlusion image.

  In the present embodiment, using the change in the field of view F as described above in the steering camera 2 that rotates together with the steering wheel 7, only when the vehicle is traveling straight ahead (or in accordance with it), the driver is likely to be distracted. The control is performed so as to give a predetermined alarm. Hereinafter, the details will be described in order.

  Returning to FIG. 1, the driving support control unit 3 performs processing for issuing a warning to the driver when necessary with respect to the traffic light S and the road sign (in this example, a stop sign) based on the vehicle front image acquired by the handle camera 2. I do. For this purpose, the driving support control unit 3 includes an image analysis unit 13 and an alarm control unit 14 (corresponding to control means).

  The image analysis unit 13 captures and analyzes the vehicle front image acquired by the handle camera 2 and provides the result to the alarm control unit 14. In the analysis in the image analysis unit 13, when the traffic light S and the road sign are detected from the vehicle front image, and when the traffic light S is detected, the signal color (light emission color) of the traffic light S is further detected, and the road sign is detected. In addition, confirm the contents of the sign (whether it is a stop sign). In the present embodiment, the traffic light S and the stop sign are detection targets for generating an alarm. Therefore, the image analysis unit 13 includes a first analysis unit 13a for traffic lights, a second analysis unit 13b for various signs such as a stop sign (not shown), and a third analysis unit 13c for speed analysis. Yes. The first analysis unit 13a corresponds to a signal detection unit, and the second analysis unit 13b corresponds to a label detection unit. Here, as processing for recognizing and detecting a specific image from an image obtained by the handle camera 2, various known processing methods can be appropriately selected and used.

  The alarm control unit 14 receives the analysis result from the image analysis unit 13 and controls the alarm activation by the alarm device 4. The alarm is activated when the signal color is red for the traffic light. Further, the alarm is activated on the condition of the traveling speed of the vehicle 6 at that time and the distance between the vehicle 6 and the traffic signal or road sign to be alarmed. Specifically, in the case of a traffic light S or a stop sign, the traveling speed of the vehicle is equal to or higher than a reference speed (for example, 30 kilometers per hour), and the distance between the vehicle and a warning signal or a stop sign is a reference distance. The alarm device 4 is controlled so as to issue an alarm on the condition that it is less than (for example, 30 meters).

  The distance in the alarm condition is determined by the first analysis unit 13a of the image analysis unit 13 using the principle shown in FIG. Specifically, the height difference h between the height of the standardized signal light S from the road surface of the signal lamp Sf and the height of the handle camera 2 from the road surface is known, and the handle camera 2 and the signal lamp Sf are connected. The angle θ formed by the line segment Lo and the line segment Lh drawn horizontally from the handle camera 2 can be obtained by analyzing the vehicle front image. Thus, the first analysis unit 13a calculates the current distance D between the steering camera 2 and the traffic light S as D = h / tan θ, and sets the current distance D as the current distance between the vehicle 6 and the traffic light S, where the current distance D is It is determined whether the distance is equal to or less than a preset reference distance, and the determination result is output to the alarm control unit 14 as an analysis result output.

  In addition, although the above demonstrated taking the example of the calculation principle of the present distance D from the vehicle 6 to the traffic light S by the 1st analysis part 13a, also about the stop sign which is another detection object for alarm generation, It is calculated by the same method by the second analysis unit 13b (the description is omitted).

  The travel speed under the alarm condition is calculated by the third analysis unit 13c based on the transition of the distance D to the traffic light S obtained by the first analysis unit 13a as described above. That is, the current distance D calculated by the first analysis unit 13 in the state shown in FIG. 5 (state relatively far to the traffic light S) and the state shown in FIG. By dividing the current distance D calculated by the first analysis unit 13 in a relatively close state) by the time required between the transitions of the two states, the average traveling speed can be obtained.

  A method other than the speed detection by the image analysis may be used. That is, as indicated by an imaginary line in FIG. 1, for example, the current traveling speed of the vehicle 6 from the vehicle information supply source 16 outside the system (which corresponds to a network related to vehicle information provided in the vehicle 6) is obtained. The speed determination unit 15 may determine whether the current traveling speed is acquired and is equal to or higher than a preset reference speed, and the determination result may be output to the alarm control unit 14.

  Returning to FIG. 1, the alarm control unit 14 outputs an alarm command to the alarm device 4 or the display device 5 when it issues an alarm. The alarm device 4 is, for example, a form in which an alarm is generated by lighting or blinking a lamp, a form in which a sound is alarmed, a form in which an alarm is sounded, a form in which a vibration is given to the steering wheel 7, and a seat that restrains the driver M. The alarm is generated in any form such as a form in which an alarm is given when the belt 17 is pulled. In response to an alarm command from the alarm control unit 14, an alarm is issued in any of the above forms. On the other hand, the alarm by the display device 5 may be performed, for example, in a form for displaying the signal color of a traffic light or a form for displaying a road sign image. The alarm device 4 and the display device 5 function as first alarm means and second alarm means.

  In addition to the above alarms, the alarm control unit 14 may also perform processing related to display of information useful for driving support obtained by analysis of the vehicle front image by the image analysis unit 13 (alarm / Function as a display control unit). In this case, based on the control of the alarm control unit 14, the display device 5 (or the vehicle 6 is provided as standard equipment with the signal color of the traffic light, the stop sign, the speed limit information obtained from the speed limit sign, and the like. What is necessary is just to display as information useful for driving assistance in a display apparatus.

  FIG. 9 shows that the driving support control unit 3 executes alarm generation related to the traffic light S, which is executed in cooperation with the first analysis unit 13a, the third analysis unit 13c, and the alarm control unit 4 of the image analysis unit 13. It is a flowchart showing the control content for doing. Note that the flow of FIG. 9 is repeated at regular time intervals, for example.

  First, in step S1, a vehicle front image obtained by the steering camera 2 is captured by the image analysis unit 13 (image capturing process). Thereafter, in step S2, the image analysis unit 13 performs an analysis process on the vehicle front image captured in step S1. In this analysis processing, the first analysis unit 13a detects a traffic light from the vehicle front image and detects a signal color (light emission color) for the detected traffic light.

  In step S3, based on the image analysis result in step S2, the alarm control unit 14 determines whether or not the traffic light S has been detected (traffic light detection determination). If the traffic light S is not detected in step S2, the determination in step S3 is not satisfied, and this flow ends. On the other hand, when the traffic light S is detected in step S2, the determination in step S3 is satisfied, and the process proceeds to step S4.

  In step S4, the alarm control unit 14 outputs a control signal to the display device 5 or the like, and displays the signal color detected in step S2 on the display device 5 or the like (signal color display processing). Thereafter, the process proceeds to step S5.

  In step S5, the alarm control unit 14 determines whether the signal color detected in step S2 is red (red determination process). If the signal color detected in step S2 is not red (blue or yellow), the determination in step S5 is not satisfied and this flow ends. On the other hand, if the signal color detected in step S2 is red, the determination in step S5 is satisfied, and the process proceeds to step S6.

  In step S6, the vehicle speed determination described above is performed by the third analysis unit 15c, and it is determined whether or not the current traveling speed of the vehicle 6 is equal to or higher than a predetermined reference speed. If the traveling speed is less than the reference speed, the determination in step S6 is not satisfied, and this flow ends. On the other hand, if the traveling speed is equal to or higher than the reference speed, the determination in step S6 is satisfied, and the process proceeds to step S7.

  In step S7, the above-described distance determination process is performed by the second analysis unit 13a, and it is determined whether or not the current distance D between the vehicle 6 and the traffic light S is equal to or less than the predetermined reference distance. If the current distance D is greater than the reference distance, the determination in step S7 is not satisfied, and this flow ends. On the other hand, if the current distance D is less than or equal to the reference distance, the determination in step S7 is satisfied, and the process proceeds to step S8.

  In step S8, an alarm activation process related to the traffic light S detected in step S2 is executed by the alarm control unit 14, and an alarm is issued to the driver M through the alarm device 4 and the display device 5 as described above. Thereafter, this flow is terminated.

  FIG. 10 shows that in the driving support control unit 3, the alarm generation related to the road sign is executed in cooperation with the second analysis unit 13 b, the third analysis unit 13 c, and the alarm control unit 4 of the image analysis unit 13. It is a flowchart showing the control content for doing. Note that the flow of FIG. 10 is repeated at regular time intervals, for example.

  First, in step S11, a vehicle front image obtained by the steering camera 2 is captured by the image analysis unit 13 (image capturing process). Thereafter, in step S12, the image analysis unit 13 performs an analysis process on the vehicle front image captured in step S11. In this analysis process, the second analysis unit 13b detects a predetermined road sign from the vehicle front image and detects the display content of the detected road sign.

  In step S13, based on the image analysis result in step S12, the alarm control unit 14 determines whether or not a temporary stop sign is detected (temporary stop sign detection determination). If no stop sign is detected in step S12, the determination in step S13 is not satisfied, and this flow ends. On the other hand, if a stop sign is detected in step S12, the determination in step S13 is satisfied, and the process proceeds to step S14.

  In step S14, the alarm control unit 14 outputs a control signal to the display device 5 or the like, and the appearance of the stop sign detected in step S12 (or a corresponding mark, symbol, text, etc.) may be displayed on the display device 5 or the like. Display (sign content display processing). Thereafter, the process proceeds to step S15.

  In step S15, the above-described vehicle speed determination is performed by the third analysis unit 15c, and it is determined whether or not the current traveling speed of the vehicle 6 is equal to or higher than a predetermined reference speed. If the traveling speed is less than the reference speed, the determination in step S15 is not satisfied, and this flow ends. On the other hand, if the traveling speed is equal to or higher than the reference speed, the determination at step S15 is satisfied, and the routine goes to step S16.

  In step S16, the above-described distance determination processing (however, calculation and determination of the current distance D to the stop sign) is executed by the second analysis unit 13b, and the current distance D between the vehicle 6 and the stop sign is determined in advance. It is determined whether the distance is equal to or less than the reference distance. If the current distance D is greater than the reference distance, the determination in step S16 is not satisfied, and this flow ends. On the other hand, if the current distance D is less than or equal to the reference distance, the determination in step S16 is satisfied, and the process proceeds to step S17.

  In step S <b> 17, an alarm activation process related to the stop sign detected in step S <b> 12 is executed by the alarm control unit 14, and an alarm is issued to the driver M through the alarm device 4 and the display device 5 as described above. Thereafter, this flow is terminated.

  As described above, in the above embodiment, a predetermined alarm can be generated from the alarm device 14 or the display device 5 to the driver. That is, based on the front image from the vehicle 6 acquired by the handle camera 2, the light emission color of the traffic light and the content of the road sign are detected. When the steering angle α of the steering wheel 7 is equal to or smaller than a predetermined value (see FIG. 4A), the warning is not generated and the steering angle α becomes larger than the constant value. In the case (see FIG. 4B), the alarm can be generated. As a result, it is possible to generate an alarm only when the vehicle is in a straight line state (or a state corresponding to the vehicle) where the driver is likely to be distracted, and to prevent the alarm from being generated otherwise. Especially at this time, for example, when making a right turn at the intersection, the traffic light located in the direction of travel immediately after the right turn / left turn is a red signal. An alarm will be generated. On the other hand, the present embodiment is very useful because the alarm can be disabled when the steering wheel 7 is rotated as described above.

  As described above, according to the embodiment, it is possible to avoid occurrence of an unnecessary alarm in a state where the driver's attention to the front of the vehicle is sufficiently increased and the steering wheel 7 is largely operated. . That is, only when there is a possibility that the driver is distracted, a warning is given to the driver, and the warning can be suppressed to a necessary minimum, so that more effective driving support can be performed. Further, in addition to driving support by generating a warning regarding the traffic light S, driving support can also be performed by generating a warning regarding a stop sign (which may include other regulatory road signs). As a result, more effective driving support can be achieved.

  In the present embodiment, in particular, the handle camera 2 is provided at the apex portion of the steering wheel 7 when the steering angle α is zero. With this structure, as described above, when the steering wheel 7 is rotated more than a certain amount, the handle camera 2 is blocked from the field of view F (see FIG. 6) and cannot acquire an effective vehicle front image. . As a result, the traffic light S and the stop sign based on the vehicle front image are not detected, and no alarm is generated. In this way, by providing the handle camera 2 at the apex portion of the steering wheel 7, a steering angle detection means for quantitatively detecting the steering angle α is provided, and the generation / non-generation of an alarm is switched according to the detection result, etc. It is no longer necessary to control this. Further, there is no need for complicated configurations such as detection of the vehicle position, comparison with map data, and detection of the traveling direction. As described above, a simple system configuration can be realized.

  In this embodiment, particularly, the alarm control unit 14 performs control so that an alarm is generated when the detected color of the traffic light S is red (see step S5 in FIG. 9). This makes it possible to prevent red signals from being overlooked, which is particularly important in preventing traffic signals from being overlooked. Further, at this time, the traveling speed of the vehicle 6 at the time when the traffic light S (or the stop sign) is detected is equal to or higher than a predetermined reference speed, and the distance D between the traffic light S (or the stop sign) and the vehicle S is When the distance is equal to or less than the reference distance, the alarm control unit 14 performs control so as to generate an alarm (see Steps S6 and S7 in FIG. 9 and Steps S15 and S16 in FIG. 10). Thereby, even if the light emission color of the traffic light S is red or the road sign is a temporary stop sign, there is little direct influence on the traveling of the vehicle 6, that is, the vehicle 6 is traveling at a relatively low speed or the traffic light S. When the vehicle 6 is relatively far away from (or a stop sign), no alarm is given. As a result, unnecessary alarms can be further suppressed.

  In the present embodiment, in particular, the display device 5 is provided at the apex portion of the steering wheel 7 in the steering angle 0 state. As a result, it is possible to display an alarm in a state that is most easily visible to the driver in the forward attention state. As a result, driving assistance can be performed more effectively.

  In addition to those already described above, the methods according to the above-described embodiments and modifications may be used in appropriate combination.

  In addition, although not illustrated one by one, the present invention is implemented with various modifications within a range not departing from the gist thereof.

1 Driving support system 2 Handle camera (camera)
3 Driving Support Control Unit 6 Vehicle 7 Steering Wheel 8 Shooting / Display Unit 13 Image Analysis Unit 14 Alarm Control Unit M Driver S Traffic Light

Claims (6)

Imaging means mounted on a vehicle for acquiring a front image of the vehicle;
Signal detection means for detecting the emission color of the traffic light based on the front image acquired by the imaging means;
First alarm means capable of generating a predetermined alarm for the driver with respect to the traffic light according to the detection result of the signal detection means;
The predetermined warning related to the traffic light is generated when the steering angle of the steering wheel of the vehicle is equal to or smaller than a predetermined value, and the predetermined warning related to the traffic light is not generated when the steering angle exceeds the predetermined value. And a control means for controlling the first alarm means. The driving support system according to claim 1,
The imaging means includes
The driving support system is provided at a top portion of the steering wheel in a state where the steering angle is zero. The driving support system according to claim 2,
The control means includes
The driving support system according to claim 1, wherein the first warning means is controlled so as to generate the warning when the light emission color of the traffic light detected by the signal detection means is red. The driving support system according to claim 3,
The control means includes
When the traveling speed of the vehicle at the time of detecting the traffic light is equal to or higher than a predetermined reference speed and the distance between the traffic light and the vehicle is equal to or lower than a reference distance, the alarm is generated. A driving support system that controls the first alarm means. The driving support system according to any one of claims 2 to 4,
Based on the front image acquired by the imaging means, further comprising a sign detection means for detecting a road sign,
Second warning means capable of generating a predetermined warning for the driver with respect to the road sign detected by the sign detection means;
The control means includes
The predetermined warning related to the road sign is generated when the rudder angle is a predetermined value or less, and the predetermined warning related to the road sign is not generated when the rudder angle exceeds the predetermined value. A driving support system that controls the second alarm means. The driving support system according to any one of claims 2 to 5,
The driving support system according to claim 1, wherein the imaging means is provided at the apex portion as a photographing / display unit incorporated together with the warning means.

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