JP2014222421A - Driving assisting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving assisting device capable of more accurately predicting behaviors of objects such as those of other vehicles around an own vehicle and notifying a driver of necessary information for the driver.SOLUTION: A driving assisting device comprises: an own-vehicle-state detector (21) detecting a state of an own vehicle (101); sensors (28, 29) sensing the other vehicle (110) present in a preset sense region (R10) around the own vehicle; a setting unit (10) setting a notification region (RB11) for notifying a driver of the presence of the sensed other vehicle on the basis of a state of the own vehicle; an other-vehicle-state acquisition unit (30) acquiring a state of the other vehicle; a determination unit (10) determining whether the sensed other vehicle is set as a notification target on the basis of the state of the other vehicle when the other vehicle is present in the notification region; and notification units (31, 32) notifying the driver of the presence of the other vehicle determined as the notification target.

Description

  The present invention relates to a driving support device.

  Monitors the surroundings of the vehicle, detects objects approaching from the driver's blind spot, detects the driver's attention, detects the driver's line of sight and face direction, and performs safety actions on the driver (visual confirmation, etc.) ) Has been devised.

  For example, when a vehicle enters an intersection or the like, an intersection accident prevention device has been devised that can more reliably notify the driver of the presence of a pedestrian, a motorcycle, or the like (see Patent Document 1).

  In addition, a determination area that should be operated to avoid collision with obstacles around the host vehicle is set according to the traveling state of the host vehicle, and there is an obstacle at least ahead of the determination area in the vehicle traveling direction. A vehicle driving support device that sets a recognition area to recognize the vehicle according to the traveling state of the host vehicle and warns the driver of the presence of the obstacle when the detected obstacle is predicted to enter the determination area. Has been devised (see Patent Document 2).

  In addition, the driver recognizes the risk factor for the vehicle by identifying the relative direction with respect to the vehicle and determining the notification content for the driver and the intervention content for the vehicle operation based on the relative direction of the risk factor. A driving support device has been devised that preferentially and effectively executes warnings and assistance for unsafe dangers (see Patent Document 3).

Japanese Patent Laid-Open No. 2004-051006 JP 2011-210102 A JP 2005-134971 A

  Patent Document 1 only detects an object using a camera and displays the object, but does not predict the behavior of the object. In Patent Document 2 and Patent Document 3, object detection is performed using a radar or a camera, and the behavior of the object is predicted. However, depending on the accuracy of the prediction, useful information cannot be notified to the driver.

  In addition, it is desirable to always notify the driver of information about objects (other vehicles) around the host vehicle. However, if all the objects approaching the host vehicle are to be notified, highly important information is buried in other information, and there is a problem that it is not transmitted to the driver.

  Against the background of the above problems, the present invention provides a driving support device capable of more accurately predicting the behavior of an object around the host vehicle, such as another vehicle, and notifying information required by the driver. For the purpose.

Means for Solving the Problems and Effects of the Invention

  A driving support apparatus for solving the above-described problems includes a host vehicle state detection unit (21) that detects the state of the host vehicle (101), and a predetermined detection area (R10) around the host vehicle. A detection unit (28, 29) for detecting the vehicle (110), a setting unit (10) for setting a notification area (RB11) to be notified of the presence of the detected other vehicle based on the state of the host vehicle, and the like When the other vehicle state acquisition part (30) which acquires the state of a vehicle and the detected other vehicle exist in a notification area, the determination which determines whether another vehicle is made into alerting | reporting object based on the state of another vehicle Unit (10) and a notification unit (31, 32) that notifies the presence of another vehicle determined as a notification target.

  With the above configuration, the behavior of the other vehicle can be predicted with higher accuracy by acquiring the state of the other vehicle by so-called inter-vehicle communication, which is vehicle-to-vehicle communication. Thereby, it is possible to select and notify only information with higher importance such as other vehicles existing in an area (such as blind spot) where the driver of the own vehicle cannot visually recognize, together with the information of the own vehicle. It becomes.

The figure which shows the structural example of the driving assistance apparatus of this invention. The flowchart explaining a driving assistance process. The flowchart explaining an alerting | reporting process. The figure explaining an alerting | reporting area | region. The figure which shows an example of the condition at the time of execution of a driving assistance process. The figure which shows another example of the condition at the time of execution of a driving assistance process. The figure which shows another example of the condition at the time of execution of a driving assistance process. The figure which shows the example of a display of the display part in the state of FIG.

  Hereinafter, the driving support device of the present invention is explained using a drawing. In FIG. 1, the whole structure of the driving assistance device 1 of this invention is shown. The driving support device 1 includes a control unit 10 attached to the host vehicle, and a vehicle interior camera 21, a position detection unit 22, a vehicle speed sensor 23, a shift position sensor 24, a direction indicator 25, a brake connected to the control unit 10. It includes a sensor 26, a steering angle sensor 27, an outside camera 28, a radar 29, a wireless communication unit 30, a display unit 31 (informing unit of the present invention), and an audio output unit 32 (informing unit of the present invention).

  The vehicle interior camera 21, the position detection unit 22, the vehicle speed sensor 23, the shift position sensor 24, the direction indicator 25, the brake sensor 26, and the steering angle sensor 27 correspond to the own vehicle state detection unit of the present invention. The outside camera 28 and the radar 29 correspond to the detection unit of the present invention. The wireless communication unit 30 corresponds to the other vehicle state acquisition unit of the present invention. The acquisition content of the other vehicle state acquisition unit is the same as the detection content of the own vehicle state detection unit. In addition, the own vehicle state detection unit and the detection unit may not include all the above-described components, and may be one or a combination of a plurality.

  The configuration of the host vehicle state and the other vehicle state described above is as follows: “The states of the host vehicle and the other vehicle are the vehicle position (22), the vehicle speed (23), the shift position (24), and the direction indicator state (25), respectively. ), A brake (26), and a steering angle (27). With this configuration, the configuration of the present invention can be realized at a relatively low cost without adding a new sensor or device.

  The control unit 10 (setting unit, determination unit, and calculation unit of the present invention) includes, for example, a calculation unit 11, a memory 12, a signal processing unit 13, and an image processing unit 14 configured by a microcomputer. And the calculation part 11 implement | achieves the various functions of the driving assistance apparatus 1 by running the control program memorize | stored in the memory 12. FIG.

  The memory 12 is configured by, for example, a nonvolatile storage medium such as a flash memory, and stores data necessary for the operation of the driving support device 1 in addition to the control program. The memory 12 also includes road network information including so-called map matching data for improving the accuracy of position detection, road data representing road connections, predetermined map image information for display, link information, node information, and the like. Further, electronic map data for storing facility information around the road and auxiliary information for route guidance is also stored.

  The signal processing unit 13 converts a signal input from a sensor or the like into data that can be processed by the calculation unit 11. Further, based on a control command from the calculation unit 11, output control of the display unit 31 and the audio output unit 32 is performed.

  The image processing unit 14 performs predetermined image processing such as filtering and binarization processing on the captured images taken by the vehicle interior camera 21 and the vehicle exterior camera 28 based on the control command from the calculation unit 11. Image data composed of pixels in a dimensional array is generated, and an object (such as another vehicle) existing around the vehicle is detected from the generated image.

  The vehicle interior camera 21 is attached to a position where the driver can be photographed, such as the windshield or the upper part of the dash panel.

  The position detector 22 is, for example, a well-known geomagnetic sensor, a gyroscope that detects the rotational angular velocity of the vehicle, a distance sensor that detects the travel distance of the host vehicle, and a GPS receiver that detects the position of the vehicle based on radio waves from a satellite. Use at least one of the machines. Further, the vehicle speed sensor 23 or the steering angle sensor 27 may be used. Note that the traveling direction of the vehicle can be determined from the history of changes in position.

  The vehicle speed sensor 23 includes a known rotation sensor and detects, for example, the rotation speed of the wheel as a pulse signal.

  The shift position sensor 24 detects the position of the shift lever of the vehicle. The traveling direction of the vehicle can be determined by the position of the shift lever.

  The direction indicator 25 includes a direction indicator switch and a direction indicator lamp, and the control unit 10 detects the position of the direction indicator switch and the blinking state of the direction indicator lamp from the direction indicator 25. From these states, it can be determined whether or not the vehicle is changing the traveling direction.

  The brake sensor 26 detects the position of the brake pedal, and the control unit 10 detects the operating state of the brake from the position of the brake pedal. When the brake is operating, it can be determined that the driver is taking some sort of avoidance action.

  The steering angle sensor 27 detects the steering angle of the steering wheel of the host vehicle, and the control unit 10 determines the behavior of the host vehicle from the state of the steering angle. It can be determined whether or not the vehicle is changing the traveling direction based on the change in the steering angle.

  For example, the outside camera 28 is attached to the front end of a bumper before and after the vehicle, and determines the behavior of the host vehicle from a captured image or detects an object such as another vehicle existing around the host vehicle. The radar 29 is attached to, for example, the front ends of bumpers before and after the host vehicle, and detects objects such as other vehicles existing around the host vehicle.

The wireless communication unit 30 can receive at least one of the following.
-The traveling state of the other vehicle and the state of the driver of the other vehicle transmitted from the other vehicle.
・ By road traffic information communication system including traffic jam information, required time, accident / malfunction vehicle / construction information, speed regulation / lane regulation information, parking lot location, parking lot / service area / full parking area information, etc. Road traffic information provided.

  The display unit 31 is a known color liquid crystal display, for example, and includes a driver circuit (not shown) for performing display control. As the display unit 31, an organic EL (Electro Luminescence) display or a plasma display may be used. Moreover, you may use the indicator of other apparatuses for vehicles, such as the indicator of the meter apparatus of the own vehicle, or the indicator of a navigation apparatus. The audio output unit 32 converts the digital audio data stored in the memory 12 into analog audio and sends it out from a speaker (not shown).

  The driving support process included in the control program stored in the memory 12 and executed by the calculation unit 11 will be described with reference to FIG. First, the driver state of the host vehicle is detected from the captured image of the vehicle interior camera 21 (S11). Specifically, the line-of-sight direction of the driver is detected, and the driver's visual recognition area in a predetermined detection area (described later) around the vehicle is specified. Next, the host vehicle state is detected by the host vehicle state detection unit (position detection unit 22 to steering angle sensor 27) (S12).

  Next, based on the driver state (line-of-sight direction) of the host vehicle and the host vehicle state (one or more of vehicle speed, shift position, direction indicator operation state, brake state, steering angle), notification in the detection region An area (described later) is set (S13).

  The detection area and the notification area will be described with reference to FIG. The detection region R0 is determined as a range of a predetermined distance from the host vehicle 101, for example. At this time, the detectable distance may be different between the front, rear, right side, left side, and the like of the host vehicle 101. For example, as the vehicle speed increases, the detection area (that is, the detectable distance) ahead of the traveling direction of the host vehicle is increased. When the road traffic information can be acquired, the detection area may be set based on the road traffic information. For example, when there is an intersection, broken vehicle, construction, speed regulation, lane regulation information in front of the host vehicle 101 in the traveling direction, or when a traffic jam or accident occurs, the detection area ahead in the traveling direction is increased.

  The notification area is set in the detection area R0. When the movement range of the line of sight of the driver D of the own vehicle 101 detected by the in-vehicle camera 21 is A, the visual recognition area of the driver D in the own vehicle 101 is an area RA1 in consideration of a general human viewing angle. Can be estimated. Since the area RA1 includes the right door mirror 102 and the room mirror 104, the visual recognition area RA2 of the right door mirror 102 and the visual recognition area RA3 of the room mirror 104 can also be included in the visual recognition area of the driver D.

  Accordingly, the regions RB1 and RB2 other than the visual recognition region in the detection region R0 are estimated to be difficult to visually recognize in the current movement range of the line of sight of the driver D. Therefore, these regions are used as the notification region. Set.

  The above-described configuration is “the own vehicle state detection unit detects a state reflecting the gaze direction of the driver of the own vehicle, and the setting unit is based on the gaze direction, and the viewing region of the driver of the own vehicle in the detection region” (RA11) is estimated, and the area obtained by removing the visual recognition area from the detection area is set as the notification area ". With this configuration, it is possible to set an appropriate notification area according to the state of the host vehicle (where the driver is looking, where the driver sees next, traveling state, etc.).

  In addition, when the driver tries to decelerate or stop by operating the brake, it is estimated that there is a high possibility that the driver only sees the visual recognition area based on the line-of-sight direction. The notification area may be set.

  Returning to FIG. 2, a notification process for determining and notifying the notification target in the set notification region is executed (S14, see FIG. 3).

  The notification process corresponding to step S14 in FIG. 2 will be described with reference to FIG. First, an object such as another vehicle in the above-described detection area is detected using the above-described camera 28 or radar 29 (S31). When no other vehicle is detected (S32: No), this process ends. On the other hand, when another vehicle is detected (S32: Yes), the other vehicle state is acquired using the wireless communication unit 30 (S33).

  Next, it is determined whether or not the detected other vehicle exists in the notification area based on the own vehicle state and the other vehicle state. However, when the detected other vehicle exists in the notification area but is predicted to leave the notification area, it may be determined that the other vehicle does not exist in the notification area. Further, when the detected other vehicle does not exist in the notification area but is predicted to enter the notification area, it may be determined that it exists in the notification area. These can be determined based on, for example, the traveling direction of the other vehicle and the relative speed between the host vehicle and the other vehicle.

  When the detected other vehicle does not exist in the notification area (S34: No), this process ends. On the other hand, when the detected other vehicle exists in the notification area (S34: Yes), it is determined whether or not the own vehicle is changing the traveling direction (for example, turning right or left or changing lane). When the host vehicle is about to change the traveling direction (S35: Yes), the process proceeds to step S37.

  The above-described configuration is “when the own vehicle state detection unit detects a state reflecting a change in the traveling direction of the own vehicle, the determination unit determines whether or not another vehicle existing in the notification region is to be notified. It corresponds to what you do. With this configuration, in a scene where attention needs to be paid to the surroundings of the host vehicle, such as when turning right or left or when changing lanes, it is possible to preferentially notify information about other vehicles to be noted.

  On the other hand, when the own vehicle does not change the traveling direction (S35: No), it is determined whether another vehicle is changing the traveling direction. When the other vehicle does not change the traveling direction (S36: No), the process proceeds to step S41.

  On the other hand, when the other vehicle is going to change the traveling direction (S36: Yes), the process proceeds to step S37. This configuration is “when the other vehicle state acquisition unit acquires a state reflecting a change in the traveling direction of the other vehicle, the determination unit determines whether or not the other vehicle existing in the notification region is to be notified. ". With this configuration, the driver of the own vehicle can be notified of a forced interruption from the blind spot of the own vehicle by another vehicle, or an inadvertent interruption because the existence of the own vehicle is not recognized. Appropriate avoidance actions can be taken.

  In step S37, it is determined whether or not the driver of the other vehicle recognizes the presence of the host vehicle based on the acquired line-of-sight direction of the driver of the other vehicle (included in the other vehicle state). As described with reference to FIG. 4, the visual recognition area of the driver of the other vehicle can be estimated from the line-of-sight direction, at least excluding the visual recognition areas of the room mirror and the door mirror. Further, the type of the vehicle (at least distinction between ordinary passenger cars and large vehicles) is identified from the image of the other vehicle photographed by the outside camera 28, and the visual recognition area of the driver of the other vehicle is more accurately determined based on the line-of-sight direction and the type. Can be estimated. In addition, if the vehicle type is included in the other vehicle state and the arrangement of the seat and each mirror for each vehicle type is stored in the memory 12 in advance, the visual recognition area of the driver of the other vehicle can be estimated more accurately. can do. Needless to say, information on the viewing area or the notification area of the driver of the other vehicle may be acquired as the other vehicle state.

  When the driver of the other vehicle recognizes the presence of the own vehicle, that is, when the own vehicle exists in the visual recognition area of the other vehicle (S38: Yes), the process proceeds to step S41. That is, notification is not performed.

  On the other hand, when the driver of the other vehicle does not recognize the presence of the own vehicle, that is, when the own vehicle does not exist in the viewing area of the other vehicle (S38: No), the other vehicle is determined as a notification target. This configuration is “the other vehicle state acquisition unit acquires a state reflecting the driver's visual recognition area of the other vehicle, and the determination unit determines that the own vehicle is not present in the driver's visual recognition area of the other vehicle. Is determined as a notification target ”. With this configuration, based on the state of the host vehicle and the state of the other vehicle, the notification is made only when the host vehicle is not present in the driver's viewing area of the other vehicle, so that the information that the host vehicle really needs can be accurately reported. .

Next, the notification level of the other vehicle determined as the notification target is determined using at least one of the following (S39).
-Distance with other vehicle: The closer the distance between the host vehicle and the other vehicle, the higher the notification level.
-Whether or not the vehicle is approaching: Increase the notification level of other vehicles that tend to approach the vehicle.
-Presence / absence of change in travel direction: Increase the notification level of other vehicles that are changing the travel direction.

Based on the determined notification level, the presence of another vehicle is notified (S40). For example, when the notification level is set to three levels of “large”, “medium”, and “small”, the display unit 31 displays symbols representing other vehicles as follows.
・ Large: Red blinking display.
・ Medium: Lights up red.
・ Small: Yellow lighting display.
Moreover, you may change a brightness | luminance and contrast according to an alerting | reporting level.

  The above-described configuration includes the calculation unit (10) that calculates the notification level based on the state of the host vehicle and the state of the notification target, and the notification unit performs notification in a notification mode according to the calculated notification level. ". With this configuration, highly important information can be notified to the driver without being buried in other information.

  For example, a vehicle that is not a notification target (that is, a vehicle that exists in the visual recognition area or outside the detection area) is lit blue.

  Next, when the processes of steps S33 to S40 described above are not executed for all detected other vehicles (S41: No), the process returns to step S33. On the other hand, when it is executed for all the detected other vehicles (S41: Yes), this process is terminated.

  In the notification process of FIG. 3, it is good also as a structure which does not use the determination conditions whether the own vehicle or another vehicle is going to change a traveling direction. In this case, at least one of steps S35 and S36 is not executed.

  In addition, in the notification process of FIG. 3, it is determined that the vehicle is included in the notification region regardless of whether the driver of the other vehicle recognizes the presence of the own vehicle (that is, the driver cannot visually recognize). A vehicle may be a notification target. At this time, steps S37 and S38 are not executed.

  FIG. 5 shows an example of a situation when the driving support process is executed. The host vehicle 101 is going to turn left at the intersection ahead as shown by the arrow. At this time, the visual recognition area of the driver D in the detection area R <b> 10 of the host vehicle 101 is the left front area RA <b> 11 and the visual recognition area RA <b> 13 of the room mirror 104. Therefore, the regions RB11 and RB12 other than the viewing region in the detection region R10 are notification regions.

  In this situation, the other vehicle 110 included in the detection region R10 and traveling right in front of the host vehicle 101 blinks the direction indicator 110a in order to change the lane. Since it is outside, the driver D is not aware of the change in the behavior of the other vehicle 110. At this time, when the driver of the other vehicle 110 recognizes the presence of the host vehicle 101, the notification level is set to “medium”.

  On the other hand, when the driver of the other vehicle 110 does not recognize the presence of the host vehicle 101, the notification level is set to “high” because the vehicle is approaching the host vehicle 101 and obstructs the course of the host vehicle 101. To do.

  FIG. 6 shows another example of the situation when the driving support process is executed. The own vehicle 101 blinks the direction indicator lamp 101a to change the lane from the left lane of the two-lane road to the right lane. In the right lane, the other vehicle 111 is traveling at a reduced speed in front of the host vehicle 101, and the brake light 111a is lit. In addition, on the right rear side of the host vehicle 101, another vehicle 112 is traveling.

  At this time, the visual recognition area of the driver D in the detection area R20 of the own vehicle 101 is a substantially right front to right rear area RA21, a visual recognition area RA22 of the right door mirror 102, and a visual recognition area RA23 of the room mirror 104. Therefore, the region RB21 other than the viewing region in the detection region R20 is a notification region.

  In this situation, the driver D recognizes only the presence of the other vehicle 112 and cannot recognize the presence of the other vehicle 111 in the notification area (RB21). In addition, if a lane change is performed in this state, there is a high possibility that the vehicle 111 will abnormally approach another vehicle 111 that is traveling at a reduced speed. Therefore, when the driver of the other vehicle 111 recognizes the presence of the own vehicle 101 based on the acquired other vehicle driver state and the other vehicle traveling state, the notification level of the other vehicle 111 is set to “medium”. When the driver of the other vehicle 111 does not recognize the presence of the host vehicle 101, the notification level of the other vehicle 111 is set to “high”. Since it is considered that the driver who is traveling at a reduced speed often watches the front, it may be determined that the presence of the host vehicle 101 is not recognized regardless of the other vehicle driver state.

  For the other vehicle 112, when the driver of the other vehicle 112 recognizes the presence of the host vehicle 101, the notification level of the other vehicle 112 is set to “low”. When the driver of the other vehicle 112 does not recognize the presence of the host vehicle 101, the notification level of the other vehicle 111 is set to “medium”.

  In FIG. 6, when the speed of the other vehicle 111 existing in the notification area RB <b> 21 is faster than the own vehicle 101, that is, when it is predicted to leave the notification area RB <b> 21, the other vehicle 111 may not be the notification target. . Further, when the other vehicle 112 existing in the visual recognition area RA21 is overtaking the host vehicle 101, that is, when it is predicted to enter the notification area RB21, the other vehicle 112 may be the notification target.

  The above-described configuration is “including a prediction unit that predicts the traveling direction of the other vehicle, and the determination unit determines whether or not the other vehicle is a notification target based on the traveling direction of the other vehicle”. More specifically, “the detected other vehicle is present in the notification area but is not subject to notification when it is predicted to leave the notification area” or “the detected other vehicle is present in the notification area. However, when it is predicted to enter the notification area, it is set as a notification target ”. With this configuration, only what is really necessary can be targeted for notification.

  FIG. 7 shows another example of the situation when the driving support process is executed. The host vehicle 101 is traveling straight in the right lane of a two-lane road. In the left lane, the other vehicle 113 is traveling in front of the left side of the host vehicle 101. The other vehicle 114 is parked in front of the other vehicle 113, and the hazard light 114a is blinking. In order to avoid this, the other vehicle 113 blinks the direction indicator lamp 113a to change to the right lane.

  In addition, the visual recognition area of the driver D in the detection area R30 of the host vehicle 101 is only the substantially front area RA31. Therefore, the region RB31 other than the region RA31 in the detection region R30 serves as a notification region (the viewing region of the room mirror 104 may be excluded from the notification region). In this situation, the driver D cannot recognize the presence of the other vehicle 113 in the notification area (RB31) and the other vehicle 114 outside the detection area R30.

  At this time, since the driver D does not recognize the existence of the other vehicle 113, the other vehicle 113 becomes a notification target. When the driver of the other vehicle 113 recognizes the presence of the host vehicle 101 based on the other vehicle driver state and the other vehicle running state acquired from the other vehicle 113, the notification level of the other vehicle 113 is set to “medium”. To do. When the driver of the other vehicle 113 does not recognize the presence of the host vehicle 101, the notification level of the other vehicle 113 is set to “high”.

  FIG. 8 shows a display example on the display unit 31 by taking the state of FIG. 6 as an example. As in a known navigation device, the current position of the host vehicle 101 detected by the position detection unit 22 is displayed on the map data stored in the memory 12. The display form may be only an enlarged display of the road around the current position, or an enlarged screen of the road around the current position may be displayed on a separate screen from the road map by a pop-up display or the like.

  In the example of FIG. 8, the host vehicle 101 and the other vehicles 111 and 112 are displayed as symbols together with bars (101b, 111b, and 112b) indicating the traveling direction. As shown in FIG. 6, the host vehicle 101 that is going to change the lane from the left lane to the right lane of the two-lane road visually recognizes the other vehicle 112 on the right rear, but visually recognizes the other vehicle 111 on the right front. Not. The other vehicle 111 is lit red when the driver of the other vehicle 111 recognizes the presence of the host vehicle 101, and flashes red when not recognized. The other vehicle 112 is lit in yellow when the driver of the other vehicle 112 recognizes the presence of the host vehicle 101, and is lit in red when not recognized.

  In FIG. 8, a voice message may be output from the voice output unit 32 to notify the presence of another vehicle. When there are a plurality of notification targets, the notification with the highest notification level is given priority.

  Although the embodiments of the present invention have been described above, these are merely examples, and the present invention is not limited to these embodiments, and the knowledge of those skilled in the art can be used without departing from the spirit of the claims. Various modifications based on this are possible.

DESCRIPTION OF SYMBOLS 1 Driving assistance apparatus 10 Control part (setting part, determination part, calculation part)
21 Car interior camera (own vehicle state detector)
22 Position detector (own vehicle state detector)
23 Vehicle speed sensor (own vehicle state detector)
24 Shift position sensor (own vehicle state detector)
25 Direction indicator (own vehicle state detector)
26 Brake sensor (own vehicle state detector)
27 Steering angle sensor (own vehicle state detection unit)
28 Outside camera (detector)
29 Radar (detector)
30 wireless communication unit (other vehicle state acquisition unit)
31 Display unit (notification unit)
32 Audio output unit (notification unit)
101 Self-vehicle 110-113 Other vehicles R0, R10, R20, R30 Detection area RA1-RA3, RA11-RA13, RA21-RA23, RA31 Viewing area RB1, RB2, RB11, RB12, RB21, RB31 Notification area

Claims (7)

A host vehicle state detector (21) for detecting the state of the host vehicle (101);
A detection unit (28, 29) for detecting another vehicle (110) existing in a predetermined detection region (R10) around the host vehicle;
A setting unit (10) for setting a notification area (RB11) to be notified of the presence of the detected other vehicle based on the state of the host vehicle;
Other vehicle state acquisition unit (30) for acquiring the state of the other vehicle;
When the detected other vehicle is present in the notification area, a determination unit (10) that determines whether the other vehicle is a notification target based on a state of the other vehicle;
A notification unit (31, 32) for notifying the presence of another vehicle determined as the notification target;
A driving support apparatus comprising: The host vehicle state detection unit detects a state reflecting the line-of-sight direction of the driver of the host vehicle,
The setting unit estimates a driver's visual recognition area (RA11) in the detection area based on the line-of-sight direction, and sets an area obtained by removing the visual recognition area from the detection area as the notification area. The driving support device according to claim 1. The other vehicle state acquisition unit acquires a state reflecting the visual recognition area of the driver of the other vehicle,
The driving support device according to claim 1 or 2, wherein the determination unit determines that the other vehicle is a notification target when the own vehicle does not exist in a viewing area of a driver of the other vehicle.   The said determination part determines whether the other vehicle which exists in the said alerting | reporting area is made into alerting | reporting object, when the said other vehicle state acquisition part acquires the state reflecting the change of the driving direction of the said other vehicle. The driving support device according to any one of claims 1 to 3.   The said determination part determines whether the other vehicle which exists in the said alerting | reporting area is made into alerting | reporting object, when the said own vehicle state detection part detects the state which reflected the change of the driving direction of the said own vehicle. The driving support device according to any one of claims 1 to 4. A calculation unit (10) that calculates a notification level based on the state of the host vehicle and the state of the notification target,
The driving support device according to any one of claims 1 to 5, wherein the notification unit performs notification in a notification mode according to the calculated notification level.   The states of the host vehicle and the other vehicle are the vehicle position (22), vehicle speed (23), shift position (24), direction indicator state (25), brake (26), and steering angle (27), respectively. The driving support device according to claim 1, comprising at least one of the above.

Images