JP2018179740A - Driver supporting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driver supporting device that can present information to be reflected in driving to a driver.SOLUTION: The driver supporting device is equipped to a vehicle for use. Storage means stores the intersection attribute including the positional information of an intersection and information on a traffic light set at the intersection. The processing means of the driver supporting device causes output means to output, with reference to the storage means, information on the traffic light in the intersection located within a predetermined search region based on the current position of the vehicle, where a special traffic light different from a regular traffic light is set.SELECTED DRAWING: Figure 4

Description

  The present invention relates to, for example, a driver assistance apparatus and the like.

  Patent Document 1 below discloses a navigation device for searching for a route to a set destination and providing guidance. The navigation device comprises: storage means for storing map information including search data; a signal determination unit for determining the type of traffic signal lamp at an intersection based on intersection data included in the search data; The display control part which displays the traffic signal lamp mark corresponding to a kind on the screen of a display part is included.

JP 2005-326306 A

  Even if the driver looks at the screen on which the traffic light mark corresponding to the type of traffic light is displayed, it is difficult for the driver to notice how the information should be reflected in driving. An object of the present invention is to provide a driver assistance apparatus capable of providing a driver with information to be reflected in driving.

  (1) A driver assistance apparatus mounted on a vehicle and used, the vehicle referring to storage means storing intersection attributes including position information of an intersection and information on a traffic signal installed at the intersection Processing means having a function of causing the output means to output information on a traffic signal at an intersection located within a predetermined search range based on the current position of the vehicle and in which a special traffic signal that is different from a normal traffic signal is installed It is good to have it as a driver assistance device which it has.

  The driver of the vehicle can know the information of the special traffic signal installed at the intersection within the predetermined search range from the information output to the output means. The driver can increase awareness and reconfirm the traffic rules when crossing an intersection in his head before reaching an intersection where special traffic signals are installed. The driver can eliminate anxiety when traveling on the road for the first time on an unfamiliar land. It can also help the driver to prevent traffic violations and accidents. In this manner, the driver assistance device can provide guidance so that traffic rules can be maintained.

  A normal traffic light and a special traffic light that is different from the normal traffic light may be arbitrarily defined. For example, as a normal traffic signal, it may be a traffic signal of a type that can be used by beginners in driving or drivers who have knowledge of average traffic rules to see and enter an intersection. Alternatively, a traffic signal of a type that is recognized as a common traffic signal may be a normal traffic signal as a general driver's sense. Alternatively, the traffic lights may be classified into a normal traffic light and a special traffic light based on the number of traffic lights installed. It is better to classify a special traffic signal as a special traffic signal than a normal traffic signal.

  For example, based on static information or dynamic information of a traffic light, it may be classified as either a normal traffic light or a special traffic light. As static information, for example, the outer shape and appearance of a traffic signal, and the number of lamps may be adopted. As dynamic information, for example, it is preferable to adopt the order of transition of the lighting state of the lamp and the like. The special traffic signal may include, for example, a traffic signal with a special shape or a traffic signal with a special state transition.

  Also, a traffic signal with a large number of installed devices may be classified as a normal traffic signal. For example, the number of installed devices may be obtained for each type of traffic light, and the type of traffic light whose number of installed devices is greater than the reference level may be a normal traffic light. As a reference level, for example, an average value of the number of installed units may be used. Alternatively, based on the cumulative relative frequency of the installed number of the traffic signals when the types of traffic signals are arranged in the order of the installation number, the traffic signals may be classified into a normal traffic signal and a special traffic signal. For example, the types of traffic signals until the cumulative relative frequency reaches a predetermined rate may be classified into special traffic signals. If there is a large change in the number of installed types of traffic signals, it is better to review the type to be judged as a normal traffic signal. Types of traffic lights that are not included in normal traffic lights should be classified as special traffic lights.

  For example, an arrow type traffic light may be used as a special traffic light different from a normal traffic light. Among the arrow type traffic lights, since many traffic lights in which only the right-turn arrow lighting equipment is installed in addition to blue, yellow and red lighting equipment are installed in the country, such traffic lights are classified as normal traffic lights, It is good to exclude guidance. In this way, it is possible to suppress an excessive amount of information output from the output means. Traffic lights including arrow lights other than right turn arrow lights, or traffic lights including two or more directional arrow lights may be classified as special traffic lights.

  If the state transition is special even if the installed lighting equipment is ordinary, the traffic light may be classified as a special traffic light. Examples of traffic signals with special state transitions include, for example, a pedometer-type traffic signal, a time difference type traffic signal, and the like. In addition, there is also a traffic light that displays the possibility of entering an intersection only by lighting of the arrow light device without having a state where the blue light device is lighted. Such a traffic signal may also be included in a traffic signal with a special state transition. Also, depending on the intersection, it may be possible to always turn left. Such an intersection may be included in an intersection where a special traffic light with a state transition is installed.

  The position information of the intersection and the information on the traffic signal installed at the intersection may be associated with each other and stored in the storage means as an intersection attribute. As the storage means, for example, a non-volatile memory incorporated in the apparatus or a removable recording medium that can be removed may be used. Further, it is preferable that an external database server is used as storage means, and the driver support device receives information of the database via the communication device. As intersections for which intersection attribute is to be stored in the storage means, for example, all intersections in the country where a traffic signal is installed may be used. Also, it may be limited to intersections of highways (general national roads, major regional roads, and general prefectural roads).

  The current position information of the vehicle on which the driver assistance apparatus is mounted may be acquired, for example, from a built-in GPS receiver. Alternatively, the driver assistance device may acquire current position information from a GPS receiver mounted on a vehicle via a wireless interface or a wired interface.

  The predetermined search range does not necessarily include the current position, but may be, for example, a fixed range including the current position, a route where the vehicle is estimated to travel, or the like. For example, the inside of a circle of a predetermined radius centered on the current position of the vehicle may be set as the search range. The predetermined radius may be, for example, 500 m to several km.

  As an output means, for example, a speaker for outputting sound, a display device for displaying an image, or the like may be used. When displaying an image, it is preferable to display an image representing the appearance of a special traffic light.

  The processing means may have a function of searching for a recommended route to the destination and outputting information indicating the recommended route to the output means. If there is an intersection where a special traffic light is installed on the route of the recommended route searched, the processing means, together with the recommendation route, a message notifying the driver that there is an intersection where the special traffic light is installed on the recommendation route. Should be output to the output means.

  (2) It is preferable that the driver assistance device includes information on a traffic signal to be output to the output means, which includes alert information for informing the driver that the special traffic signal needs attention.

  By noticing the alert information, the driver can perform an operation for entering an intersection or stopping before an intersection without being confused when reaching an intersection where a special traffic signal is installed. For example, the driver can raise alertness and reconfirm traffic rules in his head before the intersection. In this way, even when traveling in a place unknown to the driver, it is possible to assist the driving so as not to cause a violation or an accident.

  In addition, at the intersection where the traffic light is not installed, when it is specified that the temporary stop should be performed, the processing means may cause the output means to output a message notifying the driver that the temporary stop should be performed. Information indicating whether or not the intersection is designated to be paused may be included in the intersection attribute.

  In the case of outputting the alert information as a voice, for example, it is preferable to output a voice that indicates the driver's attention, such as "There is an arrow type traffic light within the circumference of ○○ km. Please be careful." When the state transition of the traffic light is special, it is preferable to output to the output means specifically how to make the state transition of the traffic light as warning information.

  For example, the driver turns left to look at the arrow lamp for going straight though the red lamp is on and the arrow lamp for going straight turns on and the pedestrian signal in the straight direction is lit in blue. There is a case where it is judged that it is possible and left turn. In order to prevent such a misjudgment by the driver, it is preferable to inform the driver that there is a state in which only the straight arrow light device is on and it can not turn left.

  In addition, since the meaning of the red-flashing or yellow-flashing traffic light is easily misunderstood, such traffic light may be classified as a special traffic light. For example, a yellow blink can be made to pay attention to other traffic and does not necessarily have to go slow. Unconditionally slowing at a yellow-flashing intersection may increase the risk of being hit by a rear vehicle. In addition, it is possible to proceed after the red blink is paused at the stop line to confirm the safety around. It is easy to cause a violation such as not going to a stop at a red blinking intersection but going slowly. It is preferable to notify the driver of the meaning of red blink and yellow blink before the intersection where the red blink and yellow blink traffic signals are installed. For a traffic light that only blinks at night, it is preferable to include in the intersection attribute information indicating a time zone in which the light blinks. The processing means may classify the traffic light which is in the blinking state only at night, into the special traffic light only in the blinking time zone.

  If the processing means has a function of searching for a recommended route to a destination, if the recommended route to the destination is determined, it is determined whether there is an intersection where a special traffic light is installed on the recommended route, When there is an intersection where a traffic signal is installed, it is preferable to notify the driver of information to be careful when traveling at the intersection.

  For example, a map may be displayed on the display device of the output means so that the recommended route can be recognized, and an icon may be displayed at a position on the map corresponding to an intersection where a special traffic light is installed. The icons should be such that the driver can see what kind of traffic lights are installed. When the number of intersections to be displayed is large, it is preferable to display a part of a plurality of intersections on which special traffic signals are installed, in order of proximity to the current location. For example, it is preferable to output a voice message "There is a caution arrow-type traffic light on the route. Please pay attention." Furthermore, when traveling along a recommended route, it is recommended that you output a voice message saying "There is an arrow-type traffic signal requiring caution. Please be careful." When approaching a intersection where special traffic signals are installed. .

  (3) The processing means refers to the intersection attribute stored in the storage means, and outputs the information on the traffic light at the intersection where the ordinary traffic light is installed among the intersections located within the search range It is good to set it as the driver assistance apparatus which does not make a means output.

  The amount of information output to the output means is reduced by not causing the output means to output information about the traffic light at an intersection where a normal traffic signal is installed. Therefore, the driver can easily notice an intersection where a special traffic signal is installed.

(4) The information on the traffic signal of the intersection attribute stored in the storage means includes identification information identifying whether the traffic signal installed at the intersection is the ordinary traffic signal or the special traffic signal,
The processing means may be a driver assistance device that causes the output means to output information on a traffic signal at an intersection where the special traffic signal is installed based on the identification information.

  The processing means can easily determine whether to cause the output means to output information on the traffic signal at the intersection, with reference to identification information identifying whether it is a normal traffic signal or a special traffic signal.

  As the identification information, information that directly identifies a normal signal or a special signal may be used. For example, the intersection attribute may include an item identifying a normal traffic signal or a special traffic signal.

  As identification information, information which indirectly identifies whether it is a normal traffic light or a special signal may be adopted. For example, based on the information on the intersection included in the map data of a general car navigation system, it may be identified whether it is a normal traffic light or a special traffic light.

  (5) The identification information may be a driver assistance device including information regarding the presence and number of the arrow lamps and the direction of the arrow indicated by the arrow lamps.

  The processing means can determine whether to output information about a traffic signal at an intersection to the output means based on the information regarding the presence and number of the arrow lamps and the direction of the arrow indicated by the arrow lamps. For example, it may be determined that a traffic light without an arrow light is not a special traffic light. It is preferable to determine that the traffic light whose number of arrow lights is one and whose direction of the arrow is right is not a special traffic light. It is preferable to determine that a traffic signal in which the number of arrow lamps is two or more is a special traffic signal. It is preferable to determine that the traffic light whose number of arrow light devices is one and whose arrow direction is other than the right direction is a special traffic light.

  The identification information for identifying whether it is a special traffic signal may include information indicating whether or not a lamp for a tram is installed. Traffic lights with tramway lights should be classified as special traffic lights. For example, when approaching an intersection where lights for trams are installed, it is preferable to notify the driver that a yellow arrow light is a signal for trams and that a warning message is issued. Since the light fixtures for pedestrians are generally installed at many intersections, the presence or absence of the light fixtures for pedestrians may not be included in the identification information for identifying whether it is a special traffic light or not.

  (6) In the driver support apparatus, the storage means does not store information on an intersection where a normal traffic signal is installed, and stores information on an intersection where the special traffic signal is installed. Good.

  Since the information regarding the many intersections where the usual traffic signal is installed is not memorize | stored in a memory | storage means, the increase in the capacity | capacitance of a memory | storage means can be suppressed.

  (7) The processing unit may set a position on a route to be passed when traveling along a road according to map data, the current position of the vehicle, and the traveling direction of the vehicle as the search range. Good.

  There is a high possibility that the route passed when traveling along the road will pass from here. If the position on this route is taken as the search range, the information on the intersection of the route which is unlikely to pass is out of the search range. As a result, it is possible to prevent an excessive amount of information of the traffic signal output to the output means. The driver can acquire only the information that seems to be highly necessary, and can easily notice the necessary information.

  When the vehicle changes its course by turning right, left, U-turn, etc., the processing means corrects the search range and searches for an intersection where a special traffic light is installed, and the traffic light of the intersection where the special traffic light is installed. Information may be output to the output means.

  "Driving like a road" means traveling along a path currently in progress at locations other than intersections, and leaving the road toward the exit road with the smallest angle of change in the direction of travel when entering an intersection It means that.

(8) The intersection attribute of the intersection where the approach lane to the intersection is provided with a dedicated lane for going to a specific exit lane includes information on the dedicated lane,
The processing means searches for a recommended route from the current location of the vehicle to the destination, and if there is an intersection where the dedicated lane is provided on the recommended route, the processing means is before the point where the dedicated lane starts. The driver assistance device may have a function of notifying, as a recommended lane, a lane which is likely to enter the dedicated lane to be traveled to travel along the recommended route.

  The driver can know the recommended lane for entering the dedicated lane before reaching the intersection where the dedicated lane is provided. For this reason, it is possible to suppress the occurrence of a situation where the driver is puzzled to enter the dedicated lane immediately before the intersection.

  Depending on the dedicated lane, even if the red lamp is on, it may be possible to enter an intersection by lighting of the arrow lamp. When it is necessary to enter such a dedicated lane in order to travel the recommended route to the destination, the processing means can enter the intersection by turning on the arrow lamp even while the red lamp is on. Information may be output to the output means to notify the driver of the presence. For example, the driver may be informed to enter an intersection in accordance with an arrow lamp. As a result, it is possible to suppress the occurrence of a situation in which the driver erroneously performs a stop operation before the intersection although the vehicle can enter the intersection.

  At an intersection where a dedicated lane for turning right is provided and a U-turn is possible, the processing means may notify the driver that there is a possibility that the vehicle in front of the host vehicle may make a U-turn. Unlike a right-turn vehicle, a U-turn vehicle may exhibit unexpected behavior by the driver of the following vehicle. The driver can prevent an accident from occurring by performing the driving operation on the assumption that the vehicle in front of the own vehicle may make a U-turn.

  In the case where the own vehicle is stopped at the leading lane of the intersection, it is likely that a violation may occur due to the confirmation of the traveling direction permitted for the lane. When the host vehicle is stopped at the leading lane of the intersection, the processing means may cause the output means to output a message to alert the driver to proceed in accordance with the traveling direction of the lane. The determination as to whether or not the host vehicle is at the head may be performed, for example, based on an image of a camera that captures the front of the vehicle. In order to acquire this image data, it is good to incorporate a camera in a driver assistance device. Further, the driver assistance apparatus may acquire image data from the on-vehicle camera. It is preferable to determine whether the lane in which the host vehicle is located is a dedicated lane by extracting a road sign from an image captured by a camera. Moreover, if the positioning accuracy by GPS improves, it is also possible to determine the lane in which the vehicle is located from the positioning result by GPS.

  (9) The processing means is based on information capable of specifying the position where the advance notice sign is installed, map data, the current position of the vehicle and the traveling direction of the vehicle, on a route passing when traveling along the road The driver assistance apparatus may have a function of searching for the notice guide sign installed in the vehicle and notifying that the notice guide sign is installed before the point where the notice guide sign is installed. .

  If the driver notices the notice indicator late, it may not have enough time to read the contents of the notice indicator. When notified that the notice guide sign is installed, the driver can notice the presence of the notice guide sign before the point at which the notice guide sign is installed. For this reason, the contents of the advance notice sign can be read with ample margin.

  Information capable of specifying the position where the advance notice sign is installed may be stored in the storage means storing the intersection attribute. The processing means may output the information displayed on the advance notice sign to the output means. For example, the image of the advance notice may be displayed on the display device of the output means. Even if the driver misses the timing of confirming the contents of the advance notice sign, the driver can grasp the contents of the advance notice sign from the information output to the output means.

  When the recommended route to the destination is set, the processing means may notify that the advance notice sign is installed on the recommended route.

  For example, information on an intersection where a special traffic signal is installed may be guided as a notice guide sign to be notified.

The inventions described in (1) to (9) above can be combined arbitrarily. For example, it may be possible to provide at least one of the other configurations (2) to (9) without providing the configuration of all or part of (1). However, in particular, it is preferable to include all or part of the configuration of (1) and to include at least one of the configurations of (2) to (9). Further, any component described in (1) to (9) may be extracted and combined. The applicant has the intention to obtain patent rights for these configurations as well.
The particular manner of the invention described above is an example and may be extended in part or limited in part.

  The driver of the vehicle can know the information of the special traffic signal installed at the intersection within the predetermined search range from the information output to the output means. The driver can increase awareness and reconfirm the traffic rules when crossing an intersection in his head before reaching an intersection where special traffic signals are installed. The driver can eliminate anxiety when traveling on the road for the first time on an unfamiliar land. It can also help the driver to prevent traffic violations and accidents. In this manner, the driver assistance device can provide guidance so that traffic rules can be maintained.

FIG. 1A is a schematic perspective view of a driver assistance apparatus according to a first embodiment, and FIG. 1B is a block diagram of the driver assistance apparatus according to the first embodiment. FIG. 2 is a diagram showing items of intersection attribute data. FIG. 3A is a view showing an example of the appearance of an arrow type traffic signal which also serves as a tramway traffic signal, FIG. 3B is a view showing an example of the appearance of a time difference type traffic signal, and FIG. 3C is a walking car separation type traffic signal It is a figure which shows an example of the external appearance of. FIG. 4A is a view showing an example of an image displayed on the display device of the driver assistance apparatus according to the first embodiment, and FIG. 4B is a correspondence between an icon displayed on the display device and the meaning of the icon FIG. FIG. 5 is a view showing an example of an image displayed on the display device of the driver assistance device according to the second embodiment. FIG. 6 is a view showing an image displayed on the display device when the vehicle approaches an intersection where an arrow type traffic signal classified as a special traffic signal is installed. FIG. 7 is a diagram showing a route that passes when the vehicle travels along the road from the current position of the vehicle. FIG. 8 is a plan view showing an example of an approach road of an intersection where a dedicated lane is provided. FIG. 9 is a plan view showing another example of an approach road at an intersection where a dedicated lane is provided. FIG. 10 is a schematic view of a notice guide sign and a driver assistance apparatus for explaining the function of the driver assistance apparatus according to the fourth embodiment. FIG. 11 is a view showing an example of a map of the area where the zone 30 is set.

[First embodiment]
A driver assistance apparatus according to a first embodiment will be described with reference to FIGS. 1A to 4C.
FIG. 1A is a schematic perspective view of a driver assistance apparatus according to a first embodiment. The driver assistance device 1 is mounted on a vehicle and used. The driver assistance device 1 is supported on a dashboard of the vehicle via, for example, a cradle 2. The driver assistance device 1 is fixed to the dashboard by affixing the bottom surface of the cradle 2 on the dashboard of the vehicle.

  The display device 3 is provided on the front surface of the driver assistance device 1 (the surface facing the rear (vehicle side) of the vehicle). As the display device 3, for example, a liquid crystal display, an organic EL display, or the like can be used. A touch panel 4 as an input device is provided on the surface of the display device 3. The user of the vehicle can give various instructions to the driver assistance device 1 by operating the touch panel 4.

  A card insertion slot 5 is provided on the side surface of the driver assistance device 1. A memory card 6 as a removable storage medium is attached to the driver assistance device 1 through the card insertion slot 5. As the memory card 6, for example, an SD memory card, a micro SD memory card or the like can be used.

  FIG. 1B is a block diagram of the driver assistance device 1 according to the first embodiment. The processing unit 10 includes a central processing unit (CPU) 11, a random access memory (RAM) 12, and a read only memory (ROM) 13. Various functions of the driver assistance device 1 are realized by the CPU 11 executing a program stored in the ROM 13. In the RAM 12, a storage area for temporary data when the CPU 11 executes a program is secured.

  The GPS receiver 15 calculates the current position (latitude and longitude) of the vehicle. The processing unit 10 reads the current position data of the vehicle calculated by the GPS receiver 15. The processing unit 10 performs data communication with an external device via the communication device 16. As the communication device 16, for example, one conforming to the short distance wireless communication standard, one utilizing a mobile communication network, or the like can be used. The driver assistance device 1 may not be equipped with a GPS receiver, and may receive current position information of the vehicle from the GPS receiver installed in the vehicle via the communication device 16.

  The output means 17 includes the display device 3 and the speaker 7. The processing unit 10 causes the display device 3 to display information such as images and characters, and causes the speaker 7 to output voice or sound. When a user of the vehicle operates the touch panel 4, various commands are input to the processing unit 10.

  The memory card 6 is inserted into the memory card reader 18. The processing unit 10 can read and rewrite data stored in the memory card 6 and write data to the memory card 6. The memory card 6 stores, for each intersection, intersection attributes including position information of the intersection and information on traffic lights installed at the intersection.

  FIG. 2 is a diagram showing items of intersection attribute data. The intersection attribute includes intersection position information, traffic signal identification information, state transition type information, number information of arrow light devices for each connecting road, direction information of arrows, and information indicating presence or absence of light devices for trams.

  The intersection position information indicates the position of the intersection. The position of the intersection is represented, for example, by latitude and longitude. The traffic signal identification information is information for identifying whether the traffic signal is a normal traffic signal or a special traffic signal.

  A normal traffic light and a special traffic light which is a traffic light different from the normal traffic light can be arbitrarily defined. For example, as a normal traffic signal, it may be a traffic signal of a type that can be used by beginners in driving or drivers who have knowledge of average traffic rules to see and enter an intersection. Alternatively, a traffic signal of a type that is recognized as a common traffic signal may be a normal traffic signal as a general driver's sense. Alternatively, the traffic lights may be classified into a normal traffic light and a special traffic light based on the number of traffic lights installed. It is recommended that a traffic signal not included in a normal traffic signal be a special traffic signal. For example, a traffic signal more specific than a normal traffic signal may be classified as a special traffic signal. In the item of the signal identification information, a value of “normal” or “special” is set in advance based on any of the above-mentioned various definitions or a combination of these definitions.

  The state transition type information is information indicating the type of transition of the lighting state of the traffic light. The state of the traffic light in which a normal blue light, yellow light and red light are installed transitions in the order of blue light, yellow light and red light. In addition, for a traffic signal that performs special state transition, information on the state transition is stored in the item of state transition type information. Examples of traffic signals that perform special state transitions include, for example, a time difference type traffic signal, a pedometer type traffic signal, and a traffic light that does not turn on in blue and instructs to proceed with only an arrow light.

  The number information of the arrow light devices for each connecting road indicates the number of arrow light devices provided in the traffic light to be referred to by the vehicle entering the intersection from the connecting road. The direction information on the arrow indicates the direction of the arrow indicated by the arrow lamp provided on the traffic light to be referred to by the vehicle entering the intersection from the connecting road. The information indicating the presence or absence of the tramway lamp literally indicates whether the tramway lamp is installed or not.

Next, an example of a special traffic light will be described with reference to FIGS. 3A to 3C.
FIG. 3A is a view showing an example of the appearance of an arrow type traffic signal that doubles as a traffic light. This traffic light includes a blue lamp, a yellow lamp, a red lamp, a right turn arrow lamp, a straight arrow lamp, a left arrow lamp, and a tram lamp. Among the arrow type traffic signals, those not including tramway lamps, those including only one arrow lamp, those including two arrow lamps, and those including four or more arrow lamps is there.

  FIG. 3B is a view showing an example of the appearance of a time difference type traffic signal. The traffic light includes a blue light, a yellow light, a red light, and a sign indicating that it is a time difference type light.

  FIG. 3C is a view showing an example of the appearance of a walk-behind vehicle separation type traffic signal. The traffic light includes a blue light, a yellow light, a red light, and a sign indicating that it is of a separated type.

Next, processing of the processing unit 10 will be described with reference to FIGS. 4A and 4B.
The processing unit 10 (FIG. 1B) is a special traffic signal that is located within a predetermined search range based on the current position of the vehicle with reference to the contents of the memory card 6 and that is different from normal traffic signals. It has a function of causing the display device 3 to display information on a traffic signal at an installed intersection. Information about traffic lights is not displayed for intersections where normal traffic lights are installed.

  The determination as to whether or not it is a special traffic signal can be made based on the traffic signal identification information (FIG. 2) of the intersection attribute. As the predetermined search range, for example, the inside of a circle having a predetermined radius centered on the current position of the vehicle (search circle) may be used. The radius of the search circle may be, for example, in the range of 500 m to 3 km. Also, the radius of the search circle may be varied according to the traveling speed of the host vehicle. The faster the traveling speed, the longer the radius of the search circle.

  FIG. 4A is a view showing an example of an image displayed on the display device 3 (FIG. 1A, FIG. 1B). The position of the host vehicle is indicated by an inverted V-shaped icon 20. The direction indicated by the icon 20 corresponds to the front of the host vehicle. The heading ahead of the host vehicle may be obtained, for example, from an electronic compass built in the driver assistance device 1. The position of the intersection where the special traffic signal is installed is indicated by an icon (image) 21 corresponding to the type of the traffic signal. A circle with a radius of 500 m, 1 km, and 2 km is displayed around the position of the host vehicle.

  FIG. 4B is a view showing the correspondence between the icons 20 and 21 and the meanings of the icons 20 and 21. For example, an icon 20 indicating the own vehicle, and an icon 21 indicating an arrow type traffic light, a blinking traffic light, a tramway traffic light, a time difference type traffic light, and a walk car separation type traffic light are defined.

  Furthermore, the processing unit 10 causes the speaker 7 to output, via voice, alerting information that informs the driver that a special traffic signal in the search range needs attention. For example, it may be preferable to output an audio of a content prompting the driver's attention, such as "There is an arrow type traffic light within the circumference of kmkm. Please be careful." When the state transition of the traffic signal is special, it is preferable to output from the speaker 7 as warning information specifically how the traffic state transitions.

  Next, another example of the classification method of the ordinary traffic light and the special traffic light than the ordinary traffic light will be described.

  For example, based on static information or dynamic information of a traffic light, it may be classified as either a normal traffic light or a special traffic light. As static information, for example, the outer shape and appearance of a traffic signal, and the number of lamps may be adopted. As dynamic information, for example, it is preferable to adopt the order of transition of the lighting state of the lamp and the like. The special traffic signal may include, for example, a traffic signal with a special shape or a traffic signal with a special state transition.

  Also, a traffic signal with a large number of installed devices may be classified as a normal traffic signal. For example, the number of installed devices may be obtained for each type of traffic light, and the type of traffic light whose number of installed devices is greater than the reference level may be a normal traffic light. As a reference level, for example, an average value of the number of installed units may be used. Alternatively, based on the cumulative relative frequency of the installed number of the traffic signals when the types of traffic signals are arranged in the order of the installation number, the traffic signals may be classified into a normal traffic signal and a special traffic signal. For example, the types of traffic signals until the cumulative relative frequency reaches a predetermined rate may be classified into special traffic signals. If there is a large change in the number of installed types of traffic signals, it is better to review the type to be judged as a normal traffic signal. Types of traffic lights that are not included in normal traffic lights should be classified as special traffic lights.

  For example, an arrow type traffic light may be used as a special traffic light different from a normal traffic light. Among the arrow type traffic lights, since many traffic lights in which only the right-turn arrow lighting equipment is installed in addition to blue, yellow and red lighting equipment are installed in the country, such traffic lights are classified as normal traffic lights, It is good to exclude guidance. In this way, it is possible to suppress an excessive amount of information output from the output unit 17 (FIG. 1B). Traffic lights including arrow lights other than right turn arrow lights, or traffic lights including two or more directional arrow lights may be classified as special traffic lights.

  If the state transition is special even if the installed lighting equipment is ordinary, the traffic light may be classified as a special traffic light. Examples of traffic signals with special state transitions include, for example, a pedometer-type traffic signal, a time difference type traffic signal, and the like. In addition, there is also a traffic light that displays the possibility of entering an intersection only by lighting of the arrow light device without having a state where the blue light device is lighted. Such a traffic signal may also be included in a traffic signal with a special state transition. Also, depending on the intersection, it may be possible to always turn left. Such an intersection may be included in an intersection where a special traffic light with a state transition is installed.

[Effect of the first embodiment]
Next, the excellent effects of the first embodiment will be described.
The driver of the vehicle can know the information of the special traffic signal installed at the intersection within the predetermined search range from the information outputted to the output means 17 (FIG. 1B). When the alerting information is output from the speaker 7, the driver can easily notice the existence of the intersection to be traveled. The driver can increase awareness and reconfirm the traffic rules when crossing an intersection in his head before reaching an intersection where special traffic signals are installed. The driver can eliminate anxiety when traveling on the road for the first time on an unfamiliar land. It can also help the driver to prevent traffic violations and accidents.

  For example, the driver turns left to look at the arrow lamp for going straight though the red lamp is on and the arrow lamp for going straight turns on and the pedestrian signal in the straight direction is lit in blue. There is a case where it is judged that it is possible and left turn. If the driver is notified as warning information that only the straight arrow light device is on and there is a state in which the driver can not turn left, such misjudgment of the driver can be prevented.

  In the first embodiment, for an intersection where a normal traffic signal is installed, the information related to the traffic signal is not displayed on the display device 3 (FIGS. 1A and 1B), so the amount of information displayed on the display device 3 is reduced. Ru. For this reason, the driver can easily notice the existence of the intersection where the special traffic signal is installed.

  By providing an item of traffic signal identification information for identifying whether the traffic signal is normal or special in the intersection attribute (FIG. 2), the processing unit 10 determines whether the traffic signal at the intersection within the search range should be displayed on the display device 3 It can be easily determined whether or not it is the traffic signal to be guided. Further, by changing the set value of the item of the signal identification information, it is possible to easily include the information on the signal at each intersection in the display on the display device 3 or exclude it from the display.

Modification of First Embodiment
Next, various modifications of the first embodiment will be described.
In the first embodiment, the intersection attribute (FIG. 2) for each intersection is stored in the memory card 6 (FIGS. 1A and 1B), but may be stored in other various storage means. For example, it may be stored in the ROM 13 of the processing unit 10. Also, an external database server may be used as storage means. The driver assistance device 1 may receive information on intersections from the database server through the communication device 16. For example, information on an intersection in an area centered on the current position of the vehicle may be received and temporarily stored in the RAM 12 (FIG. 1B).

  As intersections for which intersection attributes are to be stored in storage means such as the memory card 6, for example, all intersections in the country where a traffic signal is installed may be used. Also, it may be limited to intersections of highways (general national roads, major regional roads, and general prefectural roads). Of the intersection attributes of the intersection stored in the storage means, the item (FIG. 2) of the traffic signal identification information can be easily changed to the output means 17 by modifying the "normal" to "special" or vice versa. It can be included in the output target of or excluded from the output target.

  Whether the processing unit 10 is a normal traffic signal or a special traffic signal based on the information on the presence / absence and number of arrow lamps and the direction of the arrows indicated by the arrow lamps without providing the item of the traffic signal identification information in the intersection attribute (FIG. 2) May be determined indirectly. For example, it may be determined that a traffic light without an arrow light is not a special traffic light. It is preferable to determine that the traffic light whose number of arrow lights is one and whose direction of the arrow is right is not a special traffic light. It is preferable to determine that a traffic signal in which the number of arrow lamps is two or more is a special traffic signal. It is preferable to determine that the traffic light whose number of arrow light devices is one and whose arrow direction is other than the right direction is a special traffic light. If the map data of the car navigation system includes the number of arrow lights of the intersection, etc., the processing unit 10 determines that the traffic signal installed at the intersection is normal based on the map data of such a car navigation system. It becomes possible to determine whether it is a traffic light or a special traffic light.

  The identification information for identifying whether it is a special traffic signal may include information indicating whether or not a lamp for a tram is installed. Traffic lights with tramway lights should be classified as special traffic lights. For example, when approaching an intersection where lights for trams are installed, the driver may be notified of a message that "A yellow arrow lamp is a signal for trams, please be careful." Since the light fixtures for pedestrians are generally installed at many intersections, the presence or absence of the light fixtures for pedestrians may not be included in the identification information for identifying whether it is a special traffic light or not.

  Such a traffic light may be classified as a special traffic light, as the meaning of the red light or yellow light may be misunderstood. For example, a yellow blink can be made to pay attention to other traffic and does not necessarily have to go slow. Unconditionally slowing at a yellow-flashing intersection may increase the risk of being hit by a rear vehicle. In addition, it is possible to proceed after the red blink is paused at the stop line to confirm the safety around. It is easy to cause a violation such as not going to a stop at a red blinking intersection but going slowly. It is preferable to notify the driver of the meaning of red blink and yellow blink before the intersection where the red blink and yellow blink traffic signals are installed. For a traffic light that only blinks at night, it is preferable to include in the intersection attribute information indicating a time zone in which the light blinks. The processing means may classify the traffic light which is in the blinking state only at night, into the special traffic light only in the blinking time zone.

  In the first embodiment, a circular range centered on the current position of the vehicle is illustrated as a search range for the presence or absence of an intersection at which a special traffic signal is installed, but the search range necessarily includes the current position of the vehicle There is no need. For example, a semicircular range located in front of the host vehicle may be set as the search range. In this way, information on the rear range where the vehicle is unlikely to pass is less likely to be displayed on the display 3 (FIGS. 1A and 1B), and the driver can easily notice useful information.

  In the first embodiment, the information on the intersection is stored in the storage means even at the intersection where the ordinary traffic light is installed, but the information on the intersection is stored in the intersection where the ordinary traffic light is installed You do not need to memorize it. In this case, the information on the intersections is not stored in the storage unit for a large number of intersections in which ordinary traffic signals are installed, and therefore, the increase in the capacity of the storage unit can be suppressed.

  In the first embodiment, an intersection at which a special traffic signal is installed is targeted for guidance. However, among the intersections at which the traffic signal is not installed, an intersection having a shape that requires attention for traveling may be guided. For example, it is recommended to guide at a roundabout.

Second Embodiment
Next, with reference to FIG. 5, the driver assistance device according to the second embodiment will be described. Hereinafter, the description of the configuration common to the driver assistance device according to the first embodiment will be omitted.

  In addition to the functions of the driver assistance apparatus 1 (FIGS. 1A and 1B) according to the first embodiment, the driver assistance apparatus 1 according to the second embodiment stores map data in storage means such as a memory card 6 and the like. The processing unit 10 (FIG. 1B) has a function of causing the display device 3 to display a map of an area including the current position of the vehicle, and a recommended route (recommended route) to the destination. It has a function to display.

  When the recommended route is determined, the processing unit 10 searches for an intersection at which a special traffic light is installed, using the position on the recommended route as a search range. When there is an intersection where a special traffic signal is installed on the recommended route, the processing unit 10 outputs a message notifying the driver that there is an intersection where the special traffic signal is installed on the recommended route (see FIG. Output from 1B).

  FIG. 5 is a view showing an example of an image displayed on the display device 3. On the map displayed on the display device 3, a circled S symbol is displayed at the current position of the vehicle, and the destination is represented by a circled G symbol. The recommended route is indicated by a thick solid line. An icon 21 corresponding to a special type of traffic light is displayed at an intersection where a special traffic light located on the recommended route is installed.

  The processing unit 10 causes the display device 3 to display the map and the icon 21 and causes the speaker 7 to output by voice that there is an intersection where a special traffic light is installed on the recommended route. For example, a voice message "Please be careful on the route, there are arrow-type traffic signals requiring attention, walk-off type traffic signals, and traffic signals for trams. Please be careful." Furthermore, when traveling along a recommended route, it is recommended that you output a voice message saying "There is an arrow-type traffic signal requiring caution. Please be careful." When approaching a intersection where special traffic signals are installed. .

  FIG. 6 is a view showing an image displayed on the display device 3 when the vehicle approaches an intersection where an arrow type traffic signal classified as a special traffic signal is installed. The processing unit 10 is an external appearance of a traffic light at the next intersection where a special traffic light is installed in a partial area 8 of the display screen of the display device 3 (for example, the area on the left side of the display screen about 1/3). Lane information of the approach road of the intersection is displayed as a figure. Further, the distance to the intersection where the traffic signal is installed is displayed numerically. Each lane in the figure displayed on the display device 3 has an arrow indicating a direction in which the vehicle is allowed to travel when the vehicle enters an intersection from the lane. The area 8 where the appearance of the traffic light and the lane information of the approach road at the intersection are displayed as a figure may be another area in the display screen, for example, the upper left area, the upper right area, and the approximately 1/3 area on the right.

  The appearance of the traffic signal and the lane information of the approach road at the intersection may be displayed graphically as a point when the distance to the intersection becomes a predetermined distance, for example, 1 km. The predetermined distance may be changed according to the legal speed of the route currently being traveled or the current vehicle speed. For example, the higher the legal speed or the current vehicle speed, the longer this predetermined distance may be.

  In addition, the processing unit 10 emphasizes and displays the lane on which the vehicle should travel in order to advance along the recommended route among the figures indicating the lane of the approach road displayed on the display device 3. For example, the lane to be driven in the figure may be colored differently from the other lanes, or the lane to be driven may be displayed brighter than the other lanes.

  In addition, the processing unit 10 may display the appearance of the traffic light displayed in the area 8 so that the lighting state of the traffic light that can travel along the recommended route can be recognized. For example, when the route to turn the intersection to the right is set as the recommended route, the area 8 may display the appearance of the traffic light in a state in which the red lamp and the right arrow lamp are on.

[Effect of the second embodiment]
The driver sees the icon 21 on the map displayed on the display device 3 to know where on the route the vehicle is going to travel at which the special signal requiring attention is located. Can. When alerting information is output by voice when approaching a crossing where special traffic signals are installed, the driver can increase the alertness before reaching the crossing or the traffic rules for crossing the crossing. You can reconfirm in your mind.

  The intersection other than the route where the host vehicle is to travel is not displayed on the display device 3 even if a special traffic light is installed. Information on intersections other than the planned route is less important to the driver. Since less important information is not displayed on the display device 3, the driver is likely to notice more important information.

  The driver sees the outline of the traffic signal displayed in the partial area 8 (FIG. 6) of the display screen of the display device 3 and lane information of the approach road, and more specific cautions when passing through the intersection You can reconfirm in advance in your mind.

First Modification of Second Embodiment
Next, a first modification of the second embodiment will be described.
Although the second embodiment shown in FIG. 5 guides an intersection where a special traffic light on the recommended route to the destination is installed, in this modification, the driver is also recommended when the recommended route is not set. Provide useful guidance for

  The processing unit 10 (FIG. 1B) sets, as a search range, a position on a route to be passed when traveling along a road, based on map data, the current position of the host vehicle, and the traveling direction of the host vehicle. If there is an intersection where a special traffic signal is installed on the route to be passed when traveling along the road, the processing unit 10 displays an icon corresponding to the traffic signal installed at this intersection at the position of this intersection on the map Display

  When the vehicle changes the course by right turn, left turn, U-turn or the like, the processing unit 10 may correct the search range and cause the display device 3 to redisplay information on the traffic signal at the intersection where the special traffic signal is installed.

Next, “traveling along the road” will be described with reference to FIG.
"Driving along a road" means traveling along a route currently being traveled at locations other than intersections. At an intersection, it means going straight. When entering an intersection where there is no exit road going straight, it means that the vehicle travels out toward the exit road with the smallest angle of change in the traveling direction.

FIG. 7 is a view showing a route 26 which passes when traveling from the current position 25 of the host vehicle along the road. There is no exit road going straight ahead at the intersection 27. The change angle θ _{1 in the} direction of travel toward the exit path 28 is smaller than any of the change angles θ ₂ , θ ₃ , and θ _{4 in} the direction of travel toward the other exit path. Accordingly, traveling toward the exit path 28 corresponds to “traveling along the road”.

  There is a high possibility that the route passed when traveling along the road will pass from here. If the position on this route is taken as the search range, the information on the intersection of the route which is unlikely to pass is out of the search range. As a result, it is possible to prevent the information of the traffic signal displayed on the display device 3 from being excessive. The driver can acquire only the information that seems to be highly necessary, and can easily notice the necessary information.

Second Modification of Second Embodiment
Next, a second modification of the second embodiment will be described.
In the second embodiment, the information on the intersection where the special traffic signal is installed and the traffic signal is guided to the driver, but in this modification, the processing unit 10 does not have the traffic signal installed and is required to temporarily stop. To the intersection where For example, the processing unit 10 causes the speaker 7 to output, by voice, that the vehicle should be temporarily stopped before the intersection where the temporary stop is required. Information indicating whether or not the intersection should be paused may be included in the intersection attribute and stored in the storage means.

  In this modified example, the driver notices that he has approached an intersection that is required to stop temporarily, and it becomes difficult to cause a stop violation.

[Other Modification of Second Embodiment]
Next, another modification of the second embodiment will be described.
When the processing unit 10 (FIG. 1B) detects that the vehicle has stopped at an intersection in front of the intersection at which the special traffic signal is installed, the driver is about to reach the intersection at which the special traffic signal is installed. It is good to notify by voice. The driver who is aware of this voice can see the display screen of the display device 3 while the vehicle is at rest, and can obtain specific information on a special traffic signal.

  In addition, it is preferable to display information on special intersections in a sentence, together with traffic lights and lane figures, so that the passenger in the front passenger seat can view the display device 3 and convey information on special intersections to the driver. For example, the message "The arrow lights at right intersection, straight ahead and left turn are installed at the traffic light at the intersection ahead of ○○○ m. The rightmost one lane is the right turn exclusive lane." It is good to display on 3. Even when the passenger does not have a driver's license, it is possible to convey necessary information to the driver by reading the text displayed on the display device 3 aloud.

  The input operation of the destination and the operation of selecting one destination from the destination candidates may be performed by voice.

Third Embodiment
Next, a driver assistance apparatus according to a third embodiment will be described with reference to FIGS. 8 and 9. Hereinafter, the description of the configuration common to the first embodiment and the second embodiment will be omitted.

  The intersection attribute to which the driver assistance device according to the present embodiment refers includes information on a dedicated lane for an intersection provided with a dedicated lane (dedicated lane) for going to a specific exit road. As in the second embodiment, the processing unit 10 (FIG. 1B) has a function of searching for a recommended route from the current location of the vehicle to the destination. When there is an intersection where a dedicated lane is provided on the recommended route, the processing unit 10 is a lane that is likely to enter the dedicated lane to travel along the recommended route before the point where the dedicated lane starts Has a function to notify as a recommended lane.

  FIG. 8 is a plan view showing an example of an approach road of an intersection provided with a dedicated lane, and a view showing an appearance of a traffic light as seen from the approach road. The approach road 32 to the intersection 31 has increased from three lanes to four lanes before the intersection, and a dedicated lane starts from here. Of the four lanes, the rightmost lane is a right turn lane, and the leftmost lane is a lane for going straight and left. The second and third lanes from the left are straight lanes. The traffic light installed at the intersection 31 includes a right turn arrow lamp.

  When the route to turn right at the intersection 31 is set as a recommended route, the processing unit 10 (FIG. 1B) drives a preferred lane (recommended lane) to enter the right turn dedicated lane before the point 33 where the dedicated lane starts. Alert the person. For example, the processing unit 10 causes the speaker 7 (FIG. 1B) to output a voice message "There is a lane for turning right soon. Please drive on the right lane."

  When the vehicle passes the point 33 where the dedicated lane starts, the processing unit 10 notifies the driver of matters to be careful when passing the intersection 31. For example, the processing unit 10 causes the speaker 7 to output a voice message "Please travel according to the arrow signal for turning right".

  When the route to turn left at the intersection 31 is set as the recommended route, the processing unit 10 (FIG. 1B) informs the driver of a preferred lane to enter the lane for turning left before the point 33 where the dedicated lane starts. Do. For example, the processing unit 10 causes the speaker 7 (FIG. 1B) to output a voice message "There is a lane for a left turn soon. Please drive on the left lane." When the vehicle passes a point 33 where the dedicated lane starts, for example, the processing unit 10 causes the speaker 7 to output a voice message “Please follow the arrow signal for the left turn”.

  Since it is possible to go straight at the intersection 31 regardless of which lane it is traveling in front of the point 33 where the dedicated lane starts, when the route going straight is set as a recommended route, the processing unit 10 (FIG. 1B) Do not output a warning message.

  FIG. 9 is a plan view showing another example of an approach road at an intersection where a dedicated lane is provided. The entrance road 36 to the intersection 35 is increased from three lanes to four lanes before the intersection, and a dedicated lane starts from here. Of the four lanes, the rightmost lane is the right turn lane, the leftmost lane is the left turn lane, and the central two lanes are the straight lanes. The traffic light installed at the intersection 35 includes arrow lights for turning right, going straight and turning left.

  When the route going straight at the intersection 35 is set as the recommended route, the processing unit 10 (FIG. 1B) drives a preferable lane (recommended lane) to go straight at the intersection 35 before the point 37 where the dedicated lane starts. Alert the person. For example, the processing unit 10 causes the speaker 7 (FIG. 1B) to output a voice message "Turn left, divide into straight lanes for exclusive use. Drive in the center or right lane to go straight."

  When the vehicle passes the point 37 where the dedicated lane starts, the processing unit 10 notifies the driver of matters to be noted when passing the intersection 35. For example, the processing unit 10 causes the speaker 7 to output a voice message “Please travel according to a green light or an arrow signal for going straight on”.

  When a route turning right at intersection 35 is set as a recommended route, processing unit 10 (FIG. 1B) informs the driver of a preferred lane to turn right at intersection 35 before point 37 where the dedicated lane starts. . For example, the processing unit 10 causes the speaker 7 (FIG. 1B) to output a voice message "There is a lane for turning right soon. Please drive on the right lane."

  When the vehicle passes the point 37 where the dedicated lane starts, for example, the processing unit 10 causes the speaker 7 to output a voice message “Please travel according to the arrow signal for right turn”.

  When a route to turn left at intersection 35 is set as a recommended route, processing unit 10 (FIG. 1B) informs the driver of a preferred lane to turn left at intersection 35 before point 37 where the dedicated lane starts. . For example, the processing unit 10 causes the speaker 7 (FIG. 1B) to output a voice message "There is a lane for exclusive use to the left. Please drive on the left lane."

  When the vehicle passes a point 37 where the dedicated lane starts, for example, the processing unit 10 causes the speaker 7 to output a voice message "Please travel according to a green light or an arrow signal for left turn".

[Effect of the third embodiment]
Next, the excellent effects of the third embodiment will be described.

  In the example shown in FIG. 8, when the intersection 31 is turned to the right, the driver who is instructed to travel the right lane before the point 33 where the dedicated lane starts changes the lane to the right lane. Makes it easier to enter the right turn lane after increasing Further, by being alerted to travel in accordance with the right turn arrow signal, the driving operation can be performed immediately before the intersection 31 without confusion.

  In the example shown in FIG. 9, when going straight through the intersection 35, the driver who is prompted to travel in the middle or right lane before the point 37 where the dedicated lane starts starts from the leftmost lane to the middle lane. By changing the lane, it is possible to avoid entering the lane for exclusively turning left. Further, by being alerted to travel according to the green light or the arrow signal for going straight, the driving operation can be performed without confusion at the intersection 35 immediately before.

  In addition, when turning right at intersection 35, the driver who is prompted to travel in the rightmost lane before point 37 where the dedicated lane starts changes the lane to the rightmost lane, so that the leftmost or center It is possible to avoid the occurrence of a situation in which there is no room for entering the right turn lane while traveling in the lane. In addition, by being alerted to travel in accordance with the arrow signal for turning right, it is possible to perform driving operation without confusion in front of the intersection 35.

  In addition, when turning left at intersection 35, the driver who is instructed to drive the leftmost lane before point 37 where the dedicated lane starts changes the lane to the leftmost lane, whereby the rightmost lane is selected. It is possible to avoid the occurrence of a situation in which there is no room for entering the left turn lane while traveling. Further, by being alerted to travel in accordance with the green light or the arrow signal for the left turn, the driving operation can be performed just before the intersection 35 without confusion.

  For example, notice signs such as "150m ahead right turn lane", "100m ahead right turn lane", "50m ahead right turn lane", ahead of the point where the right turn dedicated lane starts, and forward direction of the dedicated lane above each lane of the road There are cases where warning signs and the like indicated by arrows are installed, but the driver may overlook these warning signs. In the third embodiment, the driver can know the recommended lane for entering the dedicated lane before the starting point even if the driver has missed the notice sign indicating the dedicated lane. Driving to the point where the dedicated lane starts allows the driver to enter the dedicated lane without hesitation. For this reason, it is possible to suppress the occurrence of a situation where the driver is puzzled to enter the dedicated lane immediately before the intersection.

  Depending on the dedicated lane, even if the red lamp is on, it may be possible to enter an intersection by lighting of the arrow lamp. When it is necessary to enter such a dedicated lane in order to travel the recommended route to the destination, the processing unit 10 can enter the intersection by lighting of the arrow light device even while the red light device is on. It is preferable to output information from the speaker 7 to notify the driver of the fact that For example, as in the examples shown in FIGS. 8 and 9, it is preferable to notify the driver to enter an intersection in accordance with the arrow light device. In this way, it is possible to suppress the occurrence of a situation where the driver erroneously performs a stop operation in front of the intersection although the vehicle can enter the intersection.

  If you set a point for notifying the recommended lane so that a sufficient distance for completing the lane change is secured from the point for notifying the driver of the recommended lane for entering the dedicated lane to the point for starting the dedicated lane Good. For example, it may be a point 250 m to 1 km before the point where the dedicated lane starts.

  If the road ahead of the point where the dedicated lane starts is two lanes, the driver can easily determine which lane to drive right, straight or left at the next intersection. If the road ahead of the point where the dedicated lane starts is three or more lanes, the driver may be confused as to which lane to drive. The more remarkable effect of the third embodiment is obtained when the road ahead of the point at which the dedicated lane starts is three lanes or more.

Modification of Third Embodiment
Next, a modification of the third embodiment will be described.
In the example shown in FIG. 8, the processing unit 10 outputs the voice “Please follow the arrow signal for right turn” from the speaker 7, but in addition to the voice output, the display device 3 can turn right It is good to display the lighting condition. For example, it is preferable to display the appearance of the traffic light in a state in which the red light and the right turn arrow light are on.

  In the example shown in FIG. 9, in addition to the audio output by the processing unit 10, the external appearance of the traffic light in a state where the blue light is lit on the display device 3, and the red light, straight arrow light, and left turn arrow It is preferable to display the appearance of the traffic light in a state where the lamp is lit.

  At an intersection where a dedicated lane for turning right is provided and a U-turn is possible, the processing unit 10 may notify the driver that a vehicle in front of the host vehicle may make a U-turn. Unlike a right-turn vehicle, a U-turn vehicle may exhibit unexpected behavior by the driver of the following vehicle. The driver can reduce the occurrence of an accident by performing the driving operation on the assumption that the vehicle in front of the own vehicle may make a U-turn.

  At a U-turn prohibited intersection, a message may be output by voice from the speaker 7 informing the driver that the U-turn is prohibited.

  In the case where the own vehicle is stopped at the leading lane of the intersection, it is likely that a violation may occur due to the confirmation of the traveling direction permitted for the lane. When the host vehicle stops at the leading lane of the intersection, the processing unit 10 (FIG. 1B) may cause the speaker 7 to output a message to alert the driver to proceed in the traveling direction of the lane. The determination as to whether or not the host vehicle is at the head may be performed, for example, based on an image of a camera that captures the front of the vehicle. In order to acquire this image data, it is good to incorporate a camera in a driver assistance device. Further, the driver assistance apparatus may acquire image data from the on-vehicle camera. It is preferable to determine whether the lane in which the host vehicle is located is a dedicated lane by extracting a road sign from an image captured by a camera. Moreover, if the positioning accuracy by GPS improves, it is also possible to determine the lane in which the vehicle is located from the positioning result by GPS.

  If a recommended route to turn left at an intersection is set, a message may be output from the speaker 7 as a voice to call the driver's attention to pay attention to the involvement of a two-wheeler such as a bicycle. As a result, the driver turns to the left with careful attention to the involvement of the two-wheeled vehicle, and it is possible to suppress the occurrence of the involvement-in accident.

Fourth Embodiment
Next, with reference to FIG. 10, a driver assistance apparatus according to a fourth embodiment will be described. Hereinafter, the description of the configuration common to the first embodiment and the second embodiment will be omitted.

  FIG. 10 is a schematic view of the advance notice label 40 and the driver assistance device 1 for explaining the function of the driver assistance device 1 according to the fourth embodiment. The storage means such as the memory card 6 stores information capable of specifying the position where the plurality of advance notice markers 40 are installed, and map data.

  The processing unit 10 (FIG. 1B) is the notice guide sign in front of the point at which the notice guide sign 40 is installed when the notice guide sign 40 is installed on the route 41 passing when traveling along the road It has a function to notify that 40 is installed. For example, the processing unit 10 may cause the speaker 7 to output a voice message “There will be a notice guide sign soon.” Before the point where the notice guide sign 40 is installed. For example, when the notice indicator 40 is installed at a point 400 m before the intersection, a message notifying the notice indicator 40 may be output at a point 500 m before the intersection. For example, a message may be output to notify that the notice indicator 40 is installed at a point where the notice indicator 40 starts to be in the driver's field of vision.

  Furthermore, the processing unit 10 may cause the display device 3 to display the information displayed on the advance notice indicator 40. For example, an image of the advance notice marker 40 may be displayed on the display device 3.

[Effect of the fourth embodiment]
Next, the excellent effects of the fourth embodiment will be described.
If the point at which the driver notices the notice indicator 40 is late, there may be a lack of time to read the contents of the notice indicator 40. When notified that the advance notice indicator 40 is installed, the driver can notice the presence of the advance notice indicator 40 before the point at which the advance notice indicator 40 is installed. For this reason, the content of the advance notice indicator 40 can be read with some margin. In addition, even if the driver misses the timing of confirming the content of the advance notice indicator 40, the driver can grasp the content of the advance notice indicator 40 from the information displayed on the display device 3.

  For example, in the case where a guidance sign such as "Turn right here." Is provided, a situation may occur where the point to turn right has already been reached and the user can not turn right when the guidance sign is noticed. In the fourth embodiment, the information sign with a margin is provided by notifying the driver of the presence of the guide sign installed at the point where the course should be changed such as "Turn right here." To be able to change course.

  When the recommended route to the destination is set, the processing unit 10 may notify that the advance notice indicator 40 is installed on the recommended route. Thereby, the driver can know the point where the advance notice marker 40 is installed prior to traveling on the recommended route. As the advance notice indicator 40 to be notified, for example, it may be a sign guiding information on an intersection where a special traffic signal is installed.

Fifth Embodiment
Next, a driver assistance apparatus according to a fifth embodiment will be described with reference to FIG. Hereinafter, the description of the configuration common to the first embodiment and the second embodiment will be omitted.

  FIG. 11 is a diagram showing an example of a map of the area where the “zone 30” is set. Zone 30 is shown in dashed lines. In the fifth embodiment, information for specifying a zone, such as a zone 30, a silver zone, a school zone, etc., which the driver wants to pay particular attention to is stored in the storage means such as the memory card 6 or the like.

  When searching for a recommended route to a destination, the processing unit 10 (FIG. 1B) provides a search mode in which a route that does not pass through the zone 30 is preferentially searched. When the search mode is set to a mode which does not pass through the zone 30, the processing unit 10 recommends a route bypassing the zone 30 as a recommended route, as shown by a thick line in FIG. When the host vehicle approaches zone 30, the driver is informed that a route not passing zone 30 is set as a recommended route. For example, the processing unit 10 causes the speaker 7 to output a voice message "Soon the zone 30 is displayed. The route not passing through the zone 30" is displayed.

  In addition, when the processing unit 10 detects that the host vehicle has entered the area where the driver wants to pay particular attention, such as the zone 30, the silver zone, the school zone, etc., the driver drives the host vehicle into the caution zone It is good to notify to the person.

  When the destination is located in the zone 30, the processing unit 10 may search for a recommended route under the condition that the distance traveled in the zone 30 is the shortest.

[Effect of the fifth embodiment]
In the fifth embodiment, the occurrence of an accident in the zone 30 can be avoided or suppressed by traveling by bypassing the zone 30 or traveling so as to shorten the traveling distance in the zone 30.

  In the various embodiments described above, while the driver assistance device presented the alerting information to the driver, the final decision is for the driver to view the traffic sign and drive according to the traffic sign. You should be alert.

[Other embodiments]
When the processing unit 10 (FIG. 1B) outputs a voice alert message to the driver by voice, the processing unit 10 may be in a state of waiting for the confirmation response message from the driver. The acknowledgment message may be input by the driver without turning his eyes from the front. For example, the processing unit 10 may recognize that the confirmation response message is input by detecting voices such as “OK” and “OK”. In addition, it is preferable that the processing unit 10 recognizes that the confirmation response message has been input, regardless of where the driver touches the touch panel 4 (FIG. 1A, FIG. 1B).

  If the driver does not input a message informing the user that confirmation has been made while in the input waiting state, it is preferable to periodically output a warning message as voice. When a message from the driver indicating that confirmation has been made is input, the processing unit 10 may stop the periodic output of the alert message. In this way, it is possible to suppress the occurrence of a situation in which the driver does not notice the warning message and arrives at the caution intersection. In addition, when the driver receives appropriate alerting, the effect of preventing sleepiness can also be obtained.

  When stopping at an intersection, if the vehicle ahead is tall, the driver of the host vehicle may not be able to view the signal. In such a case, when the traffic signal can be seen from the position where the driver assistance apparatus is mounted, it is preferable to notify the driver of the state of the traffic signal based on the image by the camera mounted in the driving assistance apparatus. . For example, it is preferable to extract the image of the traffic light from the image captured by the camera and display the image of the traffic light on the display device 3. Even when the driver can not directly view the traffic light, the driver can see the display 3 of the driver assistance device to know the status of the traffic light.

  Although various aspects of the present invention have been described above by using examples and modifications, the description of these examples and modifications is not intended to limit the technical scope of the present invention, and It is added that it is provided to aid in the understanding of the present invention. The technical scope of the present invention is not limited to the configurations explicitly described in the specification, and the present specification also includes other inventions obtained by combining the various aspects of the present invention described. Disclose. The applicant of the present application has specified the configuration of the invention to be patented in the present invention in the appended claims, but the present location is not specified in the claims, and the present specification An invention including at least one component disclosed in the document is also intended to be included in the claims in the future.

  The invention of the present application is not limited to the configuration described in the above-described "mode for carrying out the invention". It is preferable to construct a new invention by arbitrarily selecting and combining the components included in the above-described embodiments and modifications. In addition, any component of each example and modification, and any component described in “means for solving problems” or any component described in “means for solving problems” may be embodied. The present invention can be made by arbitrarily combining the above components. The applicant of the present application intends to acquire the rights of these new inventions also in the correction or divisional application etc. of the present application.

DESCRIPTION OF SYMBOLS 1 driver assistance apparatus 2 cradle 3 display apparatus 4 touch panel 5 card insertion slot 6 memory card 7 speaker 8 area | region 10 of a display screen 10 process part 11 central processing unit (CPU)
12 random access memory (RAM)
13 Read Only Memory (ROM)
15 GPS receiver 16 communication device 17 output means 18 memory card reader 20 icon 21 indicating the position of the host vehicle icon 25 indicating the position of an intersection where a special traffic signal is installed position 26 of the host vehicle 26 route 27 running along the road 27 The intersection 28 where there is no exit road going straight ahead Exit road 31 where the change angle of travel is the smallest 31 intersection 32 access road to the intersection 33 the point where the dedicated lane starts 35 41 routes

Claims (9)

A driver assistance device mounted on a vehicle and used,
With reference to storage means in which intersection attributes including the position information of the intersection and the information on the traffic signals installed at the intersection are stored, it is located within a predetermined search range based on the current position of the vehicle and A driver assistance apparatus having processing means having a function of causing the output means to output information on a traffic signal at an intersection where a special traffic signal different from that of the vehicle is installed.   The driver assistance apparatus according to claim 1, wherein the information on the traffic signal to be output to the output means includes alert information for informing the driver that the special traffic signal needs attention.   The processing means refers to the intersection attribute stored in the storage means, and outputs information on the traffic light to the output means for the intersection where the ordinary traffic light is installed among the intersections located within the search range The driver assistance device according to claim 1 or 2, wherein the driver assistance device does not allow the driver assistance. The information on the traffic signal of the intersection attribute stored in the storage means includes identification information identifying whether the traffic signal installed at the intersection is the ordinary traffic signal or the special traffic signal,
The driver assistance device according to any one of claims 1 to 3, wherein the processing means causes the output means to output information on a traffic light at an intersection where the special traffic light is installed based on the identification information.   5. The driver assistance device according to claim 4, wherein the identification information includes information regarding the presence and number of the arrow lamp devices and the direction of the arrow indicated by the arrow lamp device.   The information on the intersection where the usual traffic signal is installed is not stored in the storage means, and the information on the intersection where the special traffic signal is installed is stored. The driver assistance device according to the item.   The processing means sets, as the search range, a position on a route to be passed when traveling along a road based on map data, the current position of the vehicle, and the traveling direction of the vehicle. The driver assistance device according to the item. The intersection attribute of the intersection where the approach route to the intersection is provided with a dedicated lane for going to a specific exit route includes information on the dedicated lane,
The processing means searches for a recommended route from the current location of the vehicle to the destination, and if there is an intersection where the dedicated lane is provided on the recommended route, the processing means is before the point where the dedicated lane starts. The driver assistance device according to any one of claims 1 to 7, having a function of notifying, as a recommended lane, a lane which is likely to enter the dedicated lane to be traveled to travel along a recommended route. The processing means is installed on a route that passes when traveling along a road based on information that can specify the position where the advance notice sign is installed, map data, the current position of the vehicle, and the traveling direction of the vehicle. The method according to any one of claims 1 to 8, having a function of searching for the advance notice guide sign and notifying that the advance notice sign is installed in front of the point where the advance notice sign is installed. The driver assistance device according to claim 1.

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