JP4882957B2 - Vehicle driving support system, driving support device, vehicle, and vehicle driving support method - Google Patents

Description

  The present invention relates to vehicle driving assistance, and more particularly, to a vehicle driving assistance system that allows vehicles to pass safely at intersections, a driving assistance device that constitutes the vehicle driving assistance system, a vehicle equipped with the driving assistance device, and a vehicle driving assistance method. .

  As an example of safe driving support for a vehicle, for example, the host vehicle is in a dangerous driving area such as a dilemma area or an option area where the driver is not sure whether to stop before an intersection or to pass an intersection at the time of a signal change. If there is a possibility that the vehicle will enter, if the vehicle is likely to enter the vehicle, perform a gentle speed control with a margin to avoid the dangerous driving area. Technology has been developed to stop the vehicle safely and securely before the intersection or to pass the intersection safely.

In addition, as another example of vehicle safe driving support, a road is crossed at an intersection where there is no traffic signal ahead and becomes a blind spot when viewed from the own vehicle, and the road is based on the captured image information. Is recognized, the position of the recognized vehicle is calculated, and transmitted to the own vehicle traveling immediately upstream of the intersection. A system is disclosed in which the host vehicle is used to prevent a head-on collision at an intersection by displaying the calculated vehicle position on a screen in the vehicle (see Patent Document 1).
JP 2006-215911 A

  However, in the system of Patent Document 1, it provides approach information of other vehicles moving from a region that becomes a blind spot as seen from the host vehicle to a predetermined point such as an intersection, and a region that becomes a blind spot. Even if it can be confirmed that there is no other vehicle, whether or not the vehicle can safely pass through the intersection or stop at the intersection at the intersection where the traffic light is installed, in relation to the signal switching timing Cannot be determined.

  In addition, as a result of determining whether to stop the own vehicle at the intersection or pass through the intersection, for example, if the speed of the own vehicle can be maintained, even if the intersection can be safely passed, When there is a slow vehicle (for example, when the bus is about to stop at a bus stop, or when the vehicle is traveling while looking for a destination such as a parking lot or a store), the vehicle follows the vehicle ahead. As a result of traveling, the host vehicle cannot pass through the intersection because the preceding vehicle cannot pass through the intersection, and in the worst case, the host vehicle may enter the dangerous driving area.

  In such a case, if there is no forward vehicle in another lane adjacent to the lane in which the host vehicle travels and the lane change can be safely performed, the driver is prompted to change the lane early. It is desirable to allow the vehicle to pass through the intersection not only from the viewpoint of comfortable driving but also from the viewpoint of safe driving.

  The present invention has been made in view of such circumstances, and a vehicle driving support system in which the host vehicle can safely pass through an intersection by performing travel control or providing information on lane changes, and the vehicle driving support. It is an object of the present invention to provide a driving support device constituting a system, a vehicle equipped with the driving support device, and a vehicle driving support method.

  A vehicle driving support system according to a first aspect of the present invention is a vehicle that transmits signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection, and a vehicle that receives signal information transmitted by the transmission device. A vehicle driving support system comprising a driving support device that supports safe driving of the vehicle, wherein the driving support device includes speed information of a vehicle existing on a road having a plurality of lanes and information on a distance from an intersection. A receiving means for receiving information from outside, a vehicle specifying means for specifying the host vehicle and a forward vehicle traveling ahead of the host vehicle from the vehicles indicated by the vehicle information received by the receiving means; and the vehicle specifying means Whether the identified vehicle and the preceding vehicle are in a specific state determined by the stop condition for stopping before the intersection and the entry condition for entering the intersection, State determination means for determining based on the distance and speed to the intersection and the signal information, and lane change determination for determining whether to change the lane of the host vehicle based on the result determined by the state determination means Means.

  A vehicle driving support system according to a second aspect of the present invention is a vehicle that transmits signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection, and a vehicle that receives signal information transmitted by the transmission device. A vehicle driving support system comprising a driving support device for supporting safe driving of the vehicle, wherein the driving support device includes vehicle specifying means for specifying a forward vehicle traveling in front of the host vehicle, the host vehicle and the front vehicle. Whether the vehicle is in a specific state determined by the acquisition means for acquiring speed information and information on the distance to the intersection, the stop condition in which the host vehicle and the preceding vehicle stop before the intersection, and the entry condition to enter the intersection On the basis of the distance and speed to each intersection of the host vehicle and the preceding vehicle and the signal information, and the result determined by the state determination unit. There are, characterized in that it comprises a lane change determining means for determining whether or not to change the lane of the vehicle.

  In the vehicle driving support system according to a third aspect of the present invention, in the first or second aspect of the invention, the lane change determining means is in a state where the front vehicle on the same lane as the own vehicle cannot pass through the intersection by the state determining means. When it determines and it determines with the own vehicle being in the state which can pass an intersection, it is comprised so that it may determine with changing the lane of the own vehicle.

  In the vehicle driving support system according to a fourth aspect of the present invention, in the first or second invention, the lane change determining means is an intersection of the own vehicle unless there is a forward vehicle on the same lane as the own vehicle in the state determining means. When it is determined that the vehicle can pass the vehicle, and when the vehicle specifying unit specifies the vehicle ahead on the change destination lane of the vehicle, the vehicle is determined to be in a state where the vehicle can pass through the intersection. It is configured to determine that the lane of the vehicle is to be changed.

  The vehicle driving support system according to a fifth aspect of the present invention is the vehicle driving support system according to any one of the first to fourth aspects of the present invention, wherein the driving support device is such that the vehicle on the same lane as the own vehicle cannot pass through the intersection by the state determination means. If it is determined that the vehicle is in a dilemma state that cannot be passed or stopped at the intersection or an optional state that can be passed or stopped at the intersection, the vehicle can pass the intersection when the vehicle is accelerated The lane change determining means is configured to determine to change the lane of the own vehicle when the acceleration determining means determines that the own vehicle can pass an intersection. It is characterized by that.

  A vehicle driving support system according to a sixth aspect of the present invention is the vehicle driving support system according to any one of the first to fifth aspects, wherein the state determining means specifies a forward vehicle on the change destination lane of the own vehicle by the vehicle specifying means. , It is configured to determine whether or not the preceding vehicle can pass through the intersection, and the lane change determining means determines the lane of the host vehicle when the preceding vehicle is in a state capable of passing through the intersection. It is characterized by determining to change.

  A vehicle driving support system according to a seventh aspect of the present invention is the vehicle driving support system according to any one of the first to sixth aspects, wherein the driving support device specifies a forward vehicle on the change destination lane of the own vehicle by the vehicle specifying means. Forward vehicle distance acquisition means for acquiring information relating to the distance between the preceding vehicle and the host vehicle, and the lane change determination means is configured to automatically detect when the distance acquired by the forward vehicle distance acquisition means is a predetermined threshold value or less. It is configured to determine that the lane of the vehicle is not changed.

  A vehicle driving support system according to an eighth aspect of the present invention is the vehicle driving support system according to any one of the first to seventh aspects, wherein the vehicle specifying means is configured to specify a rear vehicle traveling behind the host vehicle, The driving support device includes a rear vehicle distance acquisition unit that acquires information about a distance between the rear vehicle and the host vehicle when the rear vehicle is specified on the change destination lane of the host vehicle by the vehicle specifying unit; The change determination unit is configured to determine that the lane of the host vehicle is not changed when the distance acquired by the rear vehicle distance acquisition unit is a predetermined threshold value or less.

  The vehicle driving support system according to a ninth aspect of the present invention is the vehicle driving support system according to any one of the first to eighth aspects, wherein the driving support device includes road information acquisition means for acquiring road information including a road gradient, and the state determination The means is configured to determine whether the host vehicle and the preceding vehicle are in the specific state based on the road information acquired by the road information acquisition means.

  A vehicle driving support system according to a tenth aspect of the present invention is the vehicle driving support system according to any one of the first to ninth aspects, wherein the driving support device changes the lane when the lane change determining means determines to change the lane of the own vehicle. Instructing means for instructing is provided.

  A vehicle driving support system according to an eleventh aspect of the present invention is the vehicle driving support system according to any one of the first to tenth aspects of the present invention, wherein the driving support device determines that the lane change of the own vehicle is to be changed by the lane change determination means. Is provided with output means for outputting information for accelerating / decelerating the host vehicle to pass through the intersection.

  According to a twelfth aspect of the present invention, in the eleventh aspect of the invention, the driving support system includes an acceleration / deceleration control unit that controls acceleration / deceleration of the host vehicle based on information output by the output unit. And

  A vehicle driving support system according to a thirteenth aspect of the present invention is the vehicle driving support system according to the eleventh or twelfth aspect of the present invention, wherein the driving support device includes notification means for notifying acceleration / deceleration of the host vehicle based on information output by the output means. It is characterized by.

  A driving support apparatus according to a fourteenth aspect of the present invention is a driving support apparatus that receives signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection and supports safe driving of the vehicle, and includes a plurality of lanes. Receiving means for receiving vehicle information including information on the speed of the vehicle existing on the road and information on the distance to the intersection, and the own vehicle and the own vehicle from the vehicles indicated by the vehicle information received by the receiving means. A vehicle identification means for identifying a forward vehicle traveling in front of the vehicle, a stop condition for stopping the vehicle and the preceding vehicle identified by the vehicle identification means before the intersection, and an entry condition for entering the intersection. Whether or not the vehicle is in a state is determined by the state determination unit for determining based on the distance and speed to each intersection of the host vehicle and the preceding vehicle and the signal information, and the state determination unit Based on the results, characterized by comprising a lane change determining means for determining whether or not to change the lane of the vehicle.

  A vehicle according to a fifteenth aspect is equipped with the driving support device according to the fourteenth aspect.

  A vehicle driving support method according to a sixteenth aspect of the present invention is a vehicle driving support method for supporting safe driving of a vehicle by receiving signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection with a driving support device. The driving support device receives vehicle information including information on speed information of a vehicle existing on a road having a plurality of lanes and information on a distance from an intersection from the outside, and includes the vehicle information indicated by the received vehicle information. Whether the host vehicle and the forward vehicle traveling in front of the host vehicle are identified, and whether the identified host vehicle and the preceding vehicle are in a specific state determined by a stop condition for stopping before the intersection and an entry condition for entering the intersection Is determined based on the distance and speed to the intersection of the host vehicle and the preceding vehicle and the signal information, and based on the determination result, it is determined whether the lane of the host vehicle is to be changed. And wherein the Rukoto.

  In the first invention, the fourteenth invention, and the sixteenth invention, the driving support device receives vehicle information including information on the speed information of a vehicle existing on a road having a plurality of lanes and information on the distance to the intersection from the outside. To do. In this case, the information regarding the distance between the vehicle and the intersection may be the distance between the vehicle and the intersection, or the position of the vehicle and the intersection. The driving support device identifies the host vehicle and a forward vehicle traveling ahead of the host vehicle from the vehicles indicated by the received vehicle information. Thereby, the driving assistance device can grasp the speed of the host vehicle and the vehicle ahead thereof, and the distance to the intersection. Based on the distance and speed to the intersection of each of the host vehicle and the preceding vehicle and signal information, the driving support device is determined by the stop condition in which the identified host vehicle and the preceding vehicle stop before the intersection and the entry condition to enter the intersection. It is determined whether or not it is in a specific state.

  Specific states include, for example, a dilemma state (a state in the dilemma area), an optional state (a state in the option area), an intersection passage state (a state in an area that can pass through an intersection), and an intersection stop state (an area that can be stopped at an intersection) State). The dilemma state is a state where even if the vehicle tries to stop after displaying the yellow signal, it cannot stop before the intersection and cannot enter the intersection before the end of the yellow signal, and cannot stop or enter safely. In addition, the optional state is a state where the vehicle can stop before the intersection to stop after the yellow signal is displayed, and can enter the intersection before the end of the yellow signal, and the vehicle stops or enters depending on the characteristics of the driver. It is an unstable state that is different. Note that the dilemma area and the option area include their neighboring areas. Here, the neighborhood area is an intersection stop area or an intersection passage area and is located at a distance close to the dangerous traveling area. The neighborhood area may consider both the intersection passing area side and the intersection stopping area side, or may consider only one of the areas. Moreover, the intersection passing state is a state in which the vehicle can safely pass through the intersection, and the intersection stop state is a state in which the vehicle can be safely stopped at the intersection.

  The driving support device determines whether to change the lane of the host vehicle based on the determination results of the host vehicle and the preceding vehicle. For example, when a vehicle ahead in the same lane as the host vehicle cannot pass through an intersection, the lane change is performed. As a result, when the vehicle travels following the vehicle ahead, even if the vehicle is in a dangerous driving state, the vehicle can safely pass through the intersection by avoiding the dangerous driving state by changing the lane.

  In the second aspect of the invention, the driving support device specifies a forward vehicle that travels ahead of the host vehicle. The identification of the vehicle ahead can be performed by an in-vehicle sensor such as an in-vehicle camera or an ultrasonic sensor. Further, the forward vehicle includes not only vehicles on the same lane as the host vehicle but also vehicles on other adjacent lanes. The driving support device acquires speed information of the host vehicle and the preceding vehicle and information related to the distance from the intersection. The speed of the preceding vehicle can be obtained from, for example, the speed of the host vehicle and the relative speed of the preceding vehicle. Further, the information regarding the distance between the vehicle (the host vehicle and the preceding vehicle) and the intersection may be the distance between the vehicle and the intersection, or may be the position of the vehicle and the intersection. Information on the distance between the host vehicle and the intersection can be obtained from, for example, a roadside device, and information on the distance between the preceding vehicle and the intersection can be obtained from the inter-vehicle distance between the host vehicle and the preceding vehicle. Based on the distance and speed to the intersection of each of the host vehicle and the preceding vehicle and signal information, the driving support device is determined by the stop condition in which the identified host vehicle and the preceding vehicle stop before the intersection and the entry condition to enter the intersection. It is determined whether or not it is in a specific state.

  Specific states include, for example, a dilemma state (a state in the dilemma area), an optional state (a state in the option area), an intersection passage state (a state in an area that can pass through an intersection), and an intersection stop state (an area that can be stopped at an intersection) State). The dilemma state is a state where even if the vehicle tries to stop after displaying the yellow signal, it cannot stop before the intersection and cannot enter the intersection before the end of the yellow signal, and cannot stop or enter safely. In addition, the optional state is a state where the vehicle can stop before the intersection to stop after the yellow signal is displayed, and can enter the intersection before the end of the yellow signal, and the vehicle stops or enters depending on the characteristics of the driver. It is an unstable state that is different. Note that the dilemma area and the option area include their neighboring areas. The intersection passing state is a state in which the vehicle can safely pass through the intersection, and the intersection stop state is a state in which the vehicle can be safely stopped at the intersection. The intersection passing state and the intersection stop state do not include the state of the option area.

  The driving support device determines whether to change the lane of the host vehicle based on the determination results of the host vehicle and the preceding vehicle. For example, when a vehicle ahead in the same lane as the host vehicle cannot pass through an intersection, the lane change is performed. As a result, when the vehicle travels following the vehicle ahead, even if the vehicle is in a dangerous driving state, the vehicle can safely pass through the intersection by avoiding the dangerous driving state by changing the lane.

  In the third invention, when the driving support device determines that the vehicle ahead on the same lane as the host vehicle cannot pass through the intersection, and determines that the host vehicle can pass the intersection, It is determined that the lane of the host vehicle is changed. For example, the travel control for changing the lane to another lane adjacent to the lane of the host vehicle or the provision of information for prompting the driver to change the lane can be performed. As a result, the presence of a forward vehicle traveling in the same lane as the host vehicle can prevent the host vehicle from entering a dangerous driving state, and the host vehicle can safely pass through the intersection.

  In the fourth invention, the driving support device determines that the own vehicle can pass through the intersection if there is no forward vehicle on the same lane as the own vehicle, and is on the change destination lane of the own vehicle. When the vehicle ahead is specified and it is determined that the vehicle ahead can pass through the intersection, the lane of the host vehicle is changed. As a result, the host vehicle cannot accelerate on the same lane due to the presence of a preceding vehicle on the same lane as the host vehicle, even though the host vehicle can safely pass the intersection if the host vehicle accelerates. Even in such a case, the intersection can be safely passed by changing the lane.

  In the fifth invention, the driving support device determines that the vehicle ahead in the same lane as the own vehicle cannot pass through the intersection and is in a dilemma state where the own vehicle cannot pass or stop at the intersection, or at the intersection. When it is determined that the vehicle is in an optional state that can pass or stop, it is determined whether or not the vehicle can pass through an intersection when the vehicle is accelerated (for example, accelerated to a speed equal to or lower than a predetermined speed). When it is determined that the host vehicle can pass the intersection, it is determined that the lane of the host vehicle is changed. As a result, even if the vehicle ahead in the same lane as the host vehicle cannot pass through the intersection and the host vehicle is in a dangerous driving state, the vehicle can safely pass through the intersection by increasing the speed to a predetermined speed or less. It is possible to improve the possibility that a dangerous driving state can be avoided.

  In the sixth invention, the driving support device determines whether or not the preceding vehicle is in a state in which the preceding vehicle can pass through the intersection when the preceding vehicle is specified on the change destination lane of the own vehicle. When it is possible to pass through the intersection, it is determined that the lane of the host vehicle is changed. As a result, even if there is a vehicle ahead in the lane to be changed, if the vehicle ahead can pass through the intersection, the vehicle will pass through the intersection safely without falling into a dangerous driving area due to the presence of the vehicle ahead. can do.

  In the seventh aspect of the invention, when the driving support device specifies a forward vehicle on the change destination lane of the host vehicle, the driving support device acquires information on the distance between the host vehicle and the host vehicle, and the acquired distance is a predetermined threshold value. When it becomes the following, it determines with not changing the lane of the own vehicle. The information regarding the distance may be the distance itself, the absolute position (coordinates) of the preceding vehicle and the host vehicle, or the relative position (distance from the intersection) of the preceding vehicle and the host vehicle. Thereby, when the own vehicle changes lanes and abnormally approaches the vehicle ahead of the change destination lane, abnormal approach or collision with the vehicle ahead can be prevented by not changing the lane. If you know the speed of your vehicle and the front (rear) vehicle, find the relative speed of your vehicle and the front (rear) vehicle, and divide the distance between your vehicle and the front (rear) vehicle by the calculated relative speed. You may make it consider the calculated time.

  In the eighth aspect of the invention, when the driving support device specifies a rear vehicle on the change destination lane of the host vehicle, the driving support device acquires information on the distance between the rear vehicle and the host vehicle, and the acquired distance is a predetermined threshold value. When it becomes the following, it determines with not changing the lane of the own vehicle. The information regarding the distance may be the distance itself, the absolute position (coordinates) of the rear vehicle and the host vehicle, or the relative position (distance from the intersection) of the rear vehicle and the host vehicle. Thereby, when the own vehicle changes lanes and abnormally approaches the rear vehicle of the change destination lane, abnormal approach or collision with the rear vehicle can be prevented by not changing the lane. If you know the speed of your vehicle and the front (rear) vehicle, find the relative speed of your vehicle and the front (rear) vehicle, and divide the distance between your vehicle and the front (rear) vehicle by the calculated relative speed. You may make it consider the calculated time.

In the ninth aspect, the driving support device acquires road information including a road gradient, and determines whether the host vehicle and the preceding vehicle are in a specific state based on the acquired road information. For example, when determining whether or not the host vehicle and the preceding vehicle are in a specific state, the driving support device can use a stop condition corresponding to the standard deceleration. The standard deceleration only indicates a change in the speed of the vehicle, and is irrelevant to the operation content of the braking operation or the operation timing. The standard deceleration is slowed down after a time (for example, 2 seconds or more) that is sufficiently longer than the reflection reaction (0.5 seconds) from the stop judgment point, for example, when the vehicle starts braking instead of the yellow signal. This means the deceleration seen when performing an operation. In other words, this means the deceleration seen when aiming at a stop with a sufficient margin without sudden braking. Note that the timing at which the driving support device performs the speed control at the standard deceleration is not limited to a time sufficiently longer than the reflection reaction or the time of the reflection reaction. In general, the standard deceleration is approximately 2 to 3 m / s ² on a flat dry road surface. Based on the acquired road information, for example, the driving support device can reduce the standard deceleration when the host vehicle travels downhill, and can increase the standard deceleration when traveling uphill. Also, the standard deceleration can be changed depending on whether the road surface is dry, wet, sandy, snowy, or depending on the tire wear state. Thereby, the stop or approach of the vehicle can be controlled with higher accuracy.

  In the tenth aspect of the invention, when it is determined that the lane of the host vehicle is to be changed, the driving support device instructs the lane change. By changing the lane as instructed, the driver can safely pass the intersection while avoiding the dangerous driving state.

  In the eleventh aspect of the invention, when it is determined that the lane of the host vehicle is to be changed, the driving support device outputs information for accelerating / decelerating the host vehicle so that the host vehicle passes through the intersection. In other words, when the host vehicle is in a dangerous driving state, the driving support device outputs information for increasing the speed so that the host vehicle can pass the intersection by performing moderate acceleration. In addition, when the host vehicle is in an intersection passing state, information for maintaining the speed of the host vehicle is output. As a result, the host vehicle can safely pass the intersection while avoiding the dangerous driving state or maintaining the intersection passing state.

  In the twelfth aspect, the driving support device controls acceleration / deceleration of the host vehicle based on information output for acceleration / deceleration. That is, the driving assistance device accelerates the host vehicle at a moderate acceleration when leaving the dangerous driving state and passing the intersection. Further, the driving support device maintains the speed of the host vehicle when the host vehicle can pass through the intersection without falling into a dangerous driving state. Thereby, a dangerous driving | running state can be avoided and a vehicle can be passed safely.

  In the thirteenth aspect, the driving support device notifies the acceleration / deceleration of the host vehicle based on the information output for acceleration / deceleration. In other words, the driving assistance device notifies the driver that the host vehicle is accelerating at a moderate acceleration or accelerating when the vehicle is allowed to escape from the dangerous driving state and pass through the intersection. Further, when the host vehicle can pass through the intersection without falling into a dangerous driving state, the driving support device notifies the driver of maintaining the speed of the host vehicle or maintaining the speed. As a result, it is possible to reliably tell the driver that he / she is out of the dangerous driving state or that the vehicle is passing through the intersection, and prevents the driver from performing an unexpected operation, thereby reliably leaving the dangerous driving state. Or the intersection passing state can be maintained. Further, when the driver performs a driving operation based on the instruction, the driver can get out of the dangerous driving state or can pass the intersection safely while maintaining the intersection passing state.

  In the fifteenth aspect, since the vehicle includes the above-described driving support device, driving support for the vehicle can be performed.

  In the present invention, when the vehicle travels following the vehicle ahead, even if the vehicle is in a dangerous driving state, the vehicle can safely pass through the intersection by avoiding the dangerous driving state by changing the lane.

  Hereinafter, the present invention will be described with reference to the drawings illustrating embodiments. FIG. 1 is a schematic diagram showing an outline of a vehicle driving support system according to the present invention, and FIG. 2 is a block diagram showing a configuration of a driving support device 30 according to the present invention. The vehicle driving support system according to the present invention transmits to the driving support device 30 the driving support device 30 mounted on the host vehicle, the signal information (for example, the yellow signal start time and yellow signal time) of the traffic light installed at the intersection, and the like. The communication apparatus 20 for performing this is provided. The communication device 20 has a narrow-range communication function, and for example, an optical beacon, a radio beacon, a DSRC (Dedicated Short Range Communication), or the like can be used.

  As shown in FIG. 1, a stop line is provided in front of the intersection where the traffic light is installed, and an appropriate length of separation distance (for example, 200 m) is provided on the upstream side along a road having a plurality of lanes from the stop line. The communication device 20 is installed. The image detectors 10,... Are installed in a predetermined range A from the stop line to a predetermined distance on the upstream side, separated by an appropriate length. Each image sensor 10 is composed of, for example, a video camera and can image a vehicle traveling in a predetermined imaging area A1,. Each image sensor 10 can image all the vehicles in a predetermined range A (imaging area A1,...) On the road. Each image sensor 10 is connected to the communication device 20.

  Each image sensor 10 detects the position of the vehicle by extracting the head or tail of the vehicle based on the captured image data, and detects the speed of the vehicle based on image data at different imaging times. To do. Each image sensor 10 can also detect the vehicle type and color from the characteristics of the entire vehicle. The position of the vehicle calculated by each image sensor 10 is the position of the vehicle in the traveling direction of the road (for example, the distance from the stop line of the intersection), the position of the road in the width direction (for example, the lane, the distance from the left shoulder) ) Etc. Each image sensor 10 may be a monocular camera or a stereo camera. In the case of a stereo camera, the position and speed of the vehicle can be obtained with higher accuracy than a monocular camera. Further, in place of the image sensor 10, any other vehicle sensor may be used as long as it can detect the position, speed, etc. of the vehicle. Good.

  Each image sensor 10 transmits vehicle information including the detected distance from a predetermined point such as a stop line of the vehicle, traveling lane information or distance from the shoulder, speed, vehicle type, vehicle color, imaging time, etc. to the communication device 20. Output. Each image sensor 10 repeats the detection process every time a predetermined time (for example, 0.1 second, 0.5 second, 1 second, etc.) elapses.

  The communication device 20 temporarily stores vehicle information input from each image sensor 10. The communication device 20 has a communication area R with the driving support device 30. When the host vehicle passes through the communication region R, the driving support device 30 receives predetermined information from the communication device 20. The predetermined information includes, for example, position information of a communication point between the driving support device 30 and the communication device 20, position information of a stop line (for example, distance to the stop line, absolute position of the stop line, etc.), signal information of a traffic signal ( For example, yellow signal start time and yellow signal time), vehicle information input from each image sensor 10, and the like. The communication device 20 and each image sensor 10 are physically separated from each other, but the functions of each image sensor 10 can be integrated into the communication device 20.

  The driving support device 30 searches the vehicle information received from the communication device 20 while measuring the position of the own vehicle and the distance between the front vehicle and the rear vehicle, as described later, and detects the vehicle information in the vehicle information. While specifying the position of a vehicle, all the front vehicles and back vehicles on each lane which drive ahead and back of the own vehicle are specified.

  Based on the distance and speed to the intersection of each of the host vehicle and the preceding vehicle, and signal information, the driving support device 30 determines the stop condition for the identified host vehicle and the preceding vehicle to stop before the intersection and the entry condition for entering the intersection. It is determined whether or not the specific state to be determined is present.

  Specific states include, for example, a dilemma state (a state in the dilemma area), an optional state (a state in the option area), an intersection passage state (a state in an area that can pass through an intersection), and an intersection stop state (an area that can be stopped at an intersection) The details will be described later. The driving support device 30 determines whether or not to change the lane of the host vehicle based on the determination results of the host vehicle and the preceding vehicle. As a result, when the vehicle travels following the vehicle ahead, even if the vehicle is in a dangerous driving state, the vehicle can safely pass through the intersection by avoiding the dangerous driving state by changing the lane.

  As shown in FIG. 2, the driving support device 30 is connected to a video camera (vehicle camera) 31 mounted in the vehicle. For example, the video camera 31 is arranged on a front grille, a front bumper, or the like of the vehicle, and can capture images of a front vehicle traveling in front of the host vehicle and a front road surface. Based on the image captured by the video camera 31, the driving support device 30 determines the position (distance between vehicles), speed (relative speed), vehicle type, vehicle color, etc. of the vehicle in front of the host vehicle for a predetermined time period ( For example, 0.1 seconds), and the acquired information is stored in the storage unit 306 as adjacent vehicle information. Note that the video camera 31 can be installed at the rear or side of the host vehicle to capture a vehicle in the rear vehicle or the adjacent lane. Further, an ultrasonic sensor or the like can be used instead of the video camera 31. Thereby, the information of adjacent vehicles, such as the front vehicle which drive | works the front of the own vehicle, and the back vehicle which drive | workes back, can be acquired.

  The driving support device 30 includes a control unit 301 that includes a CPU that performs various kinds of arithmetic processing and incorporates a clock for measuring a control cycle described later. Note that the control unit 301 may be configured by a dedicated hardware circuit, or may be configured to execute a computer program in which a processing procedure is determined in advance. In addition, the driving support device 30 includes a communication unit 302, a GPS (Global Positioning System) receiving unit 303, a navigation unit 304, a sensor unit 305, a storage unit 306, a vehicle specifying unit 307, a traveling state determining unit 308, and a lane change determining unit 309. , An image processing unit 310, a display unit 311, a notification unit 312, an interface unit 313, and the like. In addition, the driving support device 30 may be configured not only as a dedicated device but also as a device such as a personal computer, a PDA, a mobile phone, etc. that can be removed and used for other purposes on the ground so as to have the functions of the above-described units. it can.

  The communication unit 302 has a narrow area communication function for performing road-vehicle communication with the communication device 20. In addition, the communication unit 302 can include a wireless LAN function such as a UHF band or a VHF band as the mid-range communication, or a communication function such as a mobile phone, PHS, multiple FM broadcasting, and Internet communication as the wide-area communication.

  The communication unit 302 receives and receives the position information of the communication point, the position information of the stop line (for example, the distance to the stop line, the absolute position of the stop line, etc.), the vehicle information, the signal information, and the like from the communication device 20. Each information is stored in the storage unit 306.

  The sensor unit 305 includes in-vehicle sensors such as a gyro sensor, a distance meter, an ultrasonic sensor, and a millimeter wave sensor.

  The GPS receiving unit 303 has a GPS receiving function such as DGPS (differential GPS) or RTK-GPS (Real-Time Kinematic GPS), and repeatedly receives radio waves from a GNSS (Global Navigation Satellite System) satellite including a plurality of GPSs. Measure the vehicle position. Thereby, the driving assistance apparatus 30 can acquire the position (for example, distance from the stop line of an intersection) of the own vehicle at an arbitrary point.

  The navigation unit 304 incorporates a map database and the like, and based on information from the GPS receiving unit 303 and information from the sensor unit 305, the position of the host vehicle (distance from the stop line at the intersection, travel lane, etc.), host vehicle Is calculated at a predetermined time period (for example, 0.1 second), and own vehicle information indicating the traveling history of the own vehicle is generated and stored in the storage unit 306.

  Based on the position of the host vehicle indicated by the host vehicle information, the vehicle specifying unit 307 searches for vehicle information indicating vehicles existing within the predetermined range A on the road, and matches or approximates (closest to) the position of the host vehicle. ) Identify the vehicle as your vehicle. In this case, the vehicle position error, the current time (for example, the time when the vehicle information is received from the communication device 20 or the time when the own vehicle is specified based on the received vehicle information) and the vehicle information indicated by the vehicle information are displayed. The search range is determined according to an error in time difference (time shift) from the detection time point. Details will be described later.

  The traveling state determination unit 308 determines whether the host vehicle and the front vehicle on all lanes (for example, a distance to an intersection or a stop line) and speed, signal information, a predetermined standard deceleration, and the like. For example, the vehicle ahead is in a dilemma state (a state in the dilemma area), an optional state (a state in the option area), an intersection passage state (a state in an area that can pass through an intersection), an intersection stop state (an area that can be stopped at an intersection) It is determined which state is in a specific state such as a certain state.

The standard deceleration only indicates a change in the speed of the vehicle, and is irrelevant to the operation content of the braking operation or the operation timing. The standard deceleration is slowed down after a time (for example, 2 seconds or more) that is sufficiently longer than the reflection reaction (0.5 seconds) from the stop judgment point, for example, when the vehicle starts braking instead of the yellow signal. This means the deceleration seen when performing an operation. In other words, this means the deceleration seen when aiming at a stop with a sufficient margin without sudden braking. In general, the standard deceleration is approximately 2 to 3 m / s ² on a flat dry road surface.

  The traveling state determination unit 308 calculates an approach limit speed, a target speed, a stepped target speed, and the like for avoiding the host vehicle from the dangerous traveling region according to the determination result. The approach limit speed, the target speed, and the stepped target speed will be described later.

  The lane change determination unit 309 determines whether or not to change the lane of the host vehicle based on the result determined by the traveling state determination unit 308. The determination conditions for changing the lane are as follows as an example.

  Condition 1 is a case where, at the start of the yellow signal of the intersection signal, the forward vehicle traveling in the same lane as the own vehicle is in a region other than the intersection passage region, and the own vehicle is in the intersection passage region.

  Condition 2 is a case where there is no forward vehicle in an area other than the intersection passing area in the destination lane to which the lane change is made at the time when the yellow signal of the intersection signal starts. For example, there is a case where no forward vehicle exists in the destination lane of the lane change, or a case where all the forward vehicles exist but are in the intersection passing area.

  Condition 3 is a case where the own vehicle does not abnormally approach the preceding vehicle in the changed lane when the lane is changed to the destination lane. That is, even when the speed of the host vehicle is lower than the speed of the vehicle ahead of the destination lane, or even when the speed of the host vehicle is higher than the speed of the vehicle ahead, This is a case where there is a speed difference that does not shorten the inter-vehicle distance.

  The condition for changing the lane may be only condition 1, and may satisfy conditions 1 and 2, satisfy conditions 1 and 3, or satisfy all of conditions 1, 2, and 3. . What conditions should be combined may be set according to road conditions and the like.

  In addition, when information on a rear vehicle traveling behind the host vehicle is obtained, in addition to the conditions 1 to 3, it is determined whether or not there is a margin for changing the lane behind the destination lane, that is, Even if there is no vehicle to change lane to the destination lane behind the current lane of the vehicle, or even if there is a rear vehicle in the destination lane, there is no abnormal approach that makes the inter-vehicle distance too tight You can also add other conditions. Also, if you know the speed of your vehicle and the front (rear) vehicle, find the relative speed of your vehicle and the front (rear) vehicle, and divide the distance between your vehicle and the front (rear) vehicle by the calculated relative speed. A condition considering the calculated time may be added.

  Moreover, it may replace with each of the above-mentioned conditions 1-3, and the conditions 4-6 may be sufficient. That is, the condition 4 is that at the start of the yellow signal of the intersection signal, the forward vehicle traveling in the same lane as the own vehicle is in a region other than the intersection passing region (that is, the vehicle cannot pass through the intersection), and the own vehicle Is in a dangerous driving area (dilemma area or option area), and the intersection passing area can be reached by increasing the speed to a target speed equal to or lower than a predetermined threshold by the start of the yellow signal.

  Condition 5 is the same as condition 2, and condition 6 is the same as condition 3. The condition for changing the lane may be only the condition 4, and when the condition 4 and the condition 5 are satisfied, the condition 4 and the condition 6 are satisfied, or the conditions 4, 5, and 6 are all satisfied. . What conditions should be combined may be set according to road conditions and the like.

  Moreover, the following conditions can also be added to the above-mentioned conditions. That is, if it is determined that there is no forward vehicle on the same lane as the own vehicle and that the own vehicle can pass the intersection, and the forward vehicle is specified on the change destination lane of the own vehicle, the forward vehicle If it is determined that the vehicle can pass through the intersection, the lane of the host vehicle is changed. As a result, the host vehicle cannot accelerate on the same lane due to the presence of a preceding vehicle on the same lane as the host vehicle, even though the host vehicle can safely pass the intersection if the host vehicle accelerates. Even in such a case, the intersection can be safely passed by changing the lane. If there is no vehicle ahead of the destination lane of the host vehicle, the host vehicle may perform the dangerous driving area avoidance determination by itself, and change or change the lane according to the determination result to safely pass or stop. That's fine.

  In addition, as a vehicle ahead of the host vehicle, only the vehicle ahead of the host vehicle immediately before and after the lane change may be targeted, or all the vehicles ahead may be targeted.

  When the image processing unit 310 receives an image processing start signal from the control unit 301, the image processing unit 310 performs processing for detecting a stop line based on a captured image obtained by imaging a road with the video camera 31. In addition, the image processing unit 310 extracts a forward vehicle based on the captured image, and identifies the vehicle type or size of the forward vehicle. The vehicle length of the preceding vehicle is calculated according to the specified vehicle type or size. Further, the image processing unit 310 can also calculate the distance to the preceding vehicle based on the captured image. Hereinafter, a method for detecting the position of the stop line based on the captured image will be described.

  With the lens center of the video camera 31 as the origin, the road coordinate system is (X, Y, Z), the camera coordinate system is (X ′, Y ′, Z ′), and the road coordinate system indicates the traveling direction of the road as the Y axis. The forward direction is positive, the direction on the road surface perpendicular to the road direction is the X axis (the right direction forward is positive), and the direction perpendicular to the road surface is Z (upward is positive). In the camera coordinate system, the optical axis of the camera lens is the Y ′ axis, the horizontal axis perpendicular to the optical axis is the X ′ axis, and the upward direction of the camera is the Z ′ axis. Furthermore, the rotation angle of each axis of the camera coordinate system with respect to each axis of the road coordinate system is θ (pitch angle), φ (roll angle), and ψ (yaw angle), respectively, and the direction in which the right screw advances is positive (θ : Positive upward from the horizontal plane, φ: clockwise is positive, ψ: counterclockwise is positive). In this case, the conversion equation from the road coordinate system to the camera coordinate system can be expressed by equation (1).

  Each of the coefficients P11 to P33 of the transformation matrix can be expressed by Expression (2). Further, the coordinates (x, y) on the captured image can be expressed by Expression (3), where F is the focal length of the lens.

  The presence / absence of a stop line is determined by extracting an edge point based on the pixel value of each pixel of the captured image and performing pattern matching between the edge image obtained from the extracted edge point and the shape of the stop line. be able to. The y coordinate of the point where the cut out stop line intersects with the y axis of the captured image is obtained (in this case, x = 0), and the obtained y coordinate is substituted into Equation (3), so that the distance to the stop line can be accurately calculated. can do.

  The display unit 311 is a liquid crystal display panel such as a head-up display or a monitor, and can display various types of information to the driver.

  The notification unit 312 includes a speaker, and when warning the driver under the control of the control unit 301, outputs the content of the warning by voice. For example, if vehicle control (for example, lane change, acceleration control, etc.) or information provision (lane change instruction, acceleration instruction, etc.) is performed in order to pass through an intersection safely, this is output.

  The interface unit 313 outputs a control signal to a vehicle control unit (not shown) that controls the traveling of the vehicle. For example, the interface unit 313 outputs a control signal for accelerating / decelerating the vehicle at a required acceleration / deceleration.

  Next, a method for searching for vehicle information to identify the host vehicle, the front vehicle, and the rear vehicle will be described. FIG. 3 is an explanatory diagram showing a vehicle identification method, and FIG. 4 is an explanatory diagram showing an example of vehicle information. FIG. 3A shows the distribution (positional relationship) of vehicles at the time of detection when each image sensor 10 senses all the vehicles existing in the predetermined range A on the road and detects the vehicles. . FIG. 3B shows the distribution of vehicles at the current time (for example, when vehicle information is received from the communication device 20 or when vehicle identification processing is performed based on the received vehicle information). The vehicle with the pattern is the own vehicle that passes through the communication region R, and the vehicle indicated by the broken line can be identified as a surrounding vehicle (front vehicle or rear vehicle) after identifying the own vehicle. Vehicle.

  As shown in FIG. 4, the vehicle information represents the distribution of vehicles at the time of vehicle detection shown in FIG. That is, the vehicle information includes information such as the vehicle order for each traveling lane from the stop line at the intersection, the distance to the stop line, the speed, the traveling lane, the vehicle type, and the vehicle color. In addition, although the distance to a stop line is based on the position of a vehicle tail, it is not limited to this. Moreover, vehicle information is an example and is not limited to this.

  The true value of the position of the own vehicle at the current time point shown in FIG. 3B (for example, when vehicle information is received from the communication device 20 or when vehicle identification processing is performed based on the received vehicle information) When the estimated value is Xd and the vehicle position error (maximum error) is Xmax, Xd−Xmax ≦ X ≦ Xd + Xmax. Also, considering the error of the time difference, assuming that the true value of the time difference (time shift) between the vehicle detection time point and the current time point is t, the estimated time difference value is td, and the time difference error (maximum error) is tmax, td −tmax ≦ t ≦ td + tmax. Here, tmax is an error in the estimated value of the time difference (time shift). Let V be the speed of the current time of the host vehicle.

  In this case, the vehicle search range is determined by Xd−Xmax + td · V−tmax · V ≦ X0 ≦ Xd + Xmax + td · V + tmax · V. If the time difference error is so small that it can be ignored, the vehicle search range may be determined only by the position error.

  When searching the vehicle information shown in the example of FIG. 4, for example, the true value X = 200 m, the estimated value Xd = 196, the speed V = 72 km / h = the position of the host vehicle (distance to the stop line) at the current time point. 20 m / s and the vehicle position error Xmax = 5 m. Further, assuming that the time difference true value t = 1.2 s, the estimated value td = 1 s, and the time difference error tmax = 0.3 s, the vehicle search range is 205 ≦ X0 ≦ 227. In the example of FIGS. 3 and 4, vehicles C4 and C7 are specified, and one of them is the host vehicle and the other is a surrounding vehicle.

  When the driving support device 30 can identify the travel lane on which the host vehicle travels or the distance from the road shoulder by communication with the communication device 20, for example, in the example of FIG. If it is found that the vehicle is traveling, the vehicle C7 traveling in the lane 2 is excluded, and it can be seen that the vehicle C4 is the host vehicle.

  In addition, when an ultrasonic sensor, an in-vehicle camera, or the like is mounted on the host vehicle, and the inter-vehicle distance from the front vehicle traveling in front of the host vehicle can be calculated, the host vehicle can be specified by the inter-vehicle distance. That is, as shown in FIGS. 3A and 4, the vehicles ahead of the same lane of the vehicles C4 and C7 are the vehicles C3 and C6, respectively, and the distance between the vehicle tails (heads) of the vehicles C4 and C3 is 70 m, Assume that the distance between the tails (heads) of the vehicles C7 and C6 is 30 m. On the other hand, if the distance between the vehicle and the preceding vehicle calculated by the host vehicle is 65 m, for example, if the vehicle length (for example, 5 m) of the host vehicle is added to this, the distance between the tail (head) is 70 m. Therefore, it can be seen that the vehicle C7 is excluded and the vehicle C4 is the host vehicle. By specifying the host vehicle C4, it is possible to specify the front vehicles C1, C2, C3, C5, and C6 that travel ahead of the host vehicle C4, and specify the rear vehicle C7 that travels behind the host vehicle C4. can do.

  The host vehicle, the preceding vehicle, and the rear vehicle can be specified as described above. The distance to the stop line of the host vehicle C4 when the vehicle is detected is 220 m, the speed is 72 km / h, and the preceding vehicles C1, C2, C3, C5 The distances to the stop lines of C6 are 120 m, 135 m, 150 m, 130 m, and 195 m, and the speeds are 55 km / h, 50 km / h, 65 km / h, 65 km / h, and 65 km / h. The distance between the tail (head) of the host vehicle C4 and the rear vehicle C7 is 5 m, and the speed of the rear vehicle is 75 km / h.

  Note that the position and speed of the vehicle are information on the past time by a time difference (time shift) from the current time even if it is a short time. For this reason, the distance to the stop line of each vehicle can also be corrected according to the speed of each vehicle. For example, at the current time, the distance to the stop line of the host vehicle approaches the stop line by a distance (20 m) corresponding to a speed of 20 m / s × time difference (1 s). Can be corrected to 200 m (220 m-20 m). The same applies to the front vehicle and the rear vehicle. When the time difference t is small enough to be ignored, t = 0 can be set. Further, the number of lanes is not limited to two, and may be three or more lanes.

  FIG. 5 is an explanatory diagram showing an example of the state quantity of the host vehicle and the preceding vehicle on the same lane and the dangerous traveling area. In the figure, the horizontal axis indicates the distance from the stop line, and the vertical axis indicates the speed of the vehicle. The dangerous driving area is an area in which the fact that the vehicle is in a dangerous driving state can be expressed by the speed of the vehicle and the distance to the stop line. The dangerous driving area includes a dilemma area and an option area. In the dilemma area, even if the vehicle tries to stop after the yellow signal is displayed, it cannot stop before the stop line (intersection) and cannot enter the stop line by the end of the yellow signal and cannot stop or enter safely. is there. In addition, the option area is a state where the vehicle can stop before the stop line in order to stop after the yellow signal is displayed, and can enter the stop line before the end of the yellow signal, and whether the vehicle stops due to the characteristics of the driver. Or, it is an unstable state where the approach is different. That is, when it is determined that the vehicle is in a dangerous area during the yellow signal display (for example, at the start of the yellow signal), it is determined that the vehicle is in a dangerous driving state.

  In addition, the lower area of the dangerous driving area is an intersection stop area, which can be safely stopped before the stop line. In addition, the upper area of the dangerous traveling area is an intersection passing area, and is an area where the user can safely enter (pass) the stop line.

  In FIG. 5, it is assumed that the current position of the host vehicle with reference to the stop line is X, the current speed is V, and the time until the yellow signal starts is t (0 <t <signal cycle). The state quantity (position Xy, speed Vy) of the host vehicle at the start time of the yellow signal is obtained by Expression (4) assuming that the speed of the host vehicle does not change (Vy = V). Expression (4) is a determination condition E based on the current traveling state of the host vehicle.

  On the other hand, a stop condition C in which the host vehicle stops safely before the stop line and waits for a signal is obtained by Expression (5). Here, g is a standard deceleration of the host vehicle, and α is a time delay from when the yellow signal is generated until the driver steps on the brake. That is, the stop condition C is a curve indicating the speed of the host vehicle that can stop at the stop line and the limit of the distance to the stop line if the host vehicle decelerates at the standard deceleration at the start of the yellow signal. is there.

  The entry condition L in which the host vehicle enters the stop line at the end of the yellow signal and does not meet the signal wait is obtained by Expression (6). Here, Ty is the yellow signal time. In other words, the entry condition L is that when the host vehicle becomes a yellow signal while traveling, the speed of the host vehicle that can reach the stop line within the yellow signal time (before the red signal) and the stop line It is a straight line indicating the limit of distance.

  The dilemma region is a region that does not satisfy both of the equations (5) and (6), and the option region is a region that satisfies both of the equations (5) and (6).

  Also, for a preceding vehicle on the same lane as the own vehicle, the current position of the preceding vehicle with reference to the stop line is Xp, the current speed is Vp, and the time until the yellow signal starts is t (0 <t <signal period) ), The position Xpy and speed Vpy (= Vp) of the preceding vehicle at the yellow signal start time can be obtained as in the case of the host vehicle.

  As shown in FIG. 5, in order for the own vehicle to be in the intersection passing region at the yellow signal start time, that is, to be in a state where the own vehicle can safely pass the intersection, the state quantity (position Xy) The point B1 indicating the speed Vy) only needs to be within the intersection passing region. In this case, if the vehicle travels while maintaining the speed Vy of the host vehicle as it is (in the example of FIG. 5, if the speed is equal to or higher than the speed Vq represented by the point Q of the boundary condition that does not fall into the dilemma region), it is dangerous. It is possible to pass through the intersection safely without entering the traveling area. In order to prevent the possibility of the host vehicle's speed falling and falling into a dangerous driving area, setting a target speed, etc., to provide driving control or providing information to the driver so that the speed of the host vehicle can be maintained at the target speed. Can do.

  On the other hand, when the forward vehicle traveling in the same lane as the host vehicle is in an area other than the intersection passing area at the yellow signal start time (for example, a dilemma area, an option area, an intersection passing area shown in FIG. 5), A point B2 indicating the state quantity (position Xpy, speed Vpy) of the preceding vehicle is in the intersection stop region.

  That is, in the example of FIG. 5, at the yellow signal start time of the intersection signal, the forward vehicle traveling in the same lane as the host vehicle is in a region other than the intersection passage region (that is, the vehicle cannot pass through the intersection), and If the host vehicle is in the intersection passing area and the host vehicle travels following the preceding vehicle, the host vehicle may not pass the intersection and may fall into the dangerous driving area. 30 performs vehicle control or information provision so as to change the lane of the host vehicle so that the host vehicle can safely pass the intersection.

  FIG. 6 is an explanatory diagram showing another example of the state quantity of the host vehicle and the preceding vehicle on the same lane and the dangerous traveling area. As shown in FIG. 6, when the forward vehicle traveling in the same lane as the host vehicle is in a region other than the intersection passage region at a yellow signal start time (a state in which the forward vehicle cannot pass through the intersection), the state quantity (position of the forward vehicle) A point B4 indicating Xpy, velocity Vpy) is in the intersection stop region.

  On the other hand, when the point B3 indicating the state quantity (position Xy, speed Vy) of the host vehicle at the yellow signal start time is in the dangerous driving region (dilemma region in the example of FIG. 6), A target speed in which the current speed Vy of the vehicle is set within a range not exceeding a predetermined upper limit speed (for example, in the example of FIG. 6, a speed Vq represented by a point Q that is a boundary condition that can be removed from the dilemma region). This is a case where the intersection passing area can be reached by raising the distance up to. As a result, the host vehicle can safely pass through the intersection while avoiding the dangerous traveling area. In this case, traveling control for accelerating the host vehicle to increase the speed of the host vehicle to the target speed or providing information to the driver can be performed.

  That is, in the example of FIG. 6, the front vehicle traveling in the same lane as the host vehicle is in a region other than the intersection passage region (that is, the vehicle cannot pass through the intersection) at the yellow signal start time of the intersection signal, and This is a case where the host vehicle is in a dangerous driving area, and by accelerating the host vehicle, the dangerous driving area can be avoided and the intersection passing area can be reached by the yellow signal start time. Also in this case, the driving support device 30 performs vehicle control or information provision so as to change the lane of the own vehicle so that the own vehicle can safely pass the intersection.

  FIG. 7 is an explanatory diagram showing an example of state quantities and dangerous travel areas of the host vehicle and the preceding vehicle on the change destination lane. As shown in FIG. 7, when the point B5 indicating the state quantity (position Xy, speed Vy) of the host vehicle is within the intersection passing area at the yellow signal start time, that is, the host vehicle can safely pass the intersection. If the vehicle travels while maintaining the speed Vy of the host vehicle as it is (in the example of FIG. 7, if the speed is equal to or higher than the speed Vq represented by the point Q of the boundary condition that does not fall into the dilemma region) It is possible to pass through the intersection safely without entering the dangerous driving area.

  On the other hand, when the host vehicle changes lanes, it is determined that a point B6 indicating the state quantity (position Xpy, speed Vpy) of the preceding vehicle on the change destination lane (adjacent lane) at the yellow signal start time is within the intersection passing region. However, as shown in FIG. 7, if the speed of the host vehicle is higher than the speed of the preceding vehicle on the change destination lane, the own vehicle abnormally approaches the preceding vehicle on the change destination lane (the inter-vehicle distance is rapidly increased). In some cases, and in some cases, there is a possibility of collision.

  Therefore, it is necessary to travel while confirming that the distance between the vehicle and the vehicle ahead is within a predetermined threshold until the host vehicle passes the intersection safely. The predetermined threshold value of the inter-vehicle distance between the host vehicle and the preceding vehicle can be changed according to the speed of the host vehicle or the relative speed with the preceding vehicle. In addition, when the speed of the own vehicle is not larger than the speed of the preceding vehicle, it is not always necessary to confirm the inter-vehicle distance from the preceding vehicle.

  Even when there are a plurality of forward vehicles on the change destination lane, the confirmation of the inter-vehicle distance between the host vehicle and the forward vehicle may be only targeted for the forward vehicle traveling in the immediate vicinity of the host vehicle. The lowest speed value among the plurality of front vehicles may be used. This is because if there is a slow vehicle in the front vehicle train, the speed of the following vehicle is also reduced to that of the slow vehicle.

  Even after the own vehicle has changed lanes, the driving support device 30 can control the distance between the vehicle and the front vehicle so that the vehicle can be controlled for safe driving or information can be provided to the driver. If you know in, you can always monitor the distance between the vehicle and the vehicle ahead according to the speed of the vehicle is not less than a predetermined threshold, if the vehicle is abnormally approaching the vehicle ahead, Information can be provided or the vehicle can be controlled to prevent approach.

  It should be noted that the above-mentioned dilemma area and option area can also include their neighboring areas. Here, the neighborhood area is an intersection stop area or an intersection passage area and is located at a distance close to the dangerous traveling area. The neighborhood area may consider both the intersection passing area side and the intersection stopping area side, or may consider only one of the areas.

  Next, the operation of the driving support device 30 will be described. 8 to 10 are flowcharts showing the processing procedure of the driving support device 30. The control unit 301 acquires own vehicle information (S11) and acquires adjacent vehicle information (S12). The control unit 301 determines whether or not a signal has been received from the communication device 20 (S13). If the signal has not been received (NO in S13), the control unit 301 continues the processing from step S11 and accompanies the traveling of the host vehicle. Thus, the host vehicle information and the adjacent vehicle information are repeatedly acquired at predetermined time intervals.

  When the signal is received from the communication device 20 (YES in S13), the control unit 301 displays the communication point and stop line position information transmitted by the communication device 20, vehicle information, and the yellow signal start time and yellow signal time of the traffic light. The included signal information is received (S14).

  The control unit 301 corrects the positions of the own vehicle and the adjacent vehicle based on the received communication point position information (S15). For example, if the distance from the stop line to the communication point with the communication device 20 is L, the position of the host vehicle is corrected to be at the distance L from the stop line. Moreover, the distance to the stop line of an adjacent vehicle is corrected according to the distance between adjacent vehicles and the own vehicle. Thereby, the distance error accumulated as the host vehicle and the adjacent vehicle travel toward the stop line can be reset, and the accuracy of the distance to the stop line can be improved.

  Based on the position of the host vehicle, the control unit 301 searches the received vehicle information (S16), and identifies surrounding vehicles such as the host vehicle and the preceding vehicle or the rear vehicle from the vehicles indicated by the vehicle information ( S17).

  The control unit 301 determines whether it is the vehicle control (travel control) or information provision start timing (S18). The start timing of vehicle control or information provision is a predetermined time (for example, 5 to 10 seconds) when the position of the host vehicle is a predetermined distance (for example, 200 m) from the stop line, and the time until the yellow signal is switched. It can be set as appropriate, such as when it becomes. In addition, the start timing of vehicle control or information provision can be changed according to the speed of the host vehicle, the distance between the host vehicle and the preceding vehicle, the relative speed, or the like.

  If it is not the vehicle control or information provision start timing (NO in S18), the control unit 301 continues the process of step S18 and waits until the vehicle control or information provision start timing. When it is the start timing of vehicle control or information provision (YES in S18), the control unit 301 determines whether or not the host vehicle is in the intersection passing area at the start of the yellow signal (S19).

  If the host vehicle is in the intersection passage area at the start of the yellow signal (YES in S19), the control unit 301 determines whether there is a preceding vehicle on the current lane in an area other than the intersection passage area at the start of the yellow signal. Is determined (S20). When the own vehicle is not in the intersection passing area at the start of the yellow signal (NO in S19), the control unit 301 determines whether the own vehicle is in the dilemma area or the option area at the start of the yellow signal (S21).

  When the own vehicle is in the dilemma area or the option area at the start of the yellow signal (YES in S21), the control unit 301 determines whether the own vehicle satisfies the acceleration condition (S22), and the own vehicle satisfies the acceleration condition. If satisfied (YES in S22), the process of step S20 is performed. The acceleration condition is when the speed of the host vehicle is accelerated at a moderate acceleration so as to increase to a target speed within a range not exceeding a predetermined upper limit speed (for example, a speed limit, a speed obtained by adding a slight margin to the speed limit) A condition can be set as to whether or not the vehicle can escape from the dangerous traveling area and reach the intersection passing area by the start of the yellow signal.

  When there is a forward vehicle in an area other than the intersection passing area at the start of the yellow signal (YES in S20), the control unit 301 determines whether all the forward vehicles in the destination lane are in the intersection passing area ( S23) When all the vehicles ahead of the destination lane are in the intersection passing region (YES in S23), it is determined whether or not there is an abnormal approach with the vehicle ahead of the destination lane of the host vehicle (S24). The presence or absence of abnormal approach can be determined, for example, based on whether or not the distance between the vehicle and the vehicle ahead is less than a predetermined threshold.

  If there is no abnormal approach to the vehicle ahead of the destination lane of the host vehicle (NO in S24), the control unit 301 determines whether there is a rear vehicle that abnormally approaches the destination lane (S25). Whether or not there is an abnormal approach can be determined by whether or not the inter-vehicle distance from the rear vehicle is equal to or less than a predetermined threshold, as in the case of the preceding vehicle.

  When there is no rear vehicle that abnormally approaches the destination lane (NO in S25), the control unit 301 notifies that the vehicle control or the information providing mode is entered (S26), and instructs the lane change (S27). The driver is notified that the vehicle passes the intersection with a green light (S28). In addition, the control part 301 can detect that the lane change was performed by detecting the lane change operation by the driver based on the lane change by vehicle control, or information provision.

  When the speed is maintained, the control unit 301 determines whether or not the vehicle is still in the intersection passing region at the start of the yellow signal (S29). If the vehicle is not yet in the intersection passing region (NO in S29), for example, dangerous driving If it is within the region, the target speed and stepwise target speed are calculated (S30).

  The target speed is a speed that is reached in order to accelerate (accelerate) the host vehicle with a moderate acceleration and avoid (escape) from the dangerous traveling area. The target speed can be calculated as follows. For example, when it is determined that the host vehicle may enter the dilemma area, an approach limit speed that satisfies the approach condition L (speed Vq at the point Q in the example of FIG. 6) is set as the target speed. If it is determined that the host vehicle may enter the option area, the target stop speed is a stop limit speed that satisfies the stop condition C.

  When the difference between the current speed of the host vehicle and the target speed Vs is large, the stepped target speed Vr has a large speed change, so that the current speed of the host vehicle is prevented in order to prevent a situation in which gradual acceleration cannot be performed. This is a provisional target value between V and the target speed Vs, and is calculated each time a predetermined time (control cycle, for example, 0.05 to 1 second) elapses.

  The stepwise target speed Vr can be calculated so as to reduce the speed change during the control period when acceleration is performed. For example, when the current speed V is smaller than the target speed Vs, the difference is accelerated by a value ΔV = (Vs−V) / n, and the target speed Vs is followed so that the speed change becomes minute. Can be made. In this case, the stepwise target speed Vr is Vr = V + Δv = V + (Vs−V) / n. In this way, by adjusting Δv, the host vehicle can be accelerated at a moderate acceleration so as not to feel the acceleration of the host vehicle.

  Further, as a method of calculating the stepwise target speed Vr, using a predetermined threshold β (for example, β = 1 km / h), when Vs−V ≧ β, Vr = V + β, and when Vs−V <β, It can also be obtained as Vr = Vs.

  The control unit 301 performs acceleration control at a moderate acceleration so as to approach the calculated target speed Vs or the stepped target speed Vr at the current speed V (S31), and abnormally approaches the preceding vehicle on the lane after the lane change. It is determined whether or not (S32). When the vehicle does not abnormally approach the preceding vehicle (NO in S32), the control unit 301 determines whether or not the control cycle has passed (S33). When the control cycle has not passed (NO in S33), the control unit 301 The process is continued and acceleration control is continued until the control cycle elapses.

  Thus, the acceleration control process is performed every time the control cycle elapses, and the target speed Vs and the stepped target speed Vr are gradually changed, so that smooth acceleration control can be realized. It should be noted that the acceleration control process can be repeated every time a predetermined distance is moved. Further, when the host vehicle is accelerated to escape from the dilemma area, for example, when the boundary of the dangerous driving area is reached, the control unit 301 speeds up to the boundary of the dangerous driving area, that is, the approach The speed can be maintained at the limit speed. Thus, after reaching the boundary of the dangerous travel area, the speed is kept constant so that the vehicle can maintain its state in the intersection passing area.

  If the control cycle has elapsed (YES in S33), the control unit 301 determines whether or not a stop line has been detected (S34). If no stop line has been detected (NO in S34), the control unit 301 and subsequent steps. Continue processing. If the speed is maintained and the vehicle is still in the intersection passing area at the start of the yellow signal (YES in S29), the control unit 301 maintains the current speed assuming that the host vehicle is in the intersection passing area, and performs the process of step S34. Do.

  When the stop line is detected (YES in S34), the control unit 301 corrects the distance to the stop line, finely adjusts the speed in consideration of the end point of the yellow signal (S35), and passes the stop line. It is determined whether or not (S36). When the stop line has not been passed (NO in S36), the control unit 301 continues the processing from step S35. When passing the stop line (YES in S36), the control unit 301 cancels the vehicle control or the information providing mode, notifies that (S37), and ends the process.

  When the host vehicle abnormally approaches the preceding vehicle on the lane after the lane change (YES in S32), the control unit 301 instructs to follow the preceding vehicle to the intersection (S38), and performs the process of step S37.

  When the vehicle is not in the dilemma area or the option area at the start of the yellow signal (NO in S21), the control unit 301 does not satisfy the acceleration condition (NO in S22), and the area other than the intersection passing area at the start of the yellow signal If there is no forward vehicle (NO in S20), if any of the vehicles ahead of the destination lane is not in the intersection passing area (NO in S23), abnormal approach to the vehicle ahead of the destination lane of the host vehicle If there is a vehicle (YES in S24), or if there is a rear vehicle that abnormally approaches the destination lane (YES in S25), the process is terminated.

  FIG. 11 is an explanatory diagram illustrating an example of a travel locus when acceleration control is performed while avoiding a dangerous travel region. In the figure, the upper part shows the relationship between the distance to the stop line of the host vehicle and the speed, and the lower part shows the relationship between the distance to the stop line and the signal change. From the stop line to the position of 200 m is a manual operation region in which the driver performs manual operation. At a position 200 m from the stop line, the driving support device 30 determines whether or not the own vehicle is in the intersection passing area at the yellow signal start time, and the front vehicle on the same lane as the own vehicle is other than the intersection passing area. It is determined whether it is in the area.

  When it is determined that the preceding vehicle is not in the intersection passing area and the own vehicle is not in the intersection passing area and is in the dangerous driving area, the driving support device 30 provides information for acceleration control or acceleration from this point. This is an avoidance control area that avoids the dangerous driving area. When the dangerous traveling region is a dilemma region, the driving support device 30 performs vehicle control so as to perform acceleration control at a moderate acceleration so that the speed of the host vehicle reaches an approach limit speed (target speed) that satisfies the approach condition L. Or provide information. After reaching the target speed, the speed is maintained, and vehicle control or information provision is performed so as to perform constant speed control until the start of the yellow signal.

  After the yellow signal starts, the speed is maintained and the stop line is passed at a constant speed. Note that after the stop line is detected by the video camera 31, the driving support device 30 finely adjusts the speed while correcting the distance to the stop line, and the vehicle enters the stop line when the yellow signal ends ( To pass). As a result, as shown by the curve p in the figure, the host vehicle can pass the stop line safely and reliably at the end of the yellow signal. In addition, the straight line m and the curve n displayed by the broken line are travel loci when the avoidance control is not performed. The straight line m is a traveling locus when traveling at the intersection as it is, and does not reach the stop line at the end of the yellow signal, and passes through the intersection with a red signal. Further, the curve n tries to stop at the standard deceleration after the yellow signal, but cannot stop at the stop line.

  Note that, at a position 200 m from the stop line, the driving support device 30 determines whether or not the own vehicle is in the intersection passing area at the yellow signal start time, and the preceding vehicle on the same lane as the own vehicle is in the intersection passing area. If the vehicle ahead is not in the intersection passage area and the own vehicle is in the intersection passage area as a result of determining whether the vehicle is in an area other than Vehicle control or information provision to maintain the speed of the vehicle.

  In the above example, the standard deceleration g can be determined based on road information including a road gradient. For example, when the road gradient is 0, Equation (5) is used, and when considering the road gradient, Equation (7) and Equation (8) may be used instead of Equation (5). Here, g is a standard deceleration, h is a gradient coefficient that is a unique constant for each vehicle type, and γ is a gradient (unit is degrees, climb is positive).

  Further, the corrected standard deceleration g ′ can be used based on the road surface condition and the tire condition. Here, g ′ = g × (μ + 1), μ is a friction coefficient. FIG. 12 is an explanatory diagram showing an example of the friction coefficient. The road information may be acquired from the outside such as the communication device 20 or may be acquired from a map database.

  Accordingly, for example, when the host vehicle travels on a downhill, the deceleration control amount is increased by the amount of force applied on the downward slope so that the standard deceleration is not reduced (h · tan | γ |, γ <0), When traveling on an uphill, the deceleration control amount is decreased (−h · tan | γ |, γ <0) by the amount of force applied on the ascending slope so that the standard deceleration does not become too large. Also, the standard deceleration can be changed depending on whether the road surface is dry, wet, sandy, snowy, or depending on the tire wear state. Thereby, the stop or approach of the vehicle can be controlled with higher accuracy.

  FIG. 13 is a schematic diagram showing another example of the outline of the vehicle driving support system according to the present invention. In the example of FIG. 13, in addition to the communication device 20 having the narrow area communication function, the medium area communication function or the wide area communication function is provided, and communication with a vehicle in the predetermined range A (imaging area A1,...) On the road is possible. A communication device 40 having a large communication area M. In this case, although the communication device 20 is not necessarily required, it can be used to increase the positional accuracy of the host vehicle on which the driving support device 30 is mounted by communication with the communication device 20, and the distance to the stop line is transmitted. You can also

  As shown in FIG. 13, each image sensor 10 is connected to the communication device 40. The communication device 40 can repeatedly transmit vehicle information, signal information, and the like to the driving support device 30 at predetermined time intervals. Therefore, if the information is received and tracked, the speed of the surrounding vehicle traveling around the host vehicle can be detected, and therefore it is not always necessary to transmit the speed of the vehicle.

  The driving support device 30 receives repeatedly transmitted vehicle information, signal information, and the like, and determines whether or not the own vehicle is in the intersection passing area at predetermined time intervals, if necessary, In such a case, it is possible to perform acceleration control processing for safely passing the intersection while avoiding the dangerous traveling area. This makes it possible to improve the determination accuracy for safely passing through the intersection.

  FIG. 14 is a schematic diagram showing another example of the outline of the vehicle driving support system according to the present invention. In the example of FIG. 14, each image sensor 10 is not installed, and the communication device 20 having a narrow area communication function is installed at a position of about 200 m upstream of the stop line. The communication device 20 is, for example, an optical beacon or a radio beacon.

  In this case, the communication device 20 always measures the vehicle head time or inter-vehicle time and speed of the vehicle that has passed. When the host vehicle passes, the signal information, the distance to the stop line (or the stop line from the communication point) Etc.) and the vehicle head time or inter-vehicle time, speed, etc. of the passing vehicle before the passing time of the host vehicle are transmitted to the driving support device 30. The driving support device 30 calculates the position of the preceding vehicle (distance to the stop line, etc.) and the speed from the received head time or inter-vehicle time, speed and the speed of the own vehicle, and the own vehicle and the preceding vehicle pass the intersection based on the signal information. It is determined whether or not the vehicle is in the area, whether or not the vehicle is in the dangerous driving area, and the like.

  In the above-described example, the vehicle information is obtained from the communication device 20 or the communication device 40, but the present invention is not limited to this. By inter-vehicle communication between the host vehicle and the forward vehicle traveling ahead, You may make it receive position information from each front vehicle.

  Position information of the preceding vehicle is received by inter-vehicle communication, and information related to the distance between the preceding vehicle and the intersection is acquired based on the received position information. When the position of the intersection is known in advance, the distance between the preceding vehicle and the intersection can be obtained if the position of the preceding vehicle is known. Note that the distance to the intersection of the preceding vehicle can also be received by inter-vehicle communication as the position information of the preceding vehicle. Moreover, the speed of the front vehicle can be obtained by repeatedly receiving the position information of the front vehicle. Thereby, it is possible to accurately grasp the position and speed of the front vehicle traveling in front of the host vehicle.

  Further, instead of inter-vehicle communication, position information transmitted from a preceding vehicle may be temporarily received by an external communication device, and the communication device may transmit the received information to the subject vehicle.

  As described above, according to the present invention, when the vehicle travels following the vehicle ahead, the vehicle ahead cannot pass through the intersection. By changing the lane, it is possible to avoid dangerous driving conditions and pass through the intersection safely.

  In the above-described embodiment, the stop condition C and the entry condition L are used in order to avoid the dangerous driving area. However, the present invention is not limited to this, so that the dangerous driving area can be avoided with a margin. It is also possible to preliminarily set the dangerous traveling area. For example, dangerous areas such as a dilemma area and an option area include the vicinity area. Also, instead of using the critical speed stop limit speed or approach limit speed (boundary speed) itself as the target speed, for example, the limit speed was calculated by multiplying the speed limit by a predetermined constant, for example. Numerical values can also be used.

  In the above-described embodiment, the avoidance of the dangerous traveling area based on the yellow start time is shown. However, for the purpose of giving a margin without passing by the yellow signal, for example, the yellow signal time Ty is intentionally reduced, or the stop line is passed by the blue signal with the yellow signal time before the yellow signal start time as a reference. Various formulas, constants, etc. are added or changed within a range that does not impair the concept of the present application, such as correcting the expressions (4) to (6) to widen the dangerous driving area. May be used. Further, the target dangerous driving area may be only the dilemma area, or may be only the option area.

  In the above-described embodiment, the vehicle information is received from the outside and the own vehicle and the forward vehicle are specified. However, the present invention is not limited to this, and the vehicle in front or It is also possible to detect a vehicle behind the vehicle. In this case, the driving support device 30 can identify the front vehicle or the rear vehicle by using a vehicle camera such as a video camera 31 or an ultrasonic sensor. Further, the forward vehicle includes not only vehicles on the same lane as the host vehicle but also vehicles on other adjacent lanes. The driving support device 30 acquires speed information of the host vehicle and the preceding vehicle and information related to the distance from the intersection. The speed of the preceding vehicle can be obtained from, for example, the speed of the host vehicle and the relative speed of the preceding vehicle. Further, the information regarding the distance between the vehicle (the host vehicle and the preceding vehicle) and the intersection may be the distance between the vehicle and the intersection, or may be the position of the vehicle and the intersection. Information regarding the distance between the host vehicle and the intersection can be obtained from, for example, the communication device 20, and information regarding the distance between the preceding vehicle and the intersection can be obtained from the inter-vehicle distance between the host vehicle and the preceding vehicle. The driving support device 30 can determine whether the vehicle is in a region such as a dilemma region or an option region based on the distance and speed to the intersection of the host vehicle and the preceding vehicle and signal information.

  The disclosed embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1 is a schematic diagram showing an outline of a vehicle driving support system according to the present invention. It is a block diagram which shows the structure of the driving assistance device which concerns on this invention. It is explanatory drawing which shows the identification method of a vehicle. It is explanatory drawing which shows an example of vehicle information. It is explanatory drawing which shows an example of the state quantity and dangerous driving | running | working area | region of the own vehicle and the front vehicle on the same lane. It is explanatory drawing which shows the other example of the state quantity of the own vehicle and the front vehicle on the same lane, and a dangerous driving | running | working area | region. It is explanatory drawing which shows an example of the state quantity of a front vehicle on the own vehicle and a change destination lane, and a dangerous driving | running | working area | region. It is a flowchart which shows the process sequence of a driving assistance device. It is a flowchart which shows the process sequence of a driving assistance device. It is a flowchart which shows the process sequence of a driving assistance device. It is explanatory drawing which shows an example of a driving | running locus | trajectory in the case of carrying out acceleration control avoiding a dangerous driving | running | working area | region. It is explanatory drawing which shows an example of a friction coefficient. It is a schematic diagram which shows the other example of the outline | summary of the vehicle driving assistance system which concerns on this invention. It is a schematic diagram which shows the other example of the outline | summary of the vehicle driving assistance system which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Image sensor 20 Communication apparatus 30 Driving assistance apparatus 31 Video camera 301 Control part 302 Communication part 303 GPS receiving part 304 Navigation part 305 Sensor part 306 Memory | storage part 307 Vehicle specific | specification part 308 Travel condition determination part 309 Lane change determination part 310 Image processing Unit 311 display unit 312 informing unit 313 interface unit 40 communication device

Claims (16)

A transmission device that transmits signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection, and a driving support device that receives the signal information transmitted by the transmission device and supports safe driving of the vehicle. A vehicle driving support system comprising:
The driving support device includes:
Receiving means for receiving vehicle information including information on speed information of a vehicle existing on a road having a plurality of lanes and a distance from an intersection; and
Vehicle identifying means for identifying the host vehicle and a forward vehicle traveling ahead of the host vehicle from the vehicles indicated by the vehicle information received by the receiving unit;
Whether the own vehicle and the preceding vehicle specified by the vehicle specifying means are in a specific state determined by a stop condition for stopping before the intersection and an entry condition for entering the intersection, respectively State determining means for determining based on the distance and speed and the signal information,
A vehicle driving support system comprising: lane change determining means for determining whether or not to change the lane of the host vehicle based on a result determined by the state determining means. A transmission device that transmits signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection, and a driving support device that receives the signal information transmitted by the transmission device and supports safe driving of the vehicle. A vehicle driving support system comprising:
The driving support device includes:
Vehicle identifying means for identifying a forward vehicle traveling ahead of the host vehicle;
Acquisition means for acquiring speed information of the host vehicle and the preceding vehicle and information on a distance from the intersection;
Whether the host vehicle and the preceding vehicle are in a specific state determined by the stop condition for stopping before the intersection and the entry condition for entering the intersection, the distance and speed to the intersection of the host vehicle and the preceding vehicle, respectively. And a state determining means for determining based on the signal information;
A vehicle driving support system comprising: lane change determining means for determining whether or not to change the lane of the host vehicle based on a result determined by the state determining means. The lane change determination means is
If it is determined by the state determination means that the vehicle ahead in the same lane as the own vehicle cannot pass through the intersection, and if it is determined that the own vehicle can pass through the intersection, it is determined that the lane of the own vehicle is changed. The vehicle driving support system according to claim 1, wherein the vehicle driving support system is configured as described above. The lane change determination means is
If there is no preceding vehicle on the same lane as the own vehicle by the state determining means, it is determined that the own vehicle can pass the intersection, and the preceding vehicle is placed on the destination lane of the own vehicle by the vehicle specifying means. 3. The configuration according to claim 1, wherein when the vehicle is identified, the vehicle is determined to change the lane of the host vehicle when it is determined that the vehicle ahead can pass through the intersection. Vehicle driving support system. The driving support device includes:
The state determination means determines that the vehicle ahead in the same lane as the host vehicle cannot pass through the intersection, and is a dilemma state in which the host vehicle cannot pass or stop at the intersection, or an optional state in which the vehicle can pass or stop at the intersection. If it is determined, the vehicle includes acceleration determining means for determining whether the host vehicle can pass through the intersection when the host vehicle is accelerated.
The lane change determination means is
5. The apparatus according to claim 1, wherein when the acceleration determination unit determines that the own vehicle can pass an intersection, the vehicle is determined to change the lane of the own vehicle. The vehicle driving support system described. The state determination means includes
When the vehicle specifying means specifies a forward vehicle on the change destination lane of the own vehicle, it is configured to determine whether or not the forward vehicle is in a state where it can pass through an intersection.
The lane change determination means is
The vehicle driving according to any one of claims 1 to 5, wherein when the preceding vehicle is in a state where it can pass through an intersection, it is determined that the lane of the host vehicle is changed. Support system. The driving support device includes:
When a vehicle ahead is specified on the change destination lane of the host vehicle by the vehicle specifying unit, the vehicle specifying unit includes a front vehicle distance acquisition unit that acquires information about a distance between the vehicle ahead and the host vehicle,
The lane change determination means is
7. The system according to claim 1, wherein the vehicle lane is determined not to be changed when the distance acquired by the forward vehicle distance acquisition unit is a predetermined threshold value or less. The vehicle driving support system according to one. The vehicle specifying means includes
It is configured to identify a rear vehicle traveling behind the host vehicle,
The driving support device includes:
A rear vehicle distance obtaining unit that obtains information about a distance between the rear vehicle and the host vehicle when the rear vehicle is specified on the change destination lane of the host vehicle by the vehicle specifying unit;
The lane change determination means is
8. The apparatus according to claim 1, wherein when the distance acquired by the rear vehicle distance acquisition unit is equal to or less than a predetermined threshold, it is determined that the lane of the host vehicle is not changed. The vehicle driving support system according to one. The driving support device includes:
Road information acquisition means for acquiring road information including road gradient,
The state determination means includes
9. The apparatus according to claim 1, wherein the vehicle information and the preceding vehicle are determined to be in the specific state based on road information acquired by the road information acquisition unit. The vehicle driving support system according to any one of the above. The driving support device includes:
The vehicle driving support system according to any one of claims 1 to 9, further comprising instruction means for instructing a lane change when the lane change determination means determines to change the lane of the host vehicle. . The driving support device includes:
2. An output means for outputting information for accelerating or decelerating the host vehicle so that the host vehicle passes through an intersection when the lane change determining unit determines to change the lane of the host vehicle. The vehicle driving support system according to claim 10. The driving support device includes:
12. The vehicle driving support system according to claim 11, further comprising acceleration / deceleration control means for controlling acceleration / deceleration of the host vehicle based on information output by the output means. The driving support device includes:
The vehicle driving support system according to claim 11, further comprising a notification unit that notifies acceleration / deceleration of the host vehicle based on information output by the output unit. A driving support device for supporting safe driving of a vehicle by receiving signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection,
Receiving means for receiving vehicle information including information on speed information of a vehicle existing on a road having a plurality of lanes and a distance from an intersection; and
Vehicle identifying means for identifying the host vehicle and a forward vehicle traveling ahead of the host vehicle from the vehicles indicated by the vehicle information received by the receiving unit;
Whether the own vehicle and the preceding vehicle specified by the vehicle specifying means are in a specific state determined by a stop condition for stopping before the intersection and an entry condition for entering the intersection, respectively State determining means for determining based on the distance and speed and the signal information,
A driving assistance apparatus comprising: lane change determining means for determining whether or not to change the lane of the host vehicle based on a result determined by the state determining means.   A vehicle comprising the driving support device according to claim 14. A vehicle driving support method for supporting safe driving of a vehicle by receiving signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection with a driving support device,
The driving support device includes:
Vehicle information including speed information of vehicles existing on a road having a plurality of lanes and information on the distance to the intersection is received from the outside;
From the vehicle indicated by the received vehicle information, identify the host vehicle and the forward vehicle traveling ahead of the host vehicle,
Whether the identified vehicle and the preceding vehicle are in a specific state determined by the stop condition for stopping before the intersection and the entry condition for entering the intersection, the distance and speed to the intersection of each of the own vehicle and the preceding vehicle And determining based on the signal information,
A vehicle driving support method characterized by determining whether or not to change the lane of the host vehicle based on the determination result.

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