JP5120300B2 - Driving support device, driving support method, and driving support program - Google Patents

Description

  The present invention relates to a driving support device, a driving support method, and a driving support program when traveling on a road.

  2. Description of the Related Art Conventionally, a technique is known in which a target vehicle speed for curve traveling is calculated based on the curvature radius of a planned traveling line in a curved road section, and deceleration control is performed (for example, Patent Document 1).

Japanese Patent Laid-Open No. 11-328596

In the technique of Patent Document 1, the radius of curvature when running out-in-out is defined as R _max , where the area near the curve outer periphery on the road of the curve-shaped road section is out, and the area near the inner periphery is in. It is described that the radius of curvature when traveling in-in-in is R _min, and R where R _min ≦ R ≦ R _max is used as the reference radius of curvature for calculating the target vehicle speed for deceleration control. It is described that R is selected within the range of R _min ≦ R ≦ R _max according to the road type, the environment around the road, the weather during driving, the personality and psychological state of the driver. However, there are various matters other than the matter disclosed in Patent Document 1 that should be noted when traveling in a curve section. For example, other vehicles that travel around the host vehicle are extremely important for safe driving in the host vehicle. However, in the technology disclosed in Patent Document 1, it is possible to perform control according to the situation of the other vehicle. Can not.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide driving assistance in accordance with the relationship between another vehicle traveling around the host vehicle and the host vehicle.

  In order to achieve the above object, in the present invention, it is determined whether or not a road having a predetermined shape is included in the road in front of the host vehicle based on road shape information indicating the shape of the road in front of the host vehicle. When a section having a predetermined shape is included, the degree of approach between the host vehicle and the other vehicle at the closest approach position where the predicted travel locus of the host vehicle is closest to the adjacent lane adjacent to the traveling lane of the host vehicle And driving support according to the degree of approach. That is, the closer the distance between the host vehicle and the other vehicle at the closest position (the higher the degree of approach), the higher the level of attention required when the driver of the host vehicle travels in the section of the predetermined shape. . Therefore, in the present invention, driving support according to the degree of approach is provided, and this configuration enables driving support according to the relationship between the other vehicle traveling around the host vehicle and the host vehicle. .

  Here, the other vehicle information acquisition means only needs to be able to acquire other vehicle information indicating another vehicle traveling around the own vehicle, and the degree of proximity between the own vehicle and the other vehicle at the closest position based on the other vehicle information. As long as it can be acquired. The road shape information acquisition means only needs to be able to acquire road shape information indicating the shape of the road in front of the host vehicle, and the road shape information is obtained from map information indicating the shape of the road existing in front of the current position of the host vehicle. Can be configured.

  The approach degree estimation means determines whether or not a road having a predetermined shape is included in the road ahead of the host vehicle based on the road shape information. It is only necessary to acquire the closest approach position and estimate the degree of approach between the host vehicle and the other vehicle at the closest position. Here, the section of the predetermined shape may be a section that requires a higher level of attention than the other sections when the host vehicle and other vehicles approach, and is characteristic of curves, intersections, and the like. The shape may be a predetermined shape, and a section including the predetermined shape may be a predetermined shape section.

  The predicted travel trajectory of the host vehicle is a trajectory that the host vehicle is expected to travel when traveling in a predetermined shape section or a section including a predetermined range before and after the predetermined shape section. The transition of the position of the vehicle may be predicted and used as a predicted travel locus. The closest approach position may be a position where the predicted travel path of the host vehicle when the host vehicle travels in a predetermined shape section or a section including a predetermined range before and after the predetermined shape section is closest to the adjacent lane. That is, if the closest approach position is specified, it is possible to specify the position that should be most careful with respect to other vehicles in the process of traveling according to the predicted travel path.

  The degree of approach may be an index for determining whether or not driving assistance should be performed according to the approach of the host vehicle and another vehicle up to a distance that requires a high degree of attention at the closest approach position. Therefore, the degree of approach may be represented by the distance between the host vehicle and the other vehicle. In addition, when the psychological pressure applied to the host vehicle varies depending on the size, weight, and vehicle speed of the other vehicle, it varies depending on the size, weight, vehicle speed, etc. of the other vehicle in addition to the distance between the host vehicle and the other vehicle. It is possible to define the approach degree so as to be the approach degree.

  The driving support means only needs to be able to perform driving support according to the degree of approach, and it is only necessary that the driving support can support the approach degree between the host vehicle and the other vehicle to be a safer degree of approach. Therefore, a different degree of support may be provided for each approach degree, or driving support may be provided for a specific approach degree, and drive support may not be provided if the approach degree is not a specific approach degree. As the driving assistance, various kinds of assistance can be adopted, and guidance for the driver or control for the own vehicle (for example, control of throttle, brake, transmission, etc.) may be used. Various methods can be adopted as a driving assistance method. For example, assistance for increasing the distance between the host vehicle and the other vehicle at the closest position may be used. Support may be provided to substantially reduce the degree of approach when the vehicle approaches the vehicle by changing the timing at which the vehicle approaches the vehicle.

  When the predicted travel trajectory of the host vehicle is specified, the time point when the host vehicle reaches the closest approach position is determined based on the predicted travel trajectory of the host vehicle, the position and speed of the host vehicle, and the closest approach position. can do. Therefore, if the position of the other vehicle at the time when the host vehicle reaches the closest position based on the position and the vehicle speed of the other vehicle acquired from the other vehicle, the position at the time when the host vehicle reaches the closest position is determined. The distance between the host vehicle and the other vehicle can be specified. By regarding the distance as an approach degree, it becomes possible to perform driving support according to the approach degree at a position where the host vehicle should be most careful with respect to another vehicle.

  When the position of the other vehicle at the time when the host vehicle reaches the closest position, the predicted travel path of the other vehicle may be regarded as a path passing through the center of the adjacent lane. The expected trajectory may be acquired based on the shape of the adjacent lane, and various configurations can be employed. Of course, the time when the host vehicle reaches the closest position may be widened, and the time zone for reaching the closest position may be acquired.

  Furthermore, when the segment having a predetermined shape is a curve segment (a segment having a constant curvature radius), a trajectory for traveling in and out of the curve segment may be used as a predicted travel trajectory. In the trajectory traveling out-in-out, the host vehicle travels in an out position near the center of curvature of the curved section in the traveling lane, and travels in an position near the center of curvature through the center of the traveling lane, Drive the out position again through the center of the driving lane.

  Accordingly, the predicted travel locus is closest to the adjacent lane adjacent to the travel lane on the opposite side to the center of curvature of the curve section at two out positions in out / in / out. Therefore, if the out positions of the two locations are the closest approach positions, and the degree of proximity between the host vehicle and the other vehicle traveling in the adjacent lane adjacent to the traveling lane on the side opposite to the center of curvature of the curve section is estimated, It is possible to provide suitable driving support when traveling with a typical locus in the curve section, out-in-out.

  Further, the predicted travel locus is closest to the adjacent lane adjacent to the travel lane on the same side as the center of curvature of the curve section at one in position in out / in / out. Therefore, if the in-position of the one place is set as the closest approach position and the degree of proximity between the own vehicle and the other vehicle traveling in the adjacent lane adjacent to the traveling lane on the same side as the center of curvature of the curve section is estimated, It is possible to provide suitable driving support when traveling with a typical locus in the curve section, out-in-out.

  Note that, as in the present invention, a method of performing driving support according to the degree of approach between the host vehicle and another vehicle at the closest position where the predicted travel path of the host vehicle is closest to the adjacent lane adjacent to the traveling lane of the host vehicle Can also be applied as a program or method for performing this process. In addition, the driving support device, the program, and the method as described above may be realized as a single device, or may be realized by using components shared with each part provided in the vehicle, and various aspects. Is included. Further, some changes may be made as appropriate, such as a part of software and a part of hardware. Furthermore, the invention is also established as a recording medium for a program for controlling the driving support device. Of course, the software recording medium may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium to be developed in the future.

It is a block diagram of a navigation apparatus. It is a flowchart which shows a driving assistance process. It is a figure which shows the example of the driving | running | working estimated locus | trajectory of the area of a predetermined shape. It is a figure which shows the example of the driving | running | working estimated locus | trajectory of the area of a predetermined shape.

Here, embodiments of the present invention will be described in the following order.
(1) Configuration of navigation device:
(2) Driving support processing:
(3) Other embodiments:

(1) Configuration of navigation device:
FIG. 1 is a block diagram showing a configuration of a navigation device 10 as a driving support device according to the present invention. The navigation device 10 includes a control unit 20 including a CPU, a RAM, a ROM, and the like and a storage medium 30, and the control unit 20 can execute a program stored in the storage medium 30 or the ROM. In the present embodiment, the driving support program 21 can be implemented as one of the programs, and the driving support program 21 has, as its function, an adjacent lane in which the predicted traveling locus of the host vehicle is adjacent to the traveling lane of the host vehicle. The vehicle has a function of performing driving support according to the degree of approach between the host vehicle and the other vehicle at the closest approach position.

  In order to realize the above functions by the driving support program 21, the own vehicle (the vehicle in which the navigation device 10 is mounted) has a communication unit 40, a GPS receiving unit 41, a vehicle speed sensor 42, a gyro sensor 43, a user I / F. The unit 44 is provided, and exchange of signals between these units and the control unit 20 is realized by an interface (not shown).

  The communication unit 40 includes a circuit that communicates with another vehicle that travels around the host vehicle. The control unit 20 controls the communication unit 40 to communicate with the other vehicle and acquire the other vehicle information. The other vehicle information is information for specifying the lane in which the other vehicle travels and the traveling direction. In the present embodiment, the other vehicle information is information indicating the position and speed of the other vehicle, the road and the lane in which the other vehicle travels. including.

  The GPS receiver 41 receives radio waves from GPS satellites and outputs information for calculating the current position of the host vehicle via an interface (not shown). The control unit 20 acquires this signal and acquires the current position of the host vehicle. The vehicle speed sensor 42 outputs a signal corresponding to the rotational speed of the wheels provided in the host vehicle. The control unit 20 acquires this signal via an interface (not shown), and acquires the speed of the host vehicle. The gyro sensor 43 detects an angular velocity (yaw rate) for turning in the horizontal plane of the host vehicle, and outputs a signal corresponding to the direction of the host vehicle. The control unit 20 acquires this signal via an interface (not shown) and acquires the traveling direction of the host vehicle. The vehicle speed sensor 42 and the gyro sensor 43 are used for correcting the current position of the host vehicle specified from the output signal of the GPS receiver 41. Further, the current position of the host vehicle is corrected as appropriate by checking with map information 30a described later.

  The user I / F unit 44 is an interface unit for providing various types of information to the user, and includes a display, a speaker, and the like (not shown). In the present embodiment, the control unit 20 outputs various signals to the user I / F unit 44 to perform various types of guidance and perform driving support.

  In order to realize driving support in the control unit 20, the driving support program 21 includes another vehicle information acquisition unit 21a, a road shape information acquisition unit 21b, an approach degree estimation unit 21c, and a driving support unit 21d. The storage medium 30 stores map information 30a for realizing the above-described functions by the driving support program 21.

  The map information 30a includes node data indicating nodes set on the road, link data indicating connection between nodes, shape interpolation point data indicating a road shape between the nodes, and the like. The node data includes information indicating the position of the node, the attribute of the node, and the like. The link data includes information indicating the length of the road indicated by the link, the lane, the width of each lane, the traveling direction of the vehicle in each lane, and the like. The shape interpolation point data includes information indicating the position of the shape interpolation point set at the center of the road between the nodes. These data are used for specifying the position of the vehicle, specifying the shape of the road ahead of the host vehicle, obtaining the predicted travel path, and the like.

  The other vehicle information acquisition unit 21a is a module that causes the control unit 20 to realize a function of acquiring other vehicle information including the position and vehicle speed of the other vehicle traveling around the host vehicle. That is, the control unit 20 communicates with other vehicles traveling around the host vehicle via the communication unit 40 by the processing of the other vehicle information acquisition unit 21a, and the position and speed of the other vehicle, the road on which the other vehicle travels. And the information which shows a lane is acquired as other vehicle information.

  The road shape information acquisition unit 21b is a module that causes the control unit 20 to realize a function of acquiring road shape information indicating the shape of the road ahead of the host vehicle. That is, the control unit 20 specifies the position of the host vehicle based on output signals from the GPS receiving unit 40, the vehicle speed sensor 42, the gyro sensor 43, and the like by the processing of the road shape information acquisition unit 21b. Furthermore, the control unit 20 refers to the map information 30a, acquires road node data and shape interpolation point data within a predetermined distance ahead of the position of the host vehicle as road shape information, and acquires information on roads within the predetermined distance. Identify the shape.

  Based on the road shape information, the approach degree estimation unit 21c determines whether or not a road having a predetermined shape is included in the road ahead of the host vehicle. This is a module that causes the control unit 20 to realize the function of specifying the closest approach position. That is, the control unit 20 acquires the predicted travel locus of the host vehicle, and when traveling along the predicted travel locus, the closest approach position where the predicted travel track of the host vehicle is closest to the opposite lane adjacent to the travel lane of the host vehicle. Is identified.

  Specifically, in the present embodiment, the section having a predetermined shape is a curve section. The controller 20 refers to the map information 30a, identifies a section having a predetermined radius of curvature or less as a curve section that is a section having a predetermined shape, and identifies the shape and width of the curve section of the travel lane in which the host vehicle travels. A predicted travel locus for traveling in the curve section is acquired. Further, the control unit 20 identifies a boundary line between the traveling lane and the opposite lane based on the width of the traveling lane, and the predicted traveling path of the host vehicle is opposed based on the distance between the boundary line and the predicted traveling path. Identify the closest approach position to the lane.

  Further, the approach degree estimation unit 21c causes the control unit 20 to realize a function of estimating the degree of approach between the host vehicle and another vehicle at the closest approach position. That is, the control unit 20 identifies another vehicle that travels on the same road as the road on which the host vehicle travels based on the other vehicle information, and identifies the lane on which the identified other vehicle travels based on the other vehicle information. . Furthermore, the control unit 20 identifies another vehicle that travels in the opposite lane of the travel lane of the host vehicle, and identifies the other vehicle that travels ahead of the host vehicle in the opposite lane. Further, the position of the other vehicle at the time when the host vehicle reaches the closest approach position is specified based on the position and vehicle speed of the other vehicle traveling in front of the host vehicle in the oncoming lane. Then, the distance between the host vehicle and the other vehicle at the time when the host vehicle reaches the above-mentioned closest approach position is defined as an approach degree.

  The driving support unit 21d is a module that causes the control unit 20 to realize a function of performing driving support according to the degree of approach. The control unit 20 provides driving support when the distance between the host vehicle and the other vehicle, which is the degree of approach in the present embodiment, is equal to or less than the predetermined distance, and the distance between the host vehicle and the other vehicle is greater than the predetermined distance. If it is too large, no driving assistance is provided. In the present embodiment, the control unit 20 outputs a control signal to the user I / F unit 44, and performs guidance for increasing the distance between the host vehicle and the other vehicle at the closest position as the driving support.

  In other words, the closer the distance between the host vehicle and the other vehicle at the closest approach position for estimating the degree of approach (the closer the degree of approach), the higher the attention of the driver of the host vehicle when traveling in the curve section. Is required. Therefore, in the present embodiment, guidance for increasing the distance between the host vehicle and the other vehicle at the closest position is performed. For this reason, when the relationship between the other vehicle traveling around the host vehicle and the host vehicle is a relationship requiring attention, it is possible to perform driving support for performing safer driving.

(2) Driving support processing:
Next, a vehicle control process performed by the navigation device 10 in the above configuration will be described. FIG. 2 is a flowchart showing the driving support process. Hereinafter, the processing contents will be specifically described with reference to FIGS. 3 and 4 as examples. In the example shown in FIGS. 3 and 4, the road boundary is indicated by a solid line, the own vehicle is indicated by C ₀ , and the other vehicle is indicated by C _1. FIG. 3 shows an example in which a right curve section exists in front of the own vehicle C ₀ . FIG. 4 shows an example in which a left curve section exists in front of the host vehicle C ₀ .

In the process shown in FIG. 2, the control unit 20 specifies the shape of the road within a predetermined distance ahead of the host vehicle C ₀ by the processes of the road shape information acquisition unit 21b and the approach degree estimation unit 21c, and the host vehicle C _It is determined whether a curve section exists within a predetermined distance ahead of ₀ (step S100). That is, the control unit 20 refers to the map information 30a by the processing of the road shape information acquisition unit 21b, and acquires road node data and shape interpolation point data within a predetermined distance ahead of the position of the host vehicle. Then, the control unit 20 extracts three consecutive points from the road nodes and the shape interpolation points within a predetermined distance ahead of the position of the host vehicle by the processing of the proximity estimation unit 21c. The center of curvature of the road shown is acquired, and the distance between the center of curvature and each point is defined as the radius of curvature. And when the said curvature radius is more than predetermined | prescribed curvature radius, it determines with the control part 20 having a curve area within the predetermined distance ahead of the position of the own vehicle.

In addition, when there are four or more road nodes and shape interpolation points within a predetermined distance ahead of the position of the host vehicle, determination based on three consecutive points may be performed for all of them. The control unit 20, at step S100 until it is determined that the front of a predetermined distance within the curve section of the vehicle C ₀ is present, repeats the determination at the step S100.

In step S100, when it is determined that the front of a predetermined distance within the curve section of the vehicle C ₀ is present, the control unit 20 determines whether another vehicle is present to respond to the communication (step S105). That is, the control unit 20 transmits information for inquiring about the presence of another vehicle via the communication unit 40 by the processing of the other vehicle information acquisition unit 21a, and information indicating a response to the information is acquired by the communication unit 40. It is determined whether or not.

When it determines with the other vehicle responding to communication existing in step S105, the control part 20 specifies the closest approach position by the process of the approach degree estimation part 21c (step S110). That is, the control unit 20 identifies the shape and width of the curve segment of the traffic lane L _D where the vehicle travels based on the road shape information obtained by the processing of the road shape information obtaining unit 21b, the shape of the curve section And the closest approach position is specified based on the width.

  The closest approach position can be specified on the basis of the predicted traveling locus, and for example, an out / in / out that is a typical locus for traveling in a curve section can be used as the predicted traveling locus. The out / in / out trajectory can be specified based on various methods. For example, the distance between the predicted travel trajectory and the boundary line of the lane at each out / in / out position. Assuming an arc with a radius of curvature larger than the radius of curvature of the curve section so as to be a predetermined distance, a trajectory traveling along a section including a predetermined range before and after the curve section along the arc is used as a predicted travel path, etc. Can be adopted.

3 and 4, the traveling locus when the host vehicle C ₀ or the other vehicle C ₁ travels in the center of each lane is indicated by a one-dot chain line, and the predicted traveling locus in / out is indicated by a broken line. Yes. When the predicted travel locus in out / in / out is specified in this way, it is possible to specify the positional relationship between the predicted travel track and the boundary line of the opposite lane L _O. Therefore, in the present embodiment, the closest approach position where the predicted travel path of the host vehicle is closest to the opposite lane L _O is identified based on the distance between the boundary line of the opposite lane L _O and the predicted travel path. The approach position.

In the example shown in FIG. 3, the traveling lane L _D of the host vehicle C ₀ includes a curve section that curves to the right, and the opposite lane L _O is adjacent to the traveling lane L _D on the same side as the center of curvature _O of the curve section. When the vehicle C ₀ is traveling in accordance with predicted traveling locus in a section containing a predetermined range before and after the curve section shown in FIG. 3, the vehicle C ₀ is temporarily traveling near the outer periphery of the lane L _D (curvature center O and opposite side of the curve section traveling deviation), further the traffic lane L the inner peripheral side of the traffic lane L _D through the center _D (curvature center O side of the curve section) travels, the traveling lane L _D through the center again the traffic lane L _D Drive near the outer periphery. Here, in the predicted traveling locus of such out-in-out, predicted traveling locus farthest position out position the boundary line of the opposite lane L _O, the closest position and in the position P _i. When the curve section ahead of the host vehicle C ₀ is a right curve as shown in FIG. 3, the control unit 20 sets the in position P _i as the closest approach position.

On the other hand, in the example shown in FIG. 4, the travel lane L _D of the host vehicle C ₀ includes a curve section that curves to the left, and the opposite lane L _O is adjacent to the travel lane L _D on the opposite side of the center of curvature _O of the curve section. . When the vehicle C ₀ in a section containing a predetermined range before and after the curve section shown in FIG. 4 is traveling in accordance with predicted traveling locus, the vehicle C ₀ once the traffic lane L _D near the outer periphery of the (center of curvature O opposite side of the curve section traveling deviation), further the traffic lane L the inner peripheral side of the traffic lane L _D through the center _D (curvature center O side of the curve section) travels, the traveling lane L _D through the center again the traffic lane L _D Drive near the inner circumference. In FIG. 4, two out positions are set as a position P _o . When the curve section ahead of the host vehicle C ₀ is a left curve as shown in FIG. 4, the control unit 20 sets the two out positions _Po as the above-mentioned closest positions.

Furthermore, the control unit 20 determines whether or not the distance between the host vehicle and the other vehicle at the closest approach position is equal to or less than a predetermined distance by the processing of the approach degree estimation unit 21c (step S115). That is, the control unit 20 specifies the time point when the host vehicle reaches the closest position based on the position of the host vehicle and the vehicle speed. For example, when the predicted travel path is out / in / out, it is assumed that the vehicle travels on an out / in / out arc at the target vehicle speed, and is constant at a preset lateral acceleration Gt (for example, 0.2 G). The vehicle speed (Gt · R) ^1/2 for traveling at the vehicle speed is acquired as the target vehicle speed. Further, based on the position of the host vehicle C ₀ and the vehicle speed, an acceleration or deceleration for setting the vehicle speed of the host vehicle to the target vehicle speed before the curve section is specified. Then, when it is assumed that the vehicle travels by accelerating or decelerating according to the acceleration or deceleration and traveling along the predicted travel path at a constant vehicle speed, the vehicle approaches the closest approach position from the position of the own vehicle C _0. The time until the own vehicle C ₀ reaches the closest position is specified.

Furthermore, the control unit 20 specifies the position of the other vehicle C ₁ when the host vehicle C ₀ reaches the closest approach position based on the position and the vehicle speed of the other vehicle. Here, the operation of the other vehicle C ₁ can be estimated in the same manner as the host vehicle. That is, the estimated travel locus is estimated also in the other vehicle C ₁ , and it is assumed that the vehicle travels at the target vehicle speed in the curve section, and the position of the other vehicle C ₁ when the host vehicle C ₀ reaches the closest approach position is estimated. To do. Note that predicted traveling locus of the other vehicle C ₁ may be a trace when traveling out-in-out, a locus of the case where the other vehicle C ₁ is traveling the center of the opposite lane L _O Also good. When the position of the other vehicle C ₁ is specified as described above, the control unit 20 determines that the distance between the position of the host vehicle C ₀ (the closest approach position) and the position of the other vehicle C ₁ is a predetermined distance or less. It is determined whether or not.

If it is determined in step S115 that the distance between the host vehicle and the other vehicle at the closest position is equal to or less than the predetermined distance, in the present embodiment, it is considered that traveling out / in / out should be avoided, and the control unit 20 guides the traveling locus when the vehicle is traveling the center of the traffic lane L _D (step S120). In other words, the control unit 20 performs a process of the driving support unit 21d to show the travel lane L _D of the host vehicle and its surroundings and a trajectory passing through the center of the travel lane L _D (for example, the travel lane shown in FIGS. 3 and 4). It generates an image indicating the trajectory), such as one-dot chain line on the L _D.

And the control part 20 outputs a control signal with respect to the user I / F part 44, displays the said image on a display, and outputs the audio | voice which encourages it to drive _{| work} the center of the said travel lane LD from a speaker. Therefore, by the driver driving the vehicle C ₀ in accordance with the guidance, when the vehicle C ₀ travels a section including a predetermined range before and after the curve section or the curve section, in the vehicle C ₀ and the oncoming vehicle It is possible to make the distance when the closest vehicle C ₁ comes closest to be larger than the above-mentioned predetermined distance.

On the other hand, when it is not determined in step S105 that there is another vehicle that responds to the communication, the control unit 20 guides the traveling locus in out / in / out. For this purpose, the control unit 20 acquires a trajectory for traveling out / in / out in a curve section ahead of the host vehicle C ₀ (step S125). Then, the traffic lane L the control unit 20 uses the processing of the driving support unit 21d, the traffic lane L _D and the travel locus in the out-in-out with indicating its periphery of the vehicle (e.g., Figure 3, shown in FIG. 4 An image showing a trajectory like a broken line on _D ) is generated. Further, the control unit 20 outputs a control signal to the user I / F unit 44, displays the image on the display, and outputs a sound for urging the vehicle to travel according to the travel locus (step S130).

  Further, when it is not determined in step S115 that the distance between the host vehicle and the other vehicle at the closest position is equal to or less than the predetermined distance, the traveling locus in out / in / out is guided (step S130). That is, the control unit 20 generates an image indicating a travel locus for traveling out-in-out identified in step S110, and outputs a control signal to the user I / F unit 44. An image is displayed on the display, and a sound prompting the user to travel according to the travel locus is output from the speaker.

(3) Other embodiments:
The above embodiment is an example for carrying out the present invention, and various other embodiments can be used as long as driving support is provided according to the degree of proximity between the host vehicle and the other vehicle at the position of the section having a predetermined shape. It can be adopted.

  For example, other vehicles for which the degree of approach is estimated are not limited to oncoming vehicles, but the degree of approach is estimated for a parallel running vehicle that travels in an adjacent vehicle adjacent to the traveling lane of the own vehicle in the same traveling direction as the own vehicle. May be. Moreover, the section of a predetermined shape should just be a section where higher alertness is required compared with another section when the own vehicle and another vehicle approach. Therefore, a section including various road shapes such as a section including an intersection can be set as a section having a predetermined shape.

  Further, the degree of approach may be specified based on the other vehicle information, and whether or not driving assistance corresponding to the approach of the host vehicle and the other vehicle to the distance requiring a high degree of attention at the closest approach position should be performed. It only has to be an index for determining whether or not. Therefore, the degree of approach may be represented by the distance between the host vehicle and the other vehicle. In addition, when the psychological pressure applied to the host vehicle varies depending on the size, weight, and vehicle speed of the other vehicle, it varies depending on the size, weight, vehicle speed, etc. of the other vehicle in addition to the distance between the host vehicle and the other vehicle. It is possible to define the approach degree so as to be the approach degree.

  The driving assistance may be assistance according to the degree of approach, and it is only necessary that the degree of approach between the host vehicle and the other vehicle can be made safer by the driving assistance. Therefore, a different degree of support may be provided for each approach degree, or driving support may be provided for a specific approach degree, and drive support may not be provided if the approach degree is not a specific approach degree. In addition to the above-described guidance, the driving assistance may be control of the host vehicle (for example, control of throttle, brake, transmission, etc.). Various methods can be adopted as a driving assistance method. For example, assistance for increasing the distance between the host vehicle and the other vehicle at the closest position may be used. Support may be provided to substantially reduce the degree of approach when the vehicle approaches the vehicle by changing the timing at which the vehicle approaches the vehicle.

  Furthermore, when specifying the time point when the host vehicle reaches the closest approach position, it is not limited to only the time when the host vehicle reaches the vicinity of the closest approach position. It is good also as composition which acquires a belt. Furthermore, the predicted travel trajectory is not limited to the trajectory when traveling out-in-out as described above, and a trajectory learned for each user may be applied. For example, a user's past trajectory is learned for each curvature radius in a curve section or a section including a predetermined range before and after the curve section, and the curvature radius of the curve section in front of the host vehicle is determined, and based on the learned trajectory. It is possible to employ a configuration that identifies a predicted travel locus.

  DESCRIPTION OF SYMBOLS 10 ... Navigation apparatus, 20 ... Control part, 21 ... Driving assistance program, 21a ... Other vehicle information acquisition part, 21b ... Road shape information acquisition part, 21c ... Approach degree estimation part, 21d ... Driving assistance part, 30 ... Storage medium, 30a ... Map information, 40 ... Communication unit, 41 ... GPS reception unit, 42 ... Vehicle speed sensor, 43 ... Gyro sensor, 44 ... User I / F unit

Claims (6)

Other vehicle information acquisition means for acquiring other vehicle information including the position and vehicle speed of the other vehicle traveling around the host vehicle;
Road shape information acquisition means for acquiring road shape information indicating the shape of the road ahead of the host vehicle;
It is determined whether or not a section having a predetermined shape is included in the road based on the road shape information, and when the section having the predetermined shape is included, a predicted travel path of the host vehicle is acquired, and An approach degree estimating means for estimating an approach degree between the host vehicle and the other vehicle at a closest approach position where a predicted travel path is closest to an adjacent lane adjacent to the traveling lane of the host vehicle, based on the other vehicle information;
Driving support means for performing driving support according to the degree of approach;
A driving support apparatus comprising: The approach degree estimating means includes
The position and vehicle speed of the host vehicle are acquired, and the time point at which the host vehicle reaches the closest approach position is determined based on the position and vehicle speed of the host vehicle, the predicted travel path of the host vehicle, and the closest approach position. And acquiring the distance between the host vehicle and the other vehicle at the time point based on the other vehicle information,
The driving support device according to claim 1. The driving support means performs support for increasing the distance between the host vehicle and the other vehicle at the closest position,
The driving support device according to claim 2. The section of the predetermined shape is a curve section,
The approach degree estimating means includes
Acquire a trajectory for traveling out and in the curve section as the predicted travel trajectory,
For the adjacent lane that is adjacent to the travel lane on the opposite side of the center of curvature of the curve section, two out positions in the out / in / out are the closest positions,
With respect to the adjacent lane adjacent to the travel lane on the same side as the center of curvature of the curve section, one in position in the out / in / out is the closest position,
The driving support device according to claim 2. By computer
Other vehicle information acquisition step of acquiring other vehicle information indicating the position and vehicle speed of other vehicles traveling around the host vehicle;
A road shape information acquisition step for acquiring road shape information indicating the shape of the road ahead of the host vehicle;
It is determined whether or not a section having a predetermined shape is included in the road based on the road shape information, and when the section having the predetermined shape is included, a predicted travel path of the host vehicle is acquired, and An approach degree estimation step of estimating an approach degree between the host vehicle and the other vehicle at a closest approach position where a predicted travel path is closest to an adjacent lane adjacent to the travel lane of the host vehicle, based on the other vehicle information;
Driving assistance method to do . Other vehicle information acquisition function for acquiring other vehicle information indicating the position and speed of other vehicles traveling around the host vehicle,
A road shape information acquisition function for acquiring road shape information indicating the shape of the road ahead of the host vehicle;
It is determined whether or not a section having a predetermined shape is included in the road based on the road shape information, and when the section having the predetermined shape is included, a predicted travel path of the host vehicle is acquired, and An approach degree estimation function for estimating an approach degree between the host vehicle and the other vehicle at a closest approach position where a predicted travel path is closest to an adjacent lane adjacent to the traveling lane of the host vehicle, based on the other vehicle information;
Driving support program that realizes the computer.

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