JP6096750B2 - Driving support device - Google Patents

Description

  The present invention relates to an apparatus that supports traveling of a moving object at a meeting point.

  Conventionally, various devices for supporting the traveling of a moving object at a meeting point have been proposed.

  For example, based on the assumption that the speed and acceleration at a certain point of another vehicle traveling on the main line will continue as it is, the speed of the merging end of the other vehicle and the arrival time of the merging end are predicted, and the speed of the merging end and the arrival of the merging end are reached. There has been proposed a lane change device that determines a target speed and a target arrival time at the merging end of the host vehicle so as to match the time (see Patent Document 1). The lane changing device determines the amount of operation that satisfies the target speed and the target arrival time, and transmits the amount of operation to the driver of the host vehicle, thereby supporting driving of the vehicle at the junction.

  Also, by comparing the collision margin times (TTC: Time To Collation = inter-vehicle distance / relative speed) of each surrounding vehicle traveling on the main lane and determining the space where the own vehicle should join, A merging support device that determines a merging strategy to be taken by the host vehicle is proposed (see Patent Document 2).

  In addition, the interval existing between the other vehicles is identified based on the operation of the other vehicle, and the interval that can be reached without excessive acceleration / deceleration from a sufficient length to merge the own vehicle is identified. A confluence guidance device has been proposed (see Patent Document 3).

  Also, the allowable deceleration of the rear vehicle is obtained according to the congestion level of the main line, the collision margin time with the rear vehicle when the own vehicle immediately executes the merge, and the risk of merging based on the collision margin time A merging support device for calculating the value has been proposed (see Patent Document 4).

JP 2005-038325 A JP 2007-304992 A JP 2008-151507 A Japanese Patent No. 4735430

  In the vicinity of the merging point, for example, traveling with consideration of other moving bodies such as concessions is often performed, and the speed and acceleration of each moving body at a certain point are not necessarily continued as they are.

  However, the lane changing device of Patent Literature 1, the merging support device of Patent Literature 2, and the merging guidance device of Patent Literature 3 are all based on the assumption that the speed and acceleration of another vehicle at a certain point continue. For this reason, in the technique of Patent Document 1, for example, even when an occupant of another moving body traveling on the main line has an intention to give precedence, the intention of the occupant of the other moving body is not taken into consideration. There is a risk of driving assistance. As a result, there is a possibility that the passenger of each moving body may feel uncomfortable due to the behavior of the moving support target moving body according to the driving support.

  Moreover, although the confluence | merging assistance apparatus of patent document 4 considers the deceleration of a back vehicle, since the deceleration of the said back vehicle is a forced deceleration when the own vehicle starts a confluence | merging immediately, There is a risk that a sense of incongruity may be given to the occupant of each moving body due to the merge.

  Therefore, in view of these problems, an object of the present invention is to provide a travel support device that can eliminate or reduce the uncomfortable feeling given to the passengers of each mobile body in the travel support of the mobile body at a junction. .

The travel support device according to the present invention is configured so that the first moving body traveling on the merging subline that merges with the merging main line changes the lane to the merging main line before and after the merging end of the first moving body and the merging main line. A device that supports the traveling of a target moving body that is one of the traveling second moving bodies,
The first moving body is present around the target moving body at a predetermined reference time at which the first moving body exists on the merged subline, and at least the other moving body of the first moving body and the second moving body is at least A surrounding moving body state recognition means for recognizing the state of the surrounding moving body including the merging period including the period from the reference time point to a merging completion time point when the lane change to the merging main line of the first moving body is completed. A confluence that determines the appearance probability of each of the travel mode candidates in each state of the peripheral mobile body from a travel mode candidate group that includes a plurality of travel mode candidates representing relative travel modes of the target mobile body with respect to the peripheral mobile body using the model, the occurrence probability of the state of the surrounding mobile selects the highest driving mode candidates on the basis of the state of the surrounding mobile recognized by the surrounding mobile state recognizing means Characterized in that it comprises a row mode candidate selecting means.

  According to the driving support device of the present invention, the driving mode candidate having the highest appearance probability selected based on the state of the surrounding moving body using the merging model is selected. By using the travel mode candidate for travel support of the target mobile body, the travel mode and the actual target movement in the merging period of the target mobile body that is empirically assumed from the state of the surrounding mobile body by the occupant of each mobile body Since it becomes easy to prevent the driving | running | working aspect in the joining period of a body from deviating, the discomfort given to the passenger | crew of each moving body can be eliminated or reduced.

In the driving support device of the present invention,
A target moving body state recognition means for recognizing a value of a state parameter representing the state of the target moving body;
The peripheral mobile body state recognition means recognizes a value of a state parameter representing the state of the peripheral mobile body,
The travel mode candidate selection means uses, as the confluence model, a model that determines the appearance probability of each of the travel mode candidates in each ratio between the value of the state parameter of the surrounding mobile body and the value of the state parameter of the target mobile body. , the state parameters and the said surrounding mobile based on the state parameters of the object moving body that is recognized by the state parameter and the target mobile state recognition means of the surrounding mobile recognized by the surrounding mobile state recognizing means The driving mode candidate having the highest appearance probability in the state parameter of the target moving body is selected.

  According to the travel support device having the above configuration, since the travel mode candidates are selected after taking into account the state of the target mobile body, the occupants of each mobile body empirically determine the state of the surrounding mobile body and the state of the target mobile body. The divergence between the driving mode in the merging period of the target moving body and the driving mode in the merging period of the actual target moving body is more easily prevented, and the uncomfortable feeling given to the passengers of each moving body is eliminated or reduced. sell.

  Further, according to the travel support device having the above configuration, in the merging model, the state of the peripheral mobile body and the state of the target mobile body in which the ratio of the state parameter of the peripheral mobile body and the state parameter of the target mobile body is the same. For a plurality of combinations, one appearance probability is correlated with each of the travel mode candidates. As a result, the merge model is simplified, so that the processing efficiency can be improved.

In the travel support device of the configuration,
The peripheral mobile body state recognition means recognizes one or both of a relative speed of the peripheral mobile body with respect to the target mobile body and a distance between the peripheral mobile body and the target mobile body as state parameters of the peripheral mobile body. ,
It is preferable that the target moving body state recognition unit recognizes the speed of the target moving body as a state parameter of the target moving body.

In the driving support device of the present invention,
The traveling mode candidate selecting means is configured to travel with the least energy consumption of the moving body when a plurality of traveling mode candidates having the same appearance probability in the state of the one surrounding moving body exist for one surrounding moving body. It is preferably configured to select an aspect candidate.

  In the present invention, “running mode candidates with the same appearance probability” do not mean only driving mode candidates with the same appearance probability in the strict sense. It also means driving mode candidates whose appearance probabilities are considered to be the same, such as driving mode candidates belonging to the same level when divided into levels.

  According to the travel support device having the configuration, energy consumption of the moving body can be suppressed while the uncomfortable feeling given to the occupant of the moving body is eliminated or reduced.

In the driving support device of the present invention,
Based on the state of the peripheral mobile body recognized by the peripheral mobile body state recognition means, it comprises a peripheral mobile body state prediction means for predicting the future state of the peripheral mobile body after a predetermined time,
The travel mode candidate selection means uses the model that determines the appearance probability of each of the travel mode candidates in each future state of the peripheral mobile body as the merging model, and the predetermined prediction predicted by the peripheral mobile body state prediction means Based on the future state of the surrounding mobile body after the time, the traveling mode candidate having the highest appearance probability in the future state of the surrounding mobile body is selected.

  According to the travel support apparatus having the above configuration, the travel mode candidate is selected after taking into account the future state of the surrounding mobile body, so that a more accurate travel mode can be selected.

In the travel support device of the configuration,
The peripheral moving body state recognizing means includes one or both of a relative speed of the peripheral moving body with respect to the target moving body, a distance between the peripheral moving body and the target moving body, and the peripheral moving body with respect to the target moving body. Recognizing relative acceleration as the state of the surrounding mobile body,
The peripheral mobile body state predicting means is calculated based on one or both of the relative speed and the distance and the relative acceleration, and the predicted relative speed of the peripheral mobile body with respect to the target mobile body after the predetermined time, and the It is preferable that one or both of the predicted distances between the peripheral mobile body and the target mobile body are predicted as a future state of the peripheral mobile body.

In the travel support device of the configuration,
Merging subline length recognition means for recognizing the length from the position of the target moving body at the reference time point to the end of the merging subline;
It is preferable that a predetermined time determination unit that determines the predetermined time according to the length recognized by the merging subline length recognition unit is provided.

  According to the travel support device having the above configuration, the predetermined time for predicting the state of the surrounding moving body is determined according to the length of the merging subline. The future state of the peripheral mobile is prevented from being used. As a result, the uncomfortable feeling given to the occupant of each moving body by the driving support can be reduced or eliminated.

In the driving support device of the present invention,
Comprising environment recognition means for recognizing the surrounding environment of the target moving body,
In the confluence model, the appearance probability is determined for each surrounding environment,
It is preferable that the travel mode candidate selection unit selects an appearance probability used in the merge model based on the environment recognized by the environment recognition unit.

  Where the travel mode of the target mobile body is considered to change depending on the environment around the target mobile body, according to the travel support device of the configuration, the correlation used in the confluence model is selected in consideration of the environment around the target mobile body Is done. As a result, the traveling mode candidates of the target moving body in the merging period selected based on the correlation may deviate from the traveling mode of the target moving body in the merging period that is empirically assumed by the occupant of each moving body. Since it can be prevented, the uncomfortable feeling given to the occupant of each moving body can be eliminated or reduced.

  In the travel support device having the above configuration, the surrounding environment includes an area where the target mobile body is traveling, weather around the target mobile body, brightness of the periphery of the target mobile body, and the merge main line. It is preferable that at least one of the traveling lane numbers is included.

  According to the travel support device having the above configuration, the area in which the target mobile body is traveling that has a relatively large influence on the travel mode of the target mobile body, the weather around the target mobile body, the brightness around the target mobile body, And at least one of the number of traveling lanes of the merged main line is reflected in the correlation. As a result, it is possible to prevent the travel mode candidate selected based on the correlation from deviating from the travel mode assumed by the occupants of each moving body, so that the uncomfortable feeling given to the occupants of each moving body. Can be eliminated or reduced.

  In the driving support apparatus of the present invention, the reference time point is a position corresponding to a hard nose existing between the merging main line and the merging subline in the merging main line or the merging subline. It is preferred that it is at a point in time.

  Until the point corresponding to the hard nose is reached, the situation of the other road may not be properly recognized. According to the driving support device of the configuration, when the target mobile object exists at the position corresponding to the hard nose. Therefore, the state of the surrounding mobile body can be recognized with high accuracy.

In the driving support device of the present invention,
The peripheral moving body is a preceding moving body or a subsequent moving body that travels on the merging main line as viewed from the target moving body when the target moving body is traveling on the merging subline, and the target moving body is the When traveling on a merge main line, it is preferably a preceding moving body or a subsequent moving body that travels on the merged subline as viewed from the target moving body.

The block diagram of a driving assistance device. The figure explaining the condition of the road in case a target moving body drive | works a merge subline. The flowchart of a driving assistance process. The figure which shows an example of a driving | running | working mode candidate group map. The figure which shows the other example of a driving | running | working mode candidate group map. The figure explaining the condition of the road in case a target moving body drive | works a merge main line. The figure explaining the condition of the road when a target moving body travels a merge main line and a merge main line is a plurality of lanes.

  1 to 5, the vehicle is mounted on a target moving body 1 (for example, a four-wheeled vehicle or a two-wheeled vehicle) that has a wheel and a power source that drives the wheel, and that travels on a road by driving the wheel. One embodiment of the present invention will be described with reference to a driving support apparatus 10 as an example.

  As shown in FIG. 1, the target moving body 1 includes a travel support device 10, a sensor group 20, and a control device group 30.

(Configuration of driving support device)
As illustrated in FIG. 2, the driving support device 10 is a target before and after the moving body that travels on the merging subline L1 changes lanes to the merging main line L2 on a route including at least the reference point SP and the merging terminal CT. It is a device that supports the traveling of the moving body 1. The reference point SP is a point on the nearer side than the merging terminal CT, and is a hard nose that is a terminal of one or both of the wall on the merging main line L2 side of the merging subline L1 and the wall on the merging subline L1 side of the merging main line L2. This is a point on the road surface on which the target moving body 1 travels corresponding to HN (the tip of the ground covering concrete) (a point on the merged subline L1 in FIG. 2).

  As illustrated in FIG. 1, the travel support device 10 includes an arithmetic processing device 11, a travel mode candidate group database 12, a map database 13, an input device 14, and an output device 15. The driving support device 10 is composed of any information terminal whose size, shape, and weight are designed so that it can be mounted on the target moving body 1. The driving support device 10 may be configured by an information terminal such as a tablet terminal or a smartphone that is designed in size, shape, and weight so that the user can carry it.

  The arithmetic processing unit 11 is configured by a computer (comprising an arithmetic processing unit (one or a plurality of processors) and a storage device). The arithmetic processing device 11 is configured to communicate with the sensor group 20 and the control device group 30 mounted on the target moving body 1 and execute target information processing. The arithmetic processing unit 11 may be configured by an ECU (electronic control unit) mounted on the target moving body 1.

  The arithmetic processing unit 11 reads a predetermined program and executes predetermined information calculation processing to thereby perform a peripheral mobile body state recognition unit 11a, a target mobile body state recognition unit 11b, a peripheral mobile body state prediction unit 11c, a joining subline It functions as a long recognizing unit 11d, a predetermined time determining unit 11e, an environment recognizing unit 11f, and a travel mode candidate selecting unit 11g.

  The constituent elements of the present invention are configured to execute information calculation processing. The calculation processing device 11 reads an application and necessary information from a storage device (memory) and executes the information calculation processing according to the application. Means designed or programmed to do.

  The travel mode candidate group database 12 is configured by a storage device such as a memory or a hard disk. The travel mode candidate group database 12 stores a travel mode candidate group map to be described later.

  The map database 13 is configured by a storage device such as a memory or a hard disk. The map database 13 stores map information used when the target mobile body 1 is supported for travel. In addition to route information for route guidance, the map information includes the number of lanes of each road, information about roads to merge (longitude and latitude information of soft nodes and hard nodes), and regional information of each route. .

  One or both of the travel mode candidate group database 12 and the map database 13 are provided in an external device of the travel support device 10, and the data is read into the arithmetic processing device 11 through communication between the travel support device 10 and the external device. May be.

  The input device 14 is configured by a position input device that constitutes a touch panel. The input device 14 may be configured by at least one of a keyboard, a mouse, and a voice input device (microphone) instead of or in addition to this. Instead of or in addition to these, the input device 14 may be configured by a detection device that detects the mode of the user's input operation (speech content or gesture) by a non-contact method such as an imaging device.

  The output device 15 is configured by a display device such as a liquid crystal panel or an organic EL constituting a touch panel. The output device 15 may be constituted by an audio output device (speaker) instead of or in addition to these.

  The input device 14 and the output device 15 may be mounted on the target moving body 1 instead of or in addition to the travel support device 10.

(Configuration of sensor group)
The sensor group 20 includes a position information sensor 21, a weather information sensor 22, a brightness sensor 23, a speed sensor 24, an acceleration sensor 25, a yaw rate sensor 26, and an imaging sensor 27. A part or all of the sensor group 20 may be provided in the driving support device 10.

  The position information sensor 21 is configured to recognize position information of the target moving body 1 as an environment around the target moving body 1 and output the position information to the driving support device 10. The position information sensor 21 can be configured by, for example, a GPS receiver that outputs positioning information received from a GPS (Global Positioning System) satellite to the travel support device 10.

  The weather information sensor 22 is configured to recognize weather information of an area where the target mobile body 1 exists as an environment around the target mobile body 1 and output the weather information to the travel support device 10. The weather information sensor 22 can be constituted by, for example, a wiper switch that outputs an ON / OFF signal of the wiper of the target moving body 1 to the travel support device 10.

  The brightness sensor 23 is configured to recognize the brightness around the target moving body 1 as the environment around the target moving body 1 and output the brightness information to the driving support device 10. The brightness sensor 23 can be configured by a lamp switch that outputs an ON / OFF signal of a lamp of the target moving body 1 to the travel support device 10, for example. Further, the brightness sensor 23 can be constituted by a sunshine sensor whose output intensity is proportional to the external brightness.

  The speed sensor 24 is configured to recognize the traveling speed of the target moving body 1 as a state parameter representing the state of the target moving body 1 and output the speed information to the driving support device 10.

  The acceleration sensor 25 is configured to recognize the acceleration (including deceleration) of the target moving body 1 as a state parameter representing the state of the target moving body 1 and output the acceleration information to the driving support device 10. Yes.

  The yaw rate sensor 26 is configured to recognize the yaw rate of the target moving body 1 as a state parameter representing the state of the target moving body 1 and output the yaw rate information to the driving support device 10.

  The imaging sensor 27 is configured by an imaging device such as a camera or an infrared camera (front camera, rear camera, and side camera), for example, and is around the target moving body 1 (for example, a circle having a radius of 10 m to 200 m centered on the target moving body 1). The other moving body X (for example, a four-wheeled vehicle or a two-wheeled vehicle, hereinafter referred to as “peripheral moving body” as appropriate) is imaged, and the captured image is output to the driving support device 10. .

  Part or all of the constituent elements of the sensor group 20 such as the image sensor 27 may be configured by, for example, a roadside device provided outside the target mobile body 1. In this case, the travel support device 10 You may recognize the information recognized by the said one part or all the components by communicating directly with a roadside machine or indirectly via a traffic information server etc.

  Note that each element that is a component of the present embodiment “recognizes” information means that information is received from an external information source, information is retrieved from a database, information is read from a storage device or memory, Measurement, calculation, estimation, determination, setting, determination, etc. of information is performed by processing received basic signals that have been received or searched, etc., and such information must be stored in a storage device or memory. Means the execution of any arithmetic processing for preparing the information for the arithmetic processing.

(Configuration of control device group)
The control device group 30 includes a steering control device 31, a braking device 32, a drive device 33, and a direction indicator control device 34.

  The steering control device 31 is configured to drive the wheel steering mechanism of the target moving body 1 with an actuator in response to reception of a steering instruction from the travel support device 10. Further, the braking device 32 is configured to generate a braking force of each wheel of the target moving body 1 by a hydraulic mechanism in response to receiving a braking instruction from the driving support device 10. The driving device 33 is configured to drive the wheels of the target moving body 1 by sending an instruction to the power source of the target moving body 1 in response to the reception of the driving instruction from the driving support device 10. The direction indicator control device 34 is configured to turn on, blink and extinguish a direction indicator provided in the target moving body 1 in response to reception of a direction indicator operation instruction from the driving support device 10.

(Function of driving support device)
Hereinafter, with reference to FIG. 3, the function (driving support processing) of the driving support device 10 (arithmetic processing device 11) will be described.

  The arithmetic processing unit 11 matches the current position of the target moving body 1 indicated by the position information sensor 21 with the map information stored in the map database 13 so that the hard nose of the road to which the target moving body 1 joins. It is determined whether or not a reference point SP corresponding to is reached (FIG. 3 / STEP002).

  When the determination result is negative (FIG. 3 / STEP002... NO), the arithmetic processing unit 11 executes the process of FIG. 3 / STEP002 again. In addition, you may wait for predetermined time during the process to FIG. 3 / STEP002.

  When the determination result is affirmative (FIG. 3 / STEP002... YES), the peripheral moving body state recognition unit 11a performs image analysis on a plurality of images captured by the image sensor 27, for example, as shown in FIG. As shown in FIG. 2, of the merging subline L1 and the merging main line L2, the peripheral moving body X (the preceding moving body X1 and the following moving body X2 in FIG. 2) existing on the road on which the target moving body 1 is not traveling. The relative speed RV, relative acceleration RA with respect to the target moving body 1, the distance D between the peripheral moving body X and the target moving body 1 and the color of the vehicle body of the peripheral moving body are recognized (FIG. 3 / STEP004).

For example, in FIG. 2, the peripheral moving body state recognizing unit 11 a uses the imaging sensor 27 to compare the relative speed RV _X1 , the relative acceleration RA _X1 , the preceding moving body X1 and the target moving body 1 with respect to the target moving body 1. Distance D _X1 and the color of the vehicle body of the preceding moving body X1, the relative speed RV _X2 and the relative acceleration RA _{X2 of} the subsequent moving body X2 with respect to the target moving body 1, and the distance D _X2 between the subsequent moving body X2 and the target moving body 1 Recognizing the color of the vehicle body of the following moving body X2.

  The target moving body state recognition unit 11b recognizes the speed V1, the acceleration A1, and the yaw rate Y1 of the target moving body 1 through the speed sensor 24, the acceleration sensor 25, and the yaw rate sensor 26 (FIG. 3 / STEP006).

  The joining subline length recognition unit 11d recognizes the length of the joining subline L1 read from the map database 13 (the length from the reference point SP to the end of the joining subline L1) (FIG. 3 / STEP008). The predetermined time determining means 11e sets the predetermined time t continuously or intermittently large as the length is longer, while setting the predetermined time t continuously or intermittently smaller as the length is shorter (FIG. 3). / STEP010).

  The peripheral moving body state prediction means 11c is based on the recognized relative speed RV, relative acceleration RA and relative distance D of the peripheral moving body with respect to the target moving body 1 and the speed V1 of the target moving body 1, and 2, the predicted relative speed ratio PV and the predicted inter-vehicle time T after a predetermined time t are calculated (FIG. 3 / STEP012).

For example, the surrounding mobile body state prediction unit 11c calculates the predicted relative speed ratio PV _X1 and the predicted inter-vehicle time T _X1 for the preceding mobile body X1 according to the following formula.

For example, the surrounding mobile body state prediction unit 11c calculates the predicted relative speed ratio PV _X2 and the predicted inter-vehicle time T _X2 for the subsequent mobile body X2 according to the following formula.

  The environment recognizing means 11f receives the position information of the target moving body 1 and the weather around the target moving body 1 (sunny, rainy) via the position information sensor 21, the weather information sensor 22, the brightness sensor 23, and the map database 13, respectively. , And snow, etc.), the degree of sunshine (by day and night), regional information (Tokyo, Osaka, etc.) corresponding to the position information of the target moving body 1, and the number of lanes of the confluence main line (FIG. 3 / STEP014) .

  Then, the travel mode candidate selection unit 11g refers to the travel mode candidate group database 12 to determine the weather around the target mobile body 1, the degree of sunshine, and the position information of the target mobile body 1 recognized in STEP014 of FIG. Access the corresponding regional information and the running mode candidate group map (merging model) in which the number of lanes of the merging main line matches (FIG. 3 / STEP016).

  The travel mode candidate group map is a combined model showing the correlation between the state of the surrounding mobile body X and the appearance probability of each travel mode candidate, and the predicted relative speed ratio PV and the predicted inter-vehicle time of the peripheral mobile body X with respect to the target mobile body 1. It is a map that can identify the appearance probability of each relative driving mode candidate from T, and is provided for the surrounding weather, the degree of sunshine, the area information corresponding to the position information of the target moving body 1, and the number of lanes of the merging main line ing.

  The travel mode candidate group map can be configured by aggregating probe data including necessary information such as relative speed, relative acceleration, and inter-vehicle time collected from each moving body.

  4 and 5 are maps showing the relationship between the predicted relative speed ratio PV and the predicted inter-vehicle time T of the surrounding mobile body X with respect to the target mobile body 1, and the appearance probability of each relative travel mode candidate.

  4 and 5, when the predicted relative speed ratio PV of the peripheral mobile body X to the target mobile body 1 is positive, the speed of the peripheral mobile body X is higher than the speed of the target mobile body 1 after time t. On the other hand, when the predicted relative speed ratio PV of the peripheral mobile body X to the target mobile body 1 is negative, it means that the speed of the peripheral mobile body X is lower than the speed of the target mobile body 1 after time t. .

  4 and 5, when the predicted inter-vehicle time T with respect to the target mobile body 1 of the peripheral mobile body X is positive, the peripheral mobile body X exists ahead of the target mobile body 1 after time t. On the other hand, when the predicted inter-vehicle time T with respect to the target mobile body 1 of the peripheral mobile body X is negative, it means that the peripheral mobile body X exists behind the target mobile body 1 after time t.

4 and 5, as an example, regions D1 to D6 in which the appearance probability of a specific relative running mode candidate is equal to or higher than a first probability (for example, 95%) are described. Among these, the areas D1 to D3 are areas where the predicted relative speed ratio PV _X2 of the subsequent moving body X2 (the peripheral moving body X having a negative predicted inter-vehicle time T) with respect to the target moving body 1 is positive, and the area D4 is the subsequent The predicted relative speed ratio PV _{X2 of the} moving body X2 with respect to the target moving body 1 is a negative region, and the area D5 is a prediction with respect to the target moving body 1 of the preceding moving body X1 (the peripheral moving body X with a positive predicted inter-vehicle time T). The relative speed ratio PV _X1 is a negative region, and the region D6 is a region where the predicted relative speed ratio PV _X1 of the preceding mobile body X1 with respect to the target mobile body 1 is positive.

In a region D1 where the predicted relative speed ratio PV _{X2 of the} subsequent moving body X2 to the target moving body 1 is relatively high and the absolute value of the predicted inter-vehicle time T _X2 is relatively small, the subsequent moving body X2 The appearance probability of a relative running mode candidate in which the target moving body 1 merges behind the succeeding moving body X2 is over the first probability.

Further, in the region D2 where the predicted relative speed ratio PV _{X2 of} the subsequent mobile body X2 to the target mobile body 1 is medium and the predicted inter-vehicle time T _X2 is medium, the subsequent mobile body X2 is the target mobile body 1. When the target mobile unit 1 decelerates to give precedence to the vehicle or accelerates more than the speed matching for joining, the appearance probability of the relative running mode candidate that joins ahead of the succeeding mobile unit X2 is first. 1 probability or more.

In the region D3 where the predicted relative speed ratio PV _{X2 of} the subsequent moving body X2 to the target moving body 1 is relatively low and the predicted inter-vehicle time T _X2 is relatively large, the target moving body 1 is joined. The appearance probability of a relative running mode candidate that can be merged prior to the succeeding mobile body X2 without acceleration equal to or higher than the speed matching is equal to or higher than the first probability.

In the region D4 where the predicted relative speed ratio PV _{X2 of the} subsequent moving body X2 with respect to the target moving body 1 is negative, the appearance probability of the running mode candidate where the target moving body 1 merges ahead of the subsequent moving body X2 is the first probability. That's it. In other words, the region D4 is a region that exists over the entire third quadrant in the T-PV plane.

In the region D5 in which the predicted relative speed ratio PV _{X1 of the} preceding moving body X1 to the target moving body 1 is negative and the inter-vehicle time is relatively small, travel in which the target moving body 1 merges ahead of the preceding moving body X1 The appearance probability of the mode candidate is equal to or higher than the first probability.

In the region D6 in which the predicted relative speed ratio PV _{X1 of the} preceding moving body X1 with respect to the target moving body 1 is positive, the appearance probability of the running mode candidate where the target moving body 1 merges after the preceding moving body is equal to or higher than the first probability. It becomes. In other words, the region D6 is a region that exists over the entire first quadrant in the T-PV plane.

  The regions D1 to D3 and D5 include regions D1a to D3a and D5a having an appearance probability higher than the first probability and higher than the second probability, and regions D1b and higher than the first probability and lower than the second probability. D3b and D5b are included.

  Further, the travel mode candidate group map is provided for each of the surrounding weather, the degree of sunshine, the area information corresponding to the position information of the target moving body 1, and the number of lanes of the merge main line L2.

  For example, the surrounding weather can be divided into sunny, rainy or snowy. The degree of sunshine can be divided into morning, noon or night. The number of lanes of the merge main line L2 is divided into one or more.

  For example, as shown in FIG. 5, the map when the surrounding weather is rain is set to have a larger predicted inter-vehicle time T in each of the regions D1 to D6 than the map when the weather is sunny as shown in FIG. Has been.

  In the map when the surrounding weather is snow, the predicted inter-vehicle time T in each of the regions D1 to D6 is set larger than the map when the weather is sunny or rainy.

  Further, in the map when the degree of sunshine is night, the predicted inter-vehicle time T in each of the areas D1 to D6 is set to be larger than the map when it is morning or noon.

  In the map when the degree of sunshine is morning, the predicted inter-vehicle time T in each of the areas D1 to D6 is set to be smaller than the map when the day is night or night.

  In the map when the number of lanes of the merge main line L1 is 1, the predicted inter-vehicle time T of each of the regions D1 to D6 is set to be smaller than the map when the number of lanes of the merge main line is plural.

  Moreover, according to the regional information corresponding to the position information of the target mobile body 1, the map is set so that the inter-vehicle time in each of the regions D1 to D6 is larger or smaller.

  Instead of the driving mode candidate group map being provided for each of the surrounding weather, the degree of sunshine, the area information corresponding to the position information of the target moving body 1, and the number of lanes of the confluence main line L2, the surrounding weather, A coefficient is set for each of the degree of sunshine, the area information corresponding to the position information of the target mobile unit 1, and the number of lanes of the confluence main line L2, and each time the vehicle is accessed, one driving mode candidate group map is generated. By extending or shortening the inter-vehicle time, a map corresponding to each of the surrounding weather, the degree of sunshine, the area information corresponding to the position information of the target moving body 1, and the number of lanes of the merged main line may be created. .

  Further, instead of the travel mode candidate group map, a predetermined function indicating the relationship between the predicted relative speed ratio PV and the predicted inter-vehicle time T of the surrounding mobile body X with respect to the target mobile body 1 and the travel mode candidate having a high appearance probability is a merge model. As a result, it is possible to specify a running mode candidate having an appearance probability of a certain probability or more from the predicted relative speed ratio PV of the surrounding moving body to the target moving body 1 and the predicted inter-vehicle time T.

  The travel mode candidate selection unit 11g extracts a travel mode candidate having the highest appearance probability from the travel mode candidate group map for each peripheral mobile body X (FIG. 3 / STEP018).

For example, when the predicted relative speed ratio PV _X1 of the preceding moving body X1 with respect to the target moving body 1 is positive, the traveling mode candidate selecting unit 11g extracts a traveling mode candidate (joined behind the preceding moving body X1) in the region D6. To do.

For example, when the predicted relative speed ratio PV _X2 of the subsequent moving body X2 to the target moving body 1 is positive M1 and the predicted inter-vehicle time T _X2 is S1 in FIG. A traveling mode candidate (joined in front of the subsequent mobile body X2) in the region D3 is extracted.

The traveling mode candidate selection unit 11g determines whether or not there are a plurality of extracted traveling mode candidates for each peripheral mobile body X (FIG. 3 / STEP020). Here, as an example in the case where a plurality of travel mode candidates can be extracted, for example, in FIG. 4, the predicted relative speed ratio PV _X2 of the subsequent moving body X2 to the target moving body 1 is positive M2, and the predicted inter-vehicle distance The time T _X2 may be S2, and in this case, two traveling mode candidates in the areas D2 and D3 can be extracted for the subsequent moving body X2.

  When the determination result is affirmative (FIG. 3 / STEP020... YES), the travel mode candidate selection unit 11g selects a travel mode candidate with the minimum energy consumption from the extracted travel mode candidates (FIG. 3). / STEP022). More specifically, the travel mode candidate selection unit 11g selects a travel mode candidate having the smallest absolute value of acceleration among the extracted travel mode candidates.

  When the determination result of FIG. 3 / STEP 020 is negative (FIG. 3 / STEP 020... NO), the travel mode candidate selection means 11g selects the extracted travel mode candidate (FIG. 3 / STEP 024). In addition, when there are a plurality of surrounding mobile bodies X, the traveling mode candidate selection unit 11g uses the traveling mode candidates (for example, acceleration or deceleration of the following moving bodies to merge the traveling mode candidates for each surrounding mobile body X). Etc.), and the merged travel mode candidate is selected.

  The arithmetic processing unit 11 outputs a notification to the effect that the vehicle travels according to the selected travel mode candidate to the output device 15 (FIG. 3 / STEP026). For example, when a running mode candidate that joins behind the succeeding moving body X2 that is a red car is selected, the arithmetic processing unit 11 displays a message such as “Join after the red car” on the output device 15 Display on the screen. Instead of or in addition to this, the arithmetic processing device 11 outputs a sound such as “I will merge after the red car” via the speaker of the output device 15.

  The arithmetic processing unit 11 sends command signals such as acceleration / deceleration, steering, and the presence / absence of lighting of the direction indicator for traveling according to the selected driving mode candidate, respectively, to the steering control device 31 and the braking device 32. , Output to each of the driving device 33 and the direction indicator control device 34 (FIG. 3 / STEP028).

  The steering control device 31, the braking device 32, the drive device 33, and the direction indicator control device 34 that have received instructions from the arithmetic processing device 11 control the operation of each device of the target moving body 1, thereby completing the merge. The travel of the target moving body 1 up to (or the merge end CT) is supported (FIG. 3 / STEP030).

(Operation and effect of this embodiment)
According to the driving support device 10 of the present invention, the driving mode candidate having the highest appearance probability selected based on the state of the surrounding mobile body X using the merging model is selected. The travel mode candidate is used for the travel support of the target mobile body, so that the travel mode during the merging period of the target mobile body 1 that is empirically assumed from the state of the peripheral mobile body X by the occupant of each mobile body and the actual travel mode Since it becomes easy to prevent the driving | running | working aspect in the confluence | merging period of the object moving body 1 from deviating, the discomfort given to the passenger | crew of each moving body can be eliminated or reduced.

  According to the travel support device 10 having the above configuration, since the travel mode candidates are selected after taking into account the state of the target mobile body 1, the state of the peripheral mobile body X and the state of the target mobile body 1 are determined by the occupants of each mobile body. The disparity between the traveling mode in the merging period of the target moving body 1 that is empirically assumed from the state and the traveling mode in the actual merging period of the target moving body 1 is more easily prevented, and the uncomfortable feeling given to the passengers of each moving body Can be eliminated or reduced.

  Further, according to the travel support device 10 having the above configuration, in the merge model, the state of the peripheral mobile body X and the target mobile body such that the ratio of the state parameter of the peripheral mobile body X to the state parameter of the target mobile body 1 is the same. For a plurality of combinations with one state, one appearance probability is correlated with each of the travel mode candidates. As a result, the merge model is simplified, so that the processing efficiency can be improved.

  According to the travel support device 10 having the configuration, energy consumption of the target moving body 1 can be suppressed while the uncomfortable feeling given to the occupant of each moving body is eliminated or reduced.

  According to the travel support device 10 having this configuration, the travel mode candidate is selected after taking into account the future state of the surrounding mobile body X, and thus a more appropriate travel mode can be selected.

  According to the travel support device 10 having the above configuration, the predetermined time t for predicting the state of the peripheral moving body X is determined according to the length of the merged subline L1, and therefore, as viewed from the length of the merged subline L1. It is prevented that the future state of the surrounding mobile body X at an unnatural time is used. As a result, the uncomfortable feeling given to the occupant of each moving body by the driving support can be reduced or eliminated.

  According to the travel support device 10 having the above configuration, the area in which the target mobile body 1 that has a relatively large influence on the travel mode of the target mobile body 1 is traveling, the weather around the target mobile body, At least one of the brightness and the number of traveling lanes of the merged main line is reflected in the correlation. As a result, it is possible to prevent the travel mode candidate selected based on the correlation from deviating from the travel mode assumed by the occupants of each moving body, so that the uncomfortable feeling given to the occupants of each moving body. Can be eliminated or reduced.

  Until the point corresponding to the hard nose HN is reached, the situation of the other road (joining main line L2) may not be properly recognized. According to the travel support device 10 of the configuration, the reference corresponding to the hard nose HN Since the time point at which the target moving body 1 exists at the point SP is set as the reference time point (see FIG. 3 / STEP002), the state of the peripheral moving body X can be recognized with high accuracy.

(Modification)
In the above description, the target moving body 1 travels on the merging subline L1 and the peripheral moving body X travels on the merging main line L2. However, the present invention is not limited to this, and for example, as shown in FIG. The target moving body 1 may travel along the merging main line L4, and the surrounding moving bodies X3 and X4 may travel along the merging subline L3.

In this case, the peripheral mobile body state recognition unit 11a, after reaching the reference point SP of the target mobile body 1 (FIG. 3 / STEP002... YES), similarly to the case of FIG. The relative speeds RV _X3 and RV _X4 , distances D _X3 and D _X4 of _X4 are recognized (FIG. 3 / STEP004). Hereinafter, in the same manner as described above, the arithmetic processing unit 11 supports the traveling of the target moving body 1 at the junction (see FIG. 3 / STEP006 to STEP030).

  Moreover, as FIG. 7 shows, the confluence | merging main line which the object moving body 1 drive | work may be comprised from multiple lanes L6, L7.

In this case, the peripheral mobile body state recognition unit 11a, after reaching the reference point SP of the target mobile body 1 (FIG. 3 / STEP002... YES), similarly to the case of FIG. The relative speeds RV _X5 , RV _X6 , distances D _X5 , D _X6 of _X6 are recognized (FIG. 3 / STEP004). In the same manner as described above, the arithmetic processing unit 11 supports the traveling of the target moving body 1 at the junction (see FIG. 3 / STEP006 to STEP030), but the traveling mode candidate selecting unit 11g is used as a traveling mode candidate. In FIG. 3 / STEP016 to FIG. 3 / STEP024, “the aspect in which the target moving body 1 changes the lane to the confluence main line L7 not in contact with the confluence subline L5” may be selected.

  In this case, the arithmetic processing unit 11 recognizes the state of the peripheral moving body X7 traveling on the merging main line L7 that is the lane change destination via the imaging sensor 27, and is similar to the case where the lane is changed from the merging subline to the merging main line. It is preferable to select a running mode candidate when changing lanes by processing.

  In addition, the peripheral mobile body state recognition unit 11a may recognize the peripheral mobile body X7 traveling on the merge main line L7 in FIG. 3 / STEP004.

  In the present embodiment, both the predicted relative speed ratio PV and the predicted inter-vehicle time T are used. Instead, one of the predicted relative speed ratio PV and the predicted inter-vehicle time T may be used.

  In the present embodiment, the travel mode candidate is selected using the predicted relative speed ratio PV and the predicted inter-vehicle time T by considering the relative acceleration RA, but in addition to or instead of this, the relative acceleration is calculated. Without consideration, the current relative speed ratio PV ′ and the inter-vehicle time T ′ are calculated by, for example, the following formulas 7 and 8, and the vehicle travels using one or both of the relative speed ratio PV ′ and the inter-vehicle time T ′. Aspect candidates may be selected.

  In the present embodiment, both the predicted relative speed ratio PV and the predicted inter-vehicle time T are used as the basic information of the travel mode candidate group map (merging model), but in addition to or instead of this, the relative speed RV And / or distance D, and / or at least one of predicted relative velocity and / or predicted distance may be used.

  In the present embodiment, it corresponds to the position information of the target mobile body 1, the weather around the target mobile body 1 (sunny, rain, snow, etc.), the degree of sunshine (day or night), and the position information of the target mobile body 1. Although the travel mode candidate group map is used for each of the regional information (Tokyo, Osaka, etc.) and the number of lanes of the confluence main line, it is not always necessary to consider all these information. A driving mode candidate group map in which some information is omitted may be used, or a driving mode candidate group map in which all of the information is not taken into consideration (position information of the target mobile body 1, target mobile body 1) Of the surrounding area (sunny, rainy, snow, etc.), the degree of sunshine (day or night), regional information corresponding to the location information of the target mobile 1 (Tokyo, Osaka, etc.), and the number of lanes on the confluence main line Regardless, always the same driving mode candidate group -Up) may be used.

  In addition, the environment recognition unit 11f includes, as the surrounding environment, the position information of the target mobile body 1, the weather around the target mobile body 1 (sunny, rain, snow, etc.), the degree of sunshine (day or night), target movement Instead of or in addition to the regional information (Tokyo, Osaka, etc.) corresponding to the position information of the body 1 and the number of lanes of the merge main line, the traffic volume of the merge sub line L1 and the merge main line L2, the merge sub line L1 and The time required for the merge main line L2, the current time zone, the current season, and the like may be recognized. It is preferable that a travel mode candidate group map is provided for each of these surrounding environments.

  In the present embodiment, the driving support device 10 starts driving support at a junction where it is a requirement that the target moving body 1 reaches the reference point SP. Instead of this, for example, the target movement is performed by the imaging sensor 27. On the condition that it is confirmed that there is a surrounding moving body on the merging main line or the merging subline on the side where the body is not traveling, traveling support at the merging point may be started.

  In this embodiment, the speed of the target moving body is used as the state parameter representing the state of the target moving body. Instead of or in addition to this, for example, the value of the yaw rate or the state parameter representing the state of the target moving body is used. The size of the vehicle body may be used, and the vehicle type of the target moving body may be used as the state of the target moving body.

  In the present embodiment, the correlation between the predicted relative speed ratio PV and the predicted inter-vehicle time T of the surrounding mobile body X with respect to the target mobile body 1 and the travel speed ratio of the target mobile body 1 and the appearance probability of each travel mode candidate is shown. The travel mode candidate group map is used, but instead of or in addition to this, the state of the peripheral mobile body (travel speed of the peripheral mobile body X, acceleration of the peripheral mobile body X, position information of the peripheral mobile body X, peripheral movement The vehicle type of the body X, the color of the vehicle body of the peripheral mobile body X, the size of the vehicle body of the peripheral mobile body X, the state of the passengers of the peripheral mobile body X, the sound output from the peripheral mobile body X, etc.) and each travel mode candidate A travel mode candidate group map that shows a correlation with the appearance probability of the may be used.

  In the present embodiment, the correlation between the predicted relative speed ratio PV and the predicted inter-vehicle time T of the surrounding mobile body X with respect to the target mobile body 1 and the travel speed ratio of the target mobile body 1 and the appearance probability of each travel mode candidate is shown. The travel mode candidate group map is used, but instead of or in addition to this, state parameters indicating the state of the peripheral mobile body (travel speed of the peripheral mobile body X, acceleration of the peripheral mobile body X, vehicle type of the peripheral mobile body X) , The color of the vehicle body of the peripheral mobile body X, the size of the vehicle body of the peripheral mobile body X, the appearance of the passengers of the peripheral mobile body X, and the numerical output of the sound output from the peripheral mobile body X) and the target State parameters representing the state of the moving body 1 (the traveling speed of the target moving body 1, the acceleration of the target moving body 1, the vehicle type of the target moving body 1, the color of the vehicle body of the target moving body 1, the state of the passenger of the target moving body 1 and Sound output from the target mobile 1) and each run Driving mode candidate group map indicating a correlation between the occurrence probability aspect candidates may be used.

  The peripheral moving body state recognition means 11a adds the traveling speed of the target moving body 1 to the relative traveling speed of the peripheral moving body X with respect to the target moving body 1, and the relative acceleration of the peripheral moving body X with respect to the target moving body 1 The traveling speed and acceleration of the peripheral mobile body X may be recognized by adding the acceleration of the target mobile body 1 to the above.

  In addition, instead of or in addition to this, the peripheral mobile body state recognition means 11a is connected to the surroundings through at least one of communication with a server, vehicle-to-vehicle communication, and road-to-vehicle communication via a communication device that communicates with the outside. The state of the peripheral mobile body X acquired from the sensor group of the mobile body X (travel speed of the peripheral mobile body X, acceleration of the peripheral mobile body X, position information of the peripheral mobile body X, vehicle type of the peripheral mobile body X, peripheral mobile body You may recognize (receive) the color of the vehicle body of X, the size of the vehicle body of the peripheral mobile body X, and the appearance of the passengers of the peripheral mobile body X).

  The peripheral moving body state recognition unit 11a may include a sound collecting microphone instead of or in addition to the above, and may be configured to recognize the sound output from the peripheral moving body X as the state of the peripheral moving body X. .

  In the present embodiment, the travel support device 10 is mounted on the target moving body 1, but instead, the travel support device 10 may be configured by an external device such as a server. In this case, the driving support device 10 configured by an external device communicates with the sensor group 20 and the control device group 30 via the communication device mounted on the target mobile body 1 and executes the process of FIG. Thus, the traveling of the target mobile body 1 can be supported. In this case, some or all of the constituent elements of the sensor group 20 may be configured by, for example, a roadside machine provided outside the target moving body 1, and in this case, the travel support device 10 The information may be recognized by directly communicating with or indirectly communicating with another traffic information server or the like.

  Further, the arithmetic processing unit 11 may output the operation instruction information to the output device 15 instead of or in addition to outputting the command signal to the control device group 30.

DESCRIPTION OF SYMBOLS 1 ... Target moving body, 10 ... Driving support device, 11 ... Arithmetic processing unit, 11a ... Peripheral moving body state recognition means, 11b ... Target moving body state recognition means, 11c ... Peripheral moving body state prediction means, 11d ... Confluence subline Long recognition means, 11e... Predetermined time determining means, 11f. Environment recognition means, 11g... Traveling mode candidate selection means, 12... Traveling mode candidate group database, 13 ... Map database, 20 ... Sensor group, 21 ... Position information sensor, 22 ··· Weather information sensor, 23 ··· Brightness sensor, 24 · Speed sensor, 25 · Acceleration sensor, 26 · Yaw rate sensor, 27 · Imaging sensor, 30 · Control device group, X1 · Preceding moving body, X2 · Subsequent moving body, X3: Preceding moving body, X4: Subsequent moving body, X5: Preceding moving body, X6: Subsequent moving body, X7: Preceding moving body.

Claims (11)

Before and after the first moving body traveling on the merged subline that merges with the merged main line changes the lane to the merged main line, of the first movable body and the second moving body that travels on the near side from the merged end of the merged main line A device that supports the traveling of a target mobile body that is one mobile body,
The first moving body is present around the target moving body at a predetermined reference time at which the first moving body exists on the merged subline, and at least the other moving body of the first moving body and the second moving body is at least Peripheral mobile body state recognition means for recognizing the state of the peripheral mobile body including
A relative running mode of the target moving body relative to the surrounding moving body in a merging period including the period from the reference time point to a merging completion time point when the lane change to the merging main line of the first moving body is completed. From the running mode candidate group consisting of a plurality of running mode candidates to represent , the surrounding mobile body state recognition means recognizes the merging model that determines the appearance probability of each of the running mode candidates in each state of the surrounding mobile body A travel support apparatus comprising: a travel mode candidate selecting unit that selects a travel mode candidate having the highest appearance probability in the state of the peripheral mobile body based on the state of the peripheral mobile body . In the driving assistance device according to claim 1,
A target moving body state recognition means for recognizing a value of a state parameter representing the state of the target moving body;
The peripheral mobile body state recognition means recognizes a value of a state parameter representing the state of the peripheral mobile body,
The travel mode candidate selection means uses, as the confluence model, a model that determines the appearance probability of each of the travel mode candidates in each ratio between the value of the state parameter of the surrounding mobile body and the value of the state parameter of the target mobile body. , the state parameters and the said surrounding mobile based on the state parameters of the object moving body that is recognized by the state parameter and the target mobile state recognition means of the surrounding mobile recognized by the surrounding mobile state recognizing means A driving support device configured to select a driving mode candidate having the highest appearance probability in a state parameter of a target moving body . In the driving assistance device according to claim 2,
The peripheral mobile body state recognition means recognizes one or both of a relative speed of the peripheral mobile body with respect to the target mobile body and a distance between the peripheral mobile body and the target mobile body as state parameters of the peripheral mobile body. ,
The target moving body state recognition means recognizes the speed of the target moving body as a state parameter of the target moving body. In the driving assistance device according to any one of claims 1 to 3,
The traveling mode candidate selecting means is configured to travel with the least energy consumption of the moving body when a plurality of traveling mode candidates having the same appearance probability in the state of the one surrounding moving body exist for one surrounding moving body. A driving support device configured to select a mode candidate. In the driving assistance device according to any one of claims 1 to 4,
Based on the state of the peripheral mobile body recognized by the peripheral mobile body state recognition means, it comprises a peripheral mobile body state prediction means for predicting the future state of the peripheral mobile body after a predetermined time,
The travel mode candidate selection means uses the model that determines the appearance probability of each of the travel mode candidates in each future state of the peripheral mobile body as the merging model, and the predetermined prediction predicted by the peripheral mobile body state prediction means A travel support apparatus configured to select a travel mode candidate having the highest appearance probability in the future state of the peripheral mobile body based on the future state of the peripheral mobile body after time. In the driving assistance device according to claim 5,
The peripheral moving body state recognizing means includes one or both of a relative speed of the peripheral moving body with respect to the target moving body, a distance between the peripheral moving body and the target moving body, and the peripheral moving body with respect to the target moving body. Recognizing relative acceleration as the state of the surrounding mobile body,
The peripheral mobile body state predicting means is calculated based on one or both of the relative speed and the distance and the relative acceleration, and the predicted relative speed of the peripheral mobile body with respect to the target mobile body after the predetermined time, and the A driving support device configured to predict one or both of the predicted distances between a peripheral mobile body and the target mobile body as a future state of the peripheral mobile body. In the driving assistance device according to claim 5 or 6,
Merging subline length recognition means for recognizing the length from the position of the target moving body at the reference time point to the end of the merging subline;
A driving support apparatus comprising: a predetermined time determining unit that determines the predetermined time according to the length recognized by the joining subline length recognizing unit. In the driving assistance device according to any one of claims 1 to 7,
Comprising environment recognition means for recognizing the surrounding environment of the target moving body,
In the confluence model, the appearance probability is determined for each surrounding environment,
The driving mode candidate selecting unit selects an appearance probability to be used in the merging model based on the environment recognized by the environment recognizing unit. The travel support device according to claim 8, wherein
The surrounding environment includes at least one of an area where the target moving body is traveling, weather around the target moving body, brightness around the target moving body, and the number of driving lanes on the merged main line. A driving support apparatus characterized by being included. In the driving assistance device according to any one of claims 1 to 9,
The reference time point is a time point when the target moving body exists at a position corresponding to a hard nose existing between the merging main line and the merging sub line in the merging main line or the merging sub line. A driving support device. In the driving assistance device according to any one of claims 1 to 10,
The peripheral moving body is a preceding moving body or a subsequent moving body that travels on the merging main line as viewed from the target moving body when the target moving body is traveling on the merging subline, and the target moving body is the When traveling on a merging main line, the traveling support apparatus is a preceding moving body or a subsequent moving body traveling on the merging subline as viewed from the target moving body.