JP6287583B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device.

  2. Description of the Related Art Conventionally, there is a navigation system that displays a three-dimensional image in consideration of weather conditions based on weather information such as rain and snow obtained from a raindrop sensor equipped with a temperature sensor (for example, Patent Document 1). reference).

Japanese Patent Laid-Open No. 2002-286461

  By the way, if the vehicle is running under an overpass or a tunnel during rainy weather or after raining, when the vehicle is stopped due to a traffic light or traffic jam, the vehicle stops at the point where rainwater leaks from the overpass or tunnel. There is a case. In such a case, for example, there is a problem that an unpleasant impact sound occurs when rainwater falls on the hood.

  Note that the device described in Patent Document 1 displays a three-dimensional image that takes into account weather conditions, and cannot prevent the vehicle from stopping at a rainwater fall point.

  The present invention has been made in view of the above problems, and an object of the present invention is to make it possible to avoid stopping a vehicle at a rainwater falling point.

  In order to achieve the above object, the invention according to claim 1 is a rainwater fall point judging means (S104) for judging whether or not there is a rainwater fall point where the collected rainwater falls at the destination of the vehicle. When the rainwater fall point determination means determines that there is a rainwater fall point, the relative position calculation means (S105) for calculating the relative position between the vehicle and the rainwater fall point, and the vehicle and rainwater fall calculated by the relative position calculation means First notification means (S108) for performing notification for avoiding stopping in a state where all or a part of the vehicle enters the rainwater falling point based on the relative position of the point, Yes.

  According to such a configuration, it is determined whether there is a rainwater falling point where the collected rainwater falls at the destination of the vehicle, and if it is determined that there is a rainwater falling point, the vehicle and the rainwater falling point The relative position between the vehicle and the rainwater fall point is calculated and a notification is issued to avoid stopping all or part of the vehicle in the rainwater fall point. It is possible to avoid stopping the vehicle at a point.

  In order to achieve the above object, the invention described in claim 6 is a rainwater fall point judging means for judging whether or not there is a rainwater fall point where the collected rainwater falls at the destination of the vehicle (S104). ) And a relative position calculation means (20) for calculating a relative position between the vehicle and the rainwater fall point when the rainwater fall point determination means determines that there is a rainwater fall point, and a vehicle that performs accelerator control and brake control of the vehicle Based on the relative position of the vehicle and the rainwater falling point calculated by the control means (23) and the relative position calculating means, the vehicle is prevented from stopping in a state where all or part of the vehicle enters the rainwater falling point. Vehicle control instruction means (S120 to S124) for instructing the control means.

  According to such a configuration, it is determined whether there is a rainwater falling point where the collected rainwater falls at the destination of the vehicle, and if it is determined that there is a rainwater falling point, the vehicle and the rainwater falling point The vehicle's accelerator control and brake control are performed based on the relative position of this vehicle and the rainwater falling point so that the vehicle is prevented from stopping when all or part of the vehicle enters the rainwater falling point. Since an instruction is given to the vehicle control means (23) to perform, it is possible to avoid stopping the vehicle at the rain water falling point.

  In addition, the code | symbol in the bracket | parenthesis of each means described in this column and the claim shows the correspondence with the specific means as described in embodiment mentioned later.

It is a figure showing composition of a driving support device concerning a 1st embodiment of the present invention. It is a figure which shows the structure of a navigation apparatus. It is a flowchart of the navigation apparatus which concerns on 1st Embodiment of this invention. It is an example of a display of the image which shows the relative position of a vehicle and a raindrop falling point. It is a figure for demonstrating the setting of an avoidance range. It is a figure for demonstrating the stop position for avoiding stopping in the state which the vehicle entered into the rain water fall point. It is a figure for demonstrating calculation of the stop position for avoiding that a vehicle stops in the state which entered the rainwater fall point. It is the figure which showed the example of a display of a stop position. It is the figure which showed the example of a display when a preceding vehicle advances. It is a figure which shows the structure of the driving assistance device which concerns on 2nd Embodiment of this invention. It is a flowchart of the navigation apparatus which concerns on 2nd Embodiment of this invention. It is a flowchart of the navigation apparatus which concerns on 2nd Embodiment of this invention. It is a figure for demonstrating a modification.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following embodiments, the same or equivalent parts are denoted by the same reference numerals in the drawings.

(First embodiment)
FIG. 1 shows the overall configuration of the in-vehicle notification device according to the first embodiment of the present invention. This in-vehicle notification device is configured using a navigation device 10 mounted on a vehicle. In addition, the vehicle in this embodiment is equipped with a sunroof.

  The navigation device 10 performs notification to avoid stopping the vehicle in a state where the vehicle has entered the rainwater falling point when there is a rainwater falling point where the collected rainwater falls at the destination of the vehicle.

  The navigation device 10 is connected to a front camera 20, a sunroof opening / closing state sensor 21, and a distance measuring sensor 22.

  The front camera 20 is attached to the vehicle so as to photograph the front of the vehicle. The front camera 20 has a right camera and a left camera (both not shown), and finds the same point from the photographed image of the right camera and the photographed image of the left camera and obtains the parallax to thereby determine the distance from the detection target. It is configured as a stereo camera that can be obtained. The front camera 20 outputs the captured images of the right camera and the left camera to the navigation device 10.

  If the focal length of the lens of the stereo camera is f, the base length (the distance between the right camera and the left camera constituting the stereo camera) is l, and the parallax is x, the distance d between the stereo camera and the obstacle is d = It can be calculated as f × l / x.

  The sunroof opening / closing state sensor 21 detects the opening / closing state of the sunroof provided on the ceiling of the vehicle, and outputs a signal indicating the opening / closing state of the sunroof to the navigation device 10.

  The distance measuring sensor 22 is configured using a radar device or an ultrasonic sensor attached to the front of the vehicle (for example, inside the front grill). The distance measuring sensor 22 measures the distance to the preceding vehicle and outputs a signal indicating the measured distance to the preceding vehicle to the navigation device 10.

  FIG. 2 shows a block configuration of the navigation device 10. The navigation device 10 includes a position detector 11, a map data input device 12, an operation unit 13, a display unit 14, a storage unit 15, and a control unit 16.

  The position detector 11 includes a geomagnetic sensor, a gyroscope, a vehicle speed sensor, a GPS receiver, and the like (all not shown). The current position of the vehicle, the direction of the vehicle, and the speed of the vehicle (which are input from these) Information for specifying the vehicle speed is output to the control unit 16.

  The map data input unit 12 stores map data including so-called map matching data for improving position detection accuracy, road data representing road connections, background data for map display, facility data relating to various facilities, and the like. This is a device that reads out the data from the computer and inputs it to the control unit 16. The road data includes information indicating the position of the tunnel and the overhead. As a storage medium for storing map data, a DVD, a hard disk drive, a flash memory, or the like is used.

The operation unit 13 includes a mechanical switch provided around the display of the display unit 14, a touch switch provided over the display of the display unit 14, and the like, and sends a signal corresponding to the user's switch operation to the control unit 16. Output.

  The display unit 14 includes a display such as a liquid crystal, and displays an image corresponding to the video signal input from the control unit 16 on the display.

  The storage unit 15 is for storing various data, and is configured by a hard disk drive, a flash memory, or the like.

  The control part 16 is comprised as a computer provided with CPU, RAM, ROM, flash memory, I / O, etc., CPU implements various processes according to the program memorize | stored in ROM.

  As processing of the control unit 16, current position specifying processing for specifying the current position of the vehicle, the direction of the vehicle, and the vehicle speed based on information input from the position detector 11, and the vehicle position mark is superimposed on a map around the vehicle. Map display processing to be displayed, destination search processing to search for a destination according to a user operation, route search processing to search for an optimum route from the current position to the destination, route guidance to perform route guidance according to the searched route There are processing.

  Further, vehicle shape information indicating the shape of the vehicle is stored in the flash memory of the control unit 16 in the present embodiment. This vehicle shape information includes the total length of the vehicle, the vehicle width, the position (range) of the front window in the entire vehicle, the position (range) of the rear window in the entire vehicle, and the position (range) of the sunroof in the entire vehicle. Further, the vehicle shape information includes the position of the front camera 20 in the entire vehicle.

  The control unit 16 in this embodiment determines whether or not there is a rainwater falling point where the collected rainwater falls at the destination of the vehicle, and if it is determined that there is a rainwater falling point, the vehicle falls in the rainwater A notification process for performing notification for avoiding stopping in a state where the vehicle enters the point is performed.

  FIG. 3 shows a flowchart of the notification process. When the ignition switch of the vehicle is turned on, the navigation device 10 is in an operating state, and the control unit 16 performs the process shown in FIG.

  First, it is determined whether or not the vehicle is stopped or traveling at a low speed (S100). Specifically, it is determined whether the vehicle speed of the vehicle is less than a reference value (for example, 10 kilometers per hour) based on a signal output from the vehicle speed sensor.

  Here, when the vehicle speed of the vehicle is less than the reference value, the determination in S100 is YES, and then it is determined whether the vehicle is present at a position under the roof or under the roof as in a tunnel. (S102). Specifically, based on the map data around the current position read from the map data input device 12 and the current position, it is determined whether or not the vehicle is present at a position under the roof or under the roof, such as in a tunnel.

  Here, when the vehicle is located under the roof or under the roof as in a tunnel, the determination in S102 is YES, and then the rainwater falling point where the collected rainwater falls on the destination of the vehicle It is determined whether or not is detected (S104). Specifically, it is determined whether or not a rainwater falling point has been detected by performing image processing on at least one of the right camera and the left camera output from the front camera 20. In the present embodiment, a point where the collected rainwater falls intermittently or a point where the collected rainwater falls continuously is detected as a rainwater falling point.

  Here, when it is determined that the rainwater falling point is detected, the relative position between the rainwater falling point and the front camera 20 is specified (S105). Specifically, the relative position (relative distance and direction) between the rainwater drop point and the front camera 20 is calculated based on the captured images of the right camera and the left camera output from the front camera 20.

  Next, vehicle shape information is acquired (S106). Specifically, vehicle shape information is read from the flash memory of the control unit 16.

  Next, an image showing the relative position of the vehicle and the raindrop fall point (raindrop spot) is displayed on the display unit 14 (S108). FIG. 4 shows a display example of the display unit 14. In the present embodiment, an image obtained by looking down the relative position of the vehicle and the raindrop drop point (raindrop spot) from the vertical direction of the vehicle is displayed on the display unit 14. This image also includes a front window FW, a rear window RW, and a sunroof SR.

  The relative position between the vehicle and the raindrop falling point can be obtained from the relative position between the front camera 20 and the rainwater falling point and the position of the front camera 20 in the entire vehicle. Further, the position of the front window FW in the vehicle, the position of the rear window RW in the vehicle, and the position of the sunroof SR in the vehicle can be specified from the vehicle shape information.

  Next, the open / closed state of the sunroof is specified (S109). The open / close state of the sunroof can be specified based on a signal indicating the open / close state of the sunroof output from the sunroof open / close state sensor 21.

  Next, the distance between the preceding vehicle and the host vehicle is specified (S114). The distance between the preceding vehicle and the host vehicle can be specified based on a signal output from the distance measuring sensor 22. When there is no preceding vehicle, the distance between the preceding vehicle and the own vehicle is infinite.

  Next, the stop position for avoiding stopping in the state where the vehicle entered the rainwater falling point is specified (S116). In the present embodiment, as shown in FIG. 5, the avoidance range for preventing the vehicle from entering the rainwater falling point is set as the entire vehicle, and the stop position for avoiding the vehicle stopping in the state where the vehicle has entered the rainwater falling point is set. calculate.

  As shown in FIG. 6A, when there is a rainwater falling point D2 between the own vehicle and the preceding vehicle, a sufficient space is required for the own vehicle to enter between the rainwater falling point D2 and the preceding vehicle.

  If the vehicle moves forward without such a sufficient space, as shown in FIG. 6 (b), the vehicle will stop in a state where it enters the rainwater falling point.

  Therefore, as shown in FIG. 6 (c), it is necessary to pass through the rainwater fall point D2 after a sufficient space (avoidance spot) for the host vehicle to enter between the rainwater fall point D2 and the preceding vehicle is secured. is there.

  Here, as shown in FIG. 7, if the total length of the host vehicle is L0, the distance between the host vehicle and the preceding vehicle is L1, and the distance from the host vehicle to the rainwater falling point D3 is L2, L1−L2 <L0 + α ( When Formula 1) is satisfied, the stop position is set at a point before the rainwater falling point D3. Here, although not shown in FIG. 7, α is an inter-vehicle distance (a constant value) between the own vehicle and the preceding vehicle after the own vehicle has passed the rainwater falling point D3.

  Thus, when Formula 1 (L1-L2 <L0 + α) is satisfied, the stop position is at a position before the rainwater falling point D3 so that the vehicle does not stop in a state where it enters the rainwater falling point. Set. In the present embodiment, the stop position is set at a position a certain distance (for example, 2 meters) before the rainwater falling point D3.

  When L1-L2 ≧ L0 + α (Formula 2) is satisfied, the vehicle does not stop in a state where it enters the rainwater falling point even if it passes through the rainwater falling point D3.

  Next, the stop position is displayed (S118). Here, when Formula 1 (L1-L2 <L0 + α) is established, the stop position set so that the vehicle does not stop in a state where it enters the rainwater fall point, that is, a raindrop spot (rainwater fall) An image representing the stop position set at a point in front of (point) is displayed on the display unit 14. FIG. 8 shows an example of a display image of the display unit 14. In the present embodiment, a message such as “Please stop at the stop position” is displayed on the display unit 14 and voice is output from a speaker (not shown). Further, when it is determined in S109 that the sunroof is in the open state, a message such as “Now to close the sunroof” is displayed on the display unit 14 and the sound is output from the speaker, and the process returns to S100. The display shown in FIG. 8 is displayed on the display unit 14 side by side with the display shown in FIG.

  In addition, when the preceding vehicle moves forward and Formula 2 (L1-L2 ≧ L0 + α) is satisfied, the vehicle will not stop in the rainwater falling point even if it passes through the rainwater falling point D3. As shown in FIG. 8, a message such as “Please move forward” is displayed on the display unit 14 and voice is output from the speaker, and the process returns to S100.

  If the vehicle speed is equal to or higher than the reference value, the determination in S100 is NO and the process returns to the determination in S100. Therefore, the process of S102-S118 is not implemented.

  If the vehicle does not exist under the roof or under the roof, such as in a tunnel, the determination in S102 is NO and the process returns to S100.

  If the rainwater falling point where the collected rainwater falls is not detected at the destination of the vehicle, the determination in S104 is NO and the process returns to S100.

  According to the above configuration, it is determined whether or not there is a rainwater falling point where the collected rainwater falls at the destination of the vehicle, and if it is determined that there is a rainwater falling point, the vehicle and the rainwater falling point are Since the relative position is calculated and a notification is issued to avoid stopping the vehicle in the rainwater falling point based on the relative position between the vehicle and the rainwater falling point, the vehicle stops at the rainwater falling point. Can be avoided.

  Also, vehicle shape information indicating the shape of the vehicle including the vehicle body is obtained, and an image indicating the relative position of the vehicle and the rainwater falling point is obtained so that the shape of the vehicle body can be recognized based on the vehicle shape information. Since it is displayed on the display unit, the driver can perform driving operations so that the vehicle body and the rainwater falling point do not overlap from the image on the display unit, and it is easy to avoid stopping the vehicle at the rainwater falling point Can do.

  Further, vehicle shape information including the shapes of the front window and rear window of the vehicle is acquired, and the vehicle and rainwater are so recognized that the shapes of the vehicle body, front window, and rear window of the vehicle can be recognized based on the vehicle shape information. By displaying an image showing the relative position of the falling point on the display unit, the driver can perform driving operations from the image on the display unit so that the front and rear windows do not overlap with the rainwater falling point, ensuring a field of view. can do.

  In addition, a stop position is calculated so that the vehicle does not stop when the vehicle enters the rainwater fall point, and the driver is notified to stop at this stop position, so the vehicle enters the rainwater fall point more reliably. It is possible to prevent the vehicle from stopping in a state where

  Further, when it is detected whether the sunroof of the vehicle is in an open state, it is determined that there is a rainwater falling point at the destination of the vehicle, and it is detected that the sunroof of the vehicle is in an open state, Since it is notified that the sunroof is in the open state, it is possible to prevent the user from passing the rainwater falling point while the sunroof is in the open state.

(Second Embodiment)
FIG. 10 shows the overall configuration of the driving support apparatus according to the second embodiment of the present invention. The present driving support device is different from the driving support device shown in the first embodiment in that it further includes a vehicle control unit 23 and a sunroof control unit 24.

  The vehicle control unit 23 includes an object detection device (not shown) for measuring the inter-vehicle distance from the preceding vehicle, and measures the inter-vehicle distance from the preceding vehicle using the object detection device. Accelerator control and brake control are performed so that the inter-vehicle distance is constant, and automatic traveling is performed.

  In addition, the vehicle control unit 23 in the present embodiment can also perform accelerator control and brake control in accordance with instructions from the navigation device 10.

  The sunroof control unit 24 drives a sunroof opening / closing actuator (not shown) in accordance with an instruction from the control unit 16 of the navigation device 10 to perform sunroof opening / closing control.

  Next, the process of the control part 16 of the navigation apparatus 10 in this embodiment is demonstrated. The process of the control part 16 in this embodiment differs in the process of S108-S114, and the process of S118-S100 compared with the process of 1st Embodiment shown in FIG.

  FIG. 11 shows the processing of S108 to S114 of the control unit 16 in the present embodiment. First, the processing of S108 to S114 will be described.

  If an image indicating the relative position of the vehicle and the raindrop drop point (raindrop spot) is displayed on the display unit 14 in S108, it is next determined whether or not the sunroof of the vehicle is open (S120). The open / close state of the sunroof can be determined based on a signal indicating the open / close state of the sunroof output from the sunroof open / close state sensor 21.

  If the sunroof of the vehicle is in an open state, the determination in S110 is YES, and then the sunroof control unit 24 is instructed to close the sunroof (S112). Specifically, a signal instructing to close the sunroof is output to the sunroof control unit 24, and the process proceeds to S114.

  As described above, when it is determined that there is a rainwater falling point at the destination of the vehicle and it is determined that the sunroof of the vehicle is in the open state, the sunroof control unit 24 is instructed to close the sunroof of the vehicle. The rainwater collected can be prevented from entering the passenger compartment.

  FIG. 12 shows the processing of S118 to S100 of the control unit 16 in the present embodiment. Next, the processing of S118 to S100 will be described.

  If the stop position for avoiding stopping in the state where the vehicle entered the rainwater falling point is displayed in S118, it is next determined whether or not the vehicle can move forward (S120). That is, it is determined whether or not the vehicle can move forward without stopping in a state where the vehicle has entered the rainwater falling point. Specifically, when the above formula 1 (L1−L2 <L0 + α) is satisfied, it is determined that the vehicle cannot advance, and when the above formula 2 (L1−L2 ≧ L0 + α) is satisfied, the vehicle can advance. Is determined.

  Here, when Formula 1 (L1-L2 <L0 + α) is satisfied, the determination in S120 is NO, and the vehicle control unit 23 is instructed to stop at the stop position (S122). Specifically, the vehicle control unit 23 is instructed to stop at the stop position specified in S116, that is, the stop position set at a position a certain distance (for example, 2 meters) before the rainwater falling point D3, Return to S100. In addition, the vehicle control part 23 implements brake control according to this instruction | indication, and stops a vehicle in a stop position.

  When the preceding vehicle moves forward and Formula 2 (L1−L2 ≧ L0 + α) is established, the determination in S124 is YES, and the vehicle control unit 23 is instructed to move the vehicle forward (S124). Specifically, a signal instructing the vehicle control unit 23 to advance the vehicle is output, and the process returns to S100. The vehicle control unit 23 performs an accelerator operation in response to this instruction, and advances the vehicle.

  According to the above configuration, it is determined whether or not there is a rainwater falling point where the collected rainwater falls at the destination of the vehicle, and if it is determined that there is a rainwater falling point, the vehicle and the rainwater falling point are The vehicle control unit 23 that calculates the relative position and performs accelerator control and brake control of the vehicle so as to avoid stopping the vehicle in a state where the vehicle enters the rainwater falling point based on the relative position between the vehicle and the rainwater falling point. Since the instruction is given, it is possible to avoid stopping the vehicle at the rainwater falling point.

  In addition, when it is determined that there is a rainwater falling point at the destination of the vehicle and it is determined that the sunroof of the vehicle is in the open state, the vehicle sunroof is controlled to be opened and closed so that the sunroof of the vehicle is closed. Since an instruction is given to the sunroof control unit 24, it is possible to prevent a rainwater falling point from being passed while the sunroof is in an open state.

(Other embodiments)
In the first and second embodiments, the avoidance range that prevents entry into the rainwater fall point is the entire vehicle. However, for example, as shown in FIG. An avoidance range (for example, a front window, a rear window, and a ceiling portion) is set as a part of the vehicle, and notification or vehicle control is performed so that the avoidance range does not enter the rainwater falling point. Good. For example, in the case where a front window and a rear window are set as the avoidance range, in addition to the front camera 20, rainwater hitting the hood of the vehicle is collected using a microphone outside the vehicle, so that the rainwater falling point can be determined. It can also be detected with high accuracy. In addition, a sunroof can be set as an avoidance range by a user operation.

  The seat is provided with a seating sensor (corresponding to seating detection means) that detects whether a passenger is seated in each seat of the vehicle and outputs a detection result detection signal to the control unit 16. A part of the vehicle located above is set as the avoidance range, and a part of the vehicle located above the seat where no occupant is seated is set as the avoidance range, and this avoidance range enters the rainwater fall point Notification for avoiding stopping in a state may be performed, or vehicle control for avoiding stopping in a state where the avoidance range enters a rainwater falling point may be performed. For example, if there are no passengers in the rear seat, the upper ceiling of the front seat (driver seat and passenger seat) is set as the avoidance range, and the upper ceiling of the rear seat without passengers is set outside the avoidance range. Good.

  In the first and second embodiments, in a vehicle equipped with a sunroof, when the sunroof is in an open state, a notification is given to close the sunroof before the rainwater falling point, or control for closing the sunroof is performed. However, for example, in an open car having a hood, when the hood is in an open state, a notification may be given to close the hood in front of the rainwater falling point, or control for closing the hood may be performed. .

  Moreover, in the said 1st, 2nd embodiment, although the rainwater fall point was detected using the front camera 20 comprised using the stereo camera, a rainwater fall point is detected using three or more cameras. You may make it do.

  Further, in the first embodiment, when it is determined that there is a rainwater falling point at the destination of the vehicle, and it is detected that the sunroof of the vehicle is in an open state, a notification is given to indicate the sunroof, In the second embodiment, when it is determined that there is a rainwater falling point at the destination of the vehicle and it is determined that the sunroof of the vehicle is in the open state, the control indicating the sunroof is performed. In the embodiment, when it is determined that there is a rainwater falling point at the travel destination of the vehicle and it is determined that the sunroof of the vehicle is in the open state, the control for indicating the sunroof is performed. When it is determined that there is a rainwater falling point at the travel destination and it is detected that the sunroof of the vehicle is in an open state, a notification may be given to indicate the sunroof.

DESCRIPTION OF SYMBOLS 10 Navigation apparatus 20 Front camera 21 Sunroof opening / closing state sensor 22 Ranging sensor 23 Vehicle control part 24 Sunroof control part

Claims (10)

A rainwater fall point judging means (S104) for judging whether there is a rainwater fall point where the collected rainwater falls at the destination of the vehicle;
A relative position means (S105) for calculating a relative position between the vehicle and the rainwater falling point when the rainwater falling point determining means determines that there is the rainwater falling point;
Based on the relative position between the vehicle and the rainwater falling point calculated by the relative position calculating means, a notification is performed to avoid stopping the vehicle in a state where the whole or a part of the vehicle enters the rainwater falling point. A driving support apparatus comprising: first notification means (S108). Comprising information acquisition means (S106) for acquiring vehicle shape information indicating the shape of the vehicle including the vehicle body;
The first notifying unit displays an image indicating a relative position between the vehicle and the rainwater falling point so that the shape of the vehicle body of the vehicle can be recognized based on the vehicle shape information acquired by the information acquiring unit. The driving support device according to claim 1, wherein the driving support device is displayed on a display unit. The information acquisition means further acquires vehicle shape information including shapes of a front window and a rear window of the vehicle,
The first notifying unit displays an image indicating a relative position between the vehicle and the rainwater falling point on the display unit so that the shapes of the vehicle body, the front window, and the rear window of the vehicle can be recognized. The driving support device according to claim 2. Stop position calculation means (S116) for calculating a stop position for preventing the vehicle from stopping when all or a part of the vehicle enters the rainwater falling point;
4. A second informing means (S <b> 118) for informing the driver to stop at the stop position calculated by the stop position calculating means. 5. The driving support device according to 1. Vehicle control means (23) for performing accelerator control and brake control of the vehicle;
Vehicle control means for avoiding stopping all or part of the vehicle in the rainwater falling point based on the relative position between the vehicle and the rainwater falling point calculated by the relative position calculating means. The driving support device according to any one of claims 1 to 4, further comprising vehicle control instruction means (S120 to S124) for instructing the vehicle. A rainwater fall point judging means (S104) for judging whether there is a rainwater fall point where the collected rainwater falls at the destination of the vehicle;
A relative position calculating means (S105) for calculating a relative position between the vehicle and the rainwater falling point when the rainwater falling point determining means determines that there is the rainwater falling point;
Vehicle control means (23) for performing accelerator control and brake control of the vehicle;
Vehicle control means for avoiding stopping all or part of the vehicle in the rainwater falling point based on the relative position between the vehicle and the rainwater falling point calculated by the relative position calculating means. And a vehicle control instruction means (S120 to S124) for instructing the vehicle. Open state detecting means (21) for detecting whether the sunroof or the hood of the vehicle is open;
When it is determined by the rainwater fall point determination means that there is the rainwater fall point, and the open state detection means detects that the sunroof or hood of the vehicle is open, the sunroof or hood of the vehicle is The driving support device according to any one of claims 1 to 6, further comprising third notification means (S118) for notifying that the vehicle is in an open state. Open state determining means (S110) for determining whether the sunroof or the hood of the vehicle is in an open state;
Opening and closing control means (24) for controlling opening and closing of the sunroof or hood of the vehicle;
When the rainwater fall point determination means determines that the rainwater drop point is present and the open state determination means determines that the sunroof or hood of the vehicle is open, the sunroof or hood of the vehicle is closed. The driving support apparatus according to any one of claims 1 to 6, further comprising an opening / closing instruction means (S112) for instructing the opening / closing control means to enter a state. Comprising seating detection means for detecting the presence or absence of a seated occupant in each seat of the vehicle,
The first informing means detects a part of the vehicle positioned above the seat on which the occupant is seated based on whether or not the occupant is seated in each seat of the vehicle detected by the seating detection means. The driving support according to any one of claims 1 to 4, wherein the driving assistance is set as an avoidance range, and notification is performed to avoid stopping when the avoidance range enters the rainwater falling point. apparatus. Comprising seating detection means for detecting the presence or absence of seating of a passenger in each seat of the vehicle
The vehicle control instruction means avoids a part of the vehicle positioned above the seat on which the occupant is seated based on the presence or absence of the occupant seated in each seat of the vehicle detected by the seat detection means. The driving support device according to claim 6, wherein the driving support device is set as a range, and instructs the vehicle control means to avoid stopping in a state where the avoidance range enters the rainwater falling point.

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