JP6507688B2 - Driving support system, driving support method, driving support program - Google Patents

Description

  The present invention relates to a driving support system, a driving support method, and a driving support program for supporting driving by a driver of a host vehicle.

  For the driving support system as described above, for example, the technology described in Patent Document 1 below is already known. In the technology of Patent Document 1, the other vehicle is detected using the other vehicle detection sensor such as a radar sensor or a camera sensor, and the guidance information is set and guided in consideration of the detection result of the other vehicle. There is. Therefore, in the technique of Patent Document 1, when there is a junction road joining the running road on which the host vehicle is traveling, the presence / absence of another vehicle traveling on the junction road is detected using the other vehicle detection sensor. , And is configured to set the guidance information based on the detection result.

JP, 2009-294943, A

  However, in the technology of Patent Document 1, it is necessary to detect another vehicle by another vehicle detection sensor such as a radar sensor or a camera sensor, and the other vehicle detection sensor is not provided or even if another vehicle detection sensor is provided. Other vehicles may not be detected if there is an obstacle or if the distance is long.

  In addition, even if there is a junction road ahead, if the lane on which the host vehicle travels is different, the driver needs to be careful about the junction road, for example, the possibility that the host vehicle approaches the junction vehicle is different. The degree of may vary. However, even if the degree of necessity for attention to the junction road is different, if the same content is guided each time without changing the content of the attention to the junction road, it is necessary for the driver to pay attention to the junction road. It is difficult to judge the degree. As a result, there is a risk that the driver may overreact in response to the warning guidance or may hear it.

  Therefore, the driver may be alerted by appropriately changing the degree of alerting for the merging road without needing to determine whether there is a merging vehicle actually by a sensor or the like that detects other vehicles. A driving support system that can do that is desired.

  In view of the above, the characteristic configuration of the driving support system for supporting the driver's driving of the host vehicle includes the host vehicle position acquisition unit for acquiring the current position of the host vehicle, and information on road connection and lane arrangement. A road for guiding a guide route which is a route for guiding the vehicle to the destination based on a road data acquisition unit for acquiring road data, the current position, the road data, and a set destination If there is a route searching unit that searches including a guidance lane that is a lane, and a junction road that joins the guidance road that is a road on which the guidance route is set based on the guidance route and the road data, the junction An alerting degree determination unit that determines an alerting degree that is an alerting degree to the driver of the host vehicle with respect to a road; and a junction point where the current position is the guide road and the junction road And an alerting execution unit for alerting in accordance with the alerting degree, and the alertness degree determining unit includes the junction point along the traveling direction of the vehicle. When the connecting lane, which is the lane of the guiding road to which the merging road is connected, and the guide lane overlap in the determination section set as above, the connecting lane and the guide lane in the determination section The present invention is to determine the degree of alerting so as to increase the degree of alerting as compared with the case where they do not overlap.

  Also, in view of the above, the technical features of the driving support system are also applicable to the driving support method and the driving support program, so that the present invention provides such a method and program, and further, such a program. A storage medium (eg, an optical disc, a flash memory, etc.) in which is stored can also be an object of the right.

  In that case, the characteristic configuration of the driving support method for supporting the driving by the driver of the host vehicle is the host vehicle position acquiring step in which the arithmetic processing unit acquires the current position of the host vehicle, the road connection relation and the lane arrangement A road route for guiding the vehicle to the destination based on the road data acquisition step of acquiring road data including information on the road, the current position, the road data, and the set destination; In the case where there is a route search step for searching including a guide lane which is a lane of a road to guide and a junction road which joins a guide road which is a road for which the guide route is set based on the guide route and the road data. An alerting degree determining step of determining an alerting degree which is an alerting degree to the driver of the vehicle with respect to the junction road, and the current position Performing an alerting execution step of alerting according to the alerting degree in a state before the joining point of the guide road and the merging road, and executing the alerting degree determining step; In the determination section set along the traveling direction of the host vehicle including the point, the determination is made if the connection lane, which is the lane of the guide road to which the merging road is connected, overlaps the guide lane The alerting degree is determined so as to increase the alerting degree as compared with the case where the connection lane and the guide lane do not overlap in a section.

  In this case, a characteristic configuration of a driving support program for causing a computer to realize a driving support function for supporting the driving of the driver of the host vehicle is a host vehicle position acquiring function of acquiring the current position of the host vehicle; The subject vehicle is guided to the destination based on the road data acquisition function of acquiring road data including information on road connection and lane arrangement, the current position, the road data, and the set destination. A route search function for searching for a guide route which is a route including a guide lane which is a lane of a road to guide, a guide road which is a road for which the guide route is set based on the guide route and the road data The alerting degree for determining the alerting degree, which is the alerting degree to the driver of the host vehicle regarding the merging road when there is a merging road that merges Causing a computer to realize, on a computer, a fixed function, and an alerting execution function for alerting the user according to the alerting degree in a state where the current position is before the junction of the guide road and the junction road; In the alerting degree determination function, a connection lane which is a lane of the guide road to which the merging road is connected and the guidance are included in a determination section set along the traveling direction of the vehicle including the merging point When the lanes overlap, the alerting degree is determined so as to increase the alertness as compared to the case where the connection lane and the guide lane do not overlap in the determination section.

According to these characteristic configurations, the alertness degree is determined according to whether or not the connection lane and the guide lane overlap, and a merging vehicle actually traveling on the merging road by a sensor or the like that detects the merging vehicle. The degree of alertness can be appropriately changed based on the road shape of the junction point obtained from the road data and the guide lane of the host vehicle without determining.
That is, when the connecting lane and the guide lane overlap in the vicinity of the joining point, compared with the case where the connecting lane and the guiding lane do not overlap, the own vehicle joins the joining vehicle when the joining vehicle joins from the joining road to the guide road. The possibility of approaching is high. According to the above configuration, when the connection lane and the guide lane overlap in the determination section, the alerting degree is increased as compared with the case where the connection lane and the guide lane do not overlap in the determination section, Since the degree of alertness is determined, the driver can easily determine the degree of attention on the merging road, and the driver can be appropriately alerted to the merging road.

It is a block diagram showing a driving support system concerning an embodiment of the present invention. It is a figure for demonstrating the decision processing of the alerting degree according to whether the connection lane and the guidance lane overlap based on embodiment of this invention. It is a figure for demonstrating the decision processing of the alerting degree according to whether the connection lane and the guidance lane overlap based on embodiment of this invention. It is a figure for demonstrating determination processing of the alerting degree in case a lane line is a lane change prohibition line based on embodiment of this invention. It is a figure for demonstrating determination processing of the alerting degree in case a lane line is a lane change prohibition line based on embodiment of this invention. It is a figure for demonstrating the decision processing of the alerting degree when the lane number of the road in driving | running | working increases based on embodiment of this invention. It is a figure for demonstrating the decision processing of the alerting degree when the lane number of the road in driving | running | working increases based on embodiment of this invention. It is a flowchart for demonstrating the process of the alerting degree determination part which concerns on embodiment of this invention.

1. Embodiment An embodiment of a driving support system 1 according to the present invention will be described.
The driving support system 1 is a system that supports the driving of the driver of the vehicle 30. As shown in FIG. 1, the driving support system 1 includes functional units such as a vehicle position acquisition unit 5, a road data acquisition unit 6, a route search unit 7, an attention degree determination unit 8, and an attention execution unit 9. ing.

The host vehicle position acquisition unit 5 acquires the current position of the host vehicle 30. The road data acquisition unit 6 acquires road data including information on road connection and lane arrangement. The route search unit 7 includes a guide lane 33 which is a lane of a road for guiding a guide route which is a route for guiding the vehicle 30 to a destination based on the current position, road data and a set destination. To explore. The alerting degree determination unit 8 determines, based on the guide route and the road data, when there is a junction road 37 joining the guide road 32 which is a road on which the guide route is set, the alerting degree determination unit 8 Determine the alertness, which is the alerting level to the driver. The alerting execution unit 9 performs alerting in accordance with the alerting degree in a state where the current position is in front of the junction 34 between the guide road 32 and the junction road 37. In such a configuration, the alertness degree determination unit 8 includes lanes of the guiding road 32 to which the merging road 37 is connected in the determination section H set along the traveling direction of the vehicle 30 including the merging point 34. When the connecting lane 35 and the guiding lane 33 overlap with each other, the alerting degree is set to increase the alerting degree as compared with the case where the connecting lane 35 and the guiding lane 33 do not overlap in the determination section H. decide.
Hereinafter, the driving support system 1 according to the present embodiment will be described in detail.

1-1. Driving support system 1
The driving support system 1 includes an arithmetic processing unit such as one or more CPUs as a core member, and a RAM (random access memory) configured to be able to read and write data from the arithmetic processing unit, A ROM (Read Only Memory) configured to be able to read data from the processing device, and a storage device such as a flash memory or a hard disk configured to be able to store and read a large amount of data, etc. There is. The respective functional units 5 to 9 of the driving support system 1 are configured by software (program) stored in the ROM or the like of the driving support system 1, hardware such as an arithmetic circuit provided separately, or both of them. ing. The driving support program for causing the arithmetic processing unit to realize the functions of the functional units 5 to 9 is stored in a storage device such as a RAM or a ROM that can be referred to by the arithmetic processing unit.

  In the present embodiment, the driving support system 1 is incorporated in the information terminal device 2. The information terminal device 2 is mounted on the vehicle 30 and moves together with the vehicle 30. Typically, the driving support program is stored in the storage device of the information terminal device 2 to configure the driving support system 1. For example, the driving support system 1 may be a multi-function mobile phone or a portable information terminal that can be carried by the user, a navigation device mounted on the vehicle 30, a television, an AV for playing video, playing music, etc. (Audio / video) devices, information terminal devices, etc.

  The driving support program is stored in advance in the storage device of the information terminal device 2, stored in a storage medium such as a DVD-ROM or a flash memory and distributed to the user, or from the network server via the communication network. Be delivered to The distributed or distributed driving support program is stored in the storage device of the information terminal device 2.

1-2. Vehicle position acquisition unit 5
The host vehicle position acquisition unit 5 is a functional unit that performs host vehicle position acquisition processing for acquiring the current position of the host vehicle 30.
In the present embodiment, the host vehicle position acquisition unit 5 is configured to determine the current position (coordinates) of the host vehicle 30 based on the position related information of the host vehicle 30 acquired from the position detection device 20 or the like. . The position detection device 20 is a position of a GPS (Global Positioning System) receiver, an acceleration sensor, an azimuth sensor, or a receiver that receives radio waves or light including point position information transmitted from a beacon installed on a road. It has various devices for detecting information. In the present embodiment, the position detection device 20 is provided in the information terminal device 2. In addition, the vehicle position acquisition unit 5 receives radio waves including point position information such as a base station transmitted from a base station of a mobile telephone line, an access point of a wireless LAN, etc. It may be configured to determine the current position.

1-3. Road data acquisition unit 6
The road data acquisition unit 6 is a functional unit that acquires road data including information on road connection and lane arrangement. Road data includes node data indicating each point such as an intersection of a road, data of a road network including link data indicating roads connecting between the nodes, and the like. Each node data includes data such as position coordinates and point attributes of the point, presence / absence of traffic light, configuration of traffic light, point name, etc. Each link data includes position coordinates and link length of start point and end point of link, Road attributes such as toll roads and ordinary roads, lane information such as the number of lanes, the shape of each lane and the traveling direction set for each lane, the road width, the type of vehicles that can pass, and the lane section that divides each lane of the road The lane division line 31 information such as the arrangement and type of the line 31 and data such as various traffic restrictions are included.

  In the present embodiment, the road data acquisition unit 6 is configured to acquire road data from the road database 21 stored in the storage device of the information terminal device 2. Alternatively, the road database 21 is stored in an external information terminal device, and the road data acquisition unit 6 performs data communication and communication such as wireless communication or wired communication by a communication device (not shown) provided in the information terminal device 2. It may be configured to acquire road data from an external information terminal device via a network.

  The communication device included in the information terminal device 2 is a data communication device that performs data communication such as wireless communication or wired communication. Wireless communication includes a cellular phone line, a wireless LAN, Bluetooth (registered trademark), and the like. Wired communication includes a wired LAN, a universal serial bus (USB), and the like. The communication device is connected to a communication network such as a cellular phone communication network or the Internet by data communication such as wireless communication or wired communication. Alternatively, the communication device is connected to a data communication device such as a mobile phone possessed by the user by data communication such as Bluetooth, USB or wireless LAN, and the data communication such as a mobile telephone line to which the data communication device can be connected It may be configured to be connected to a communication network via the network.

1-4. Route search unit 7
The route search unit 7 includes a guide lane which is a lane of a road for guiding a guide route which is a route for guiding the vehicle 30 to a destination based on the current position and road data and the set destination. Is a functional unit to search for. Various known methods such as Dijkstra's method can be used to search for a guide route. When a destination is newly set by the user, the route search unit 7 searches for a guide route from the current position of the vehicle 30 to a set new destination and sets a new guide route. Is configured. In addition, when the route searching unit 7 travels while the vehicle 30 is traveling away from the guide route during route guidance, and the distance between the current position of the vehicle 30 and the guide route becomes equal to or greater than a predetermined research distance In addition, the guidance route from the current position of the vehicle 30 to the set destination is re-searched, and a new guidance route is set. The route search unit 7 performs route guidance for guiding the vehicle 30 along the searched guide route.

1-5. Attention alert level determination unit 8
The alerting degree determination unit 8 determines, based on the guide route and the road data, when there is a junction road 37 joining the guide road 32 which is a road on which the guide route is set, the alerting degree determination unit 8 It is a functional unit that determines the alerting degree, which is the alerting degree to the driver. Here, the degree of alerting determined by the alerting degree determination unit 8 is a concept including the content of alerting with different degrees of alerting. That is, the alerting degree determination unit 8 does not indirectly determine the parameter at the stage representing the alerting level, for example, the stage of the parameter represented by a numerical value or a letter, and the alerting content with different alerting levels. It may be configured to make decisions directly.

  As shown in FIGS. 2 and 3, the merging vehicle 36 enters the connection lane 35 which is a lane of the guiding road 32 to which the merging road 37 is connected from the merging road 37. Therefore, the merging vehicle 36 always travels on the connecting lane 35 once. Also, the probability that the merging vehicle 36 travels the connection lane 35 as it is is the highest. The probability of the merging vehicle 36 entering the lane of the guiding road 32 farther from the connecting lane 35 becomes lower. In the example shown in FIGS. 2 and 3, the guide road 32 of the vehicle 30 is a main road of the expressway, and the merging road 37 is a road where the main road of the express road merges. That is, it is assumed that the guide road 32 is a main road and the merging road 37 is a secondary road joining the main road. When route guidance is performed by the route search unit 7 in accordance with the guidance route including the guidance lane 33, the vehicle 30 is likely to travel in the guidance lane 33. Therefore, the closer the guide lane 33 is to the connection lane 35, the higher the possibility that the merging vehicle 36 approaches the host vehicle 30, and the driver needs to drive the merging vehicle 36 with care.

  Therefore, the alertness degree determination unit 8 is a connection lane that is a lane of the guiding road 32 to which the merging road 37 is connected in the determination section H set along the traveling direction of the vehicle 30 including the merging point 34. When the 35 and the guide lane 33 overlap, the alerting degree is determined so as to increase the alerting degree as compared with the case where the connection lane 35 and the guide lane 33 do not overlap in the determination section H. It is configured.

  In the present embodiment, the alert level determination unit 8 determines the alert level so that the alert level increases as the lane distance between the connection lane 35 and the guide lane 33 in the determination section H decreases. It is configured. The alertness degree determination unit 8 determines the lane interval between the connection lane 35 and the guide lane 33 based on the relative lane positional relationship between the connection lane 35 and the guide lane 33 in the determination section H. In the present embodiment, the alert level determination unit 8 is configured to determine the lane interval not by the distance between the lanes but by the number of lanes. For example, when the guidance lane 33 overlaps with the connection lane 35 in the judgment section H, the attention degree determination unit 8 judges that the lane interval is “0”, and in the judgment section H, the guidance lane 33 When the guidance lane 33 is adjacent to the connection lane 35 because the guidance lane 33 does not overlap, the lane interval is determined to be “1”, and the guidance lane 33 does not overlap the connection lane 35 in the determination section H. If there is another lane between the lane 33 and the connection lane 35, the lane interval is determined to be "2". Thus, when the connection lane 35 and the guide lane 33 overlap, the lane interval is determined to be “0”, and when the connection lane 35 and the guide lane 33 do not overlap, the lane interval is determined to be “1” or more Be done. When the lane interval changes in the determination interval H, the minimum value of the changing lane interval is determined as the final lane interval.

  The alert level determination unit 8 determines a parameter (hereinafter referred to as a alert level parameter) representing the alert level according to the determined lane interval, and different alert levels according to the determined alert level parameter. It can be configured to determine the content. Alternatively, the alerting degree determination unit 8 can be configured to determine the content of the alerting that is different in the alerting degree according to the determined lane interval.

  The alertness level parameter is a stage that indicates the alerting level. The content of the alerting is the content of alerting the driver of the vehicle 30 with respect to the merging road 37, and the content differs depending on the degree of alerting. The content of the alerting includes at least one of an alerting guidance message and an alerting screen display. The content of the alerting may include a warning alert sound in addition to one or both of the alerting guidance message and the alerting screen display. Further, the alerting degree may be made different by changing the number of times of alerting by the guidance message or the screen display of alerting or the warning sound. The volume of the guidance message or the warning sound may be changed according to the alerting degree.

  In the present embodiment, the alertness setting data such as table data in which the relationship between the lane interval and the alertness is predetermined is stored in the storage device, and the alertness determining unit 8 determines the alertness setting data. And is configured to determine the alertness based on the lane spacing. For example, the alert level setting data is data in which the relationship between the lane interval and the alert level parameter is previously determined, and the relationship between the alert level parameter and the alert content is predefined, The degree determination unit 8 is configured to determine a degree-of-attention parameter based on the lane interval using these two types of degree-of-attention setting data, and to determine the content of the degree of attention based on the determined degree-of-attention parameter. can do. Alternatively, the alerting degree setting data is data in which the relationship between the lane interval and the content of the alerting is previously determined, and the alertness degree determining unit 8 uses such one type of alerting degree setting data, The content of the alerting can be determined based on the lane interval.

For example, the alertness degree determination unit 8 can determine the alertness level parameter as follows according to the lane interval between the connection lane and the guide lane. In this example, the alertness level parameter is a numerical value that represents the alertness level in stages, and the alertness level gradually increases as the numerical value increases to 0, 1, 2, and 3. Here, the alerting degree is set to be higher as the lane interval becomes closer.
<Determination of alerting degree parameter>
Lane interval = 0: alertness parameter = 4
Lane interval = 1: alertness parameter = 2
-Lane interval = 2: alertness parameter 1
-Lane interval = 3 or more: alertness parameter = 0

Also, for example, the alertness degree determination unit 8 can determine the alerting guidance message as the alerting content as follows according to the lane interval (or the alertness level parameter). As the lane interval becomes closer (or the alerting degree of the alerting degree parameter becomes higher), the degree of alerting of the alerting guidance message is set to be higher.
<Determination of guidance message>
Lane interval = 0 (or alertness parameter = 4):
Guidance message = Please be careful about the confluence vehicle from the confluence road on the right side (or left side).
Lane interval = 1 (or alertness parameter = 2):
Guidance message = Please be careful about lane change of the merging vehicle from the merging road on the right side (or left side).
Lane interval = 2 (or alertness parameter = 1):
Guidance message = There is a junction road on the right side (or left side).
Lane interval = 3 or more (or alertness parameter = 0):
Guidance message = none

Also, for example, the alertness determination unit 8 can determine the alerting alert sound as the alerting content as follows according to the lane interval (or the alerting level parameter). It is set so that the degree of alerting of the alerting alert tone becomes higher (in this example, the number of alerting tones increases) as the lane interval becomes closer (or the alerting degree of alerting degree parameter becomes higher). Ru.
<Determination of warning sound>
Lane interval = 0 (or alertness parameter = 4):
Warning sound = 3 times (for example, pipi, pipi, pipi)
Lane interval = 1 (or alertness parameter = 2):
Warning sound = 1 time (for example, beep)
Lane interval = 2 (or alertness parameter = 1):
Warning sound = none, lane interval = 3 or more (or alertness parameter = 0):
Warning sound = none

Also, for example, the alertness degree determination unit 8 can determine the volume of the guidance message or the warning sound as follows according to the lane interval (or the alertness level parameter). The volume of the guidance message or the warning sound is set to increase as the lane interval approaches (or the alertness of the alertness parameter increases). As the numerical value of the volume increases to 0, 1, 2, 3, the volume gradually increases, and volume = 0 means that the volume is zero. When the volume is changed, the content of the guidance message or the warning sound (number of times) may not be changed. In this case, the content of the guidance message is, for example, "Please note the junction vehicle from the junction road on the right side (or left side)."
<Determination of volume>
Lane interval = 0 (or alertness parameter = 4): volume = 4
Lane interval = 1 (or alertness parameter = 2): volume = 2
Lane interval = 2 (or alertness parameter = 1): volume = 1
Lane interval = 3 or more (or alertness parameter = 0): volume = 0

<Determination of the screen display of reminders>
The case where the content of the alerting includes the screen display of alerting will be described. The alerting degree determination unit 8 determines the screen display of the alerting so that the alerting degree increases as the lane distance between the connection lane and the guide lane is closer. For example, as shown in FIG. 2 and FIG. 3, the alert level determination unit 8 superimposes and displays a screen display of alert on the road display around the host vehicle 30. The alerting degree determination unit 8 determines the screen display of the arrow line 38 representing the entry route of the merging vehicle 36 from the merging road 37 to each lane of the guiding road 32. Here, the alertness degree determination unit 8 makes the arrow line 38 thicker as the arrow line 38 relates to the lane of the guide road 32 closer to the connection lane 35. Further, the attention raising degree determination unit 8 determines the screen display of the arrow line 39 representing the guide lane 33 which is guided by the route search unit 7. The alerting degree determination unit 8 determines the screen display of the alerting mark 40 to be displayed at the intersection of the arrow line 39 representing the guide lane 33 and the arrow line 38 of the entry route of the merging vehicle 36. The alerting mark 40 represents the danger of the approaching vehicle 30 and the merging vehicle 36 traveling along the guide lane 33. Here, the alerting degree determination unit 8 changes the degree of alerting (for example, the size, the shape, and the color of the mark) represented by the alerting mark 40 depending on the alerting degree. For example, as the lane distance between the connection lane 35 and the guide lane 33 is closer and the degree of alerting is higher, the alerting mark 40 is enlarged.

  The alerting degree determination unit 8 displays a road display of a scale that can identify the lane on the display screen for alerting separately from the road display for navigation, and a screen for alerting the road display for alerting The display may be superimposed and displayed. Alternatively, when the scale of the road display around the host vehicle 30 displayed on the display screen for navigation is large enough to identify the lane of the road, the attention arousal determination unit 8 calls attention to the road display. The screen display may be overlapped and displayed.

1-5-1. When the lane division line 31 is a lane change prohibition line As shown in FIGS. 4 and 5, the lane division line 31 of the guide road 32 is a line for prohibiting a lane change (hereinafter referred to as a lane change prohibition line) The probability that the merging vehicle 36 travels in the connection lane 35 is higher than in the case where the lane division line 31 shown in FIGS. 2 and 3 is a line that permits lane change (hereinafter referred to as a lane change permission line). On the contrary, the probability that the merging vehicle 36 travels by entering a lane other than the connection lane 35 is low. When the lane delineation line 31 of the guide road 32 is a lane change prohibition line, the lane change of the host vehicle 30 is also prohibited, so the guide lane 33 of the host vehicle 30 overlaps the connection lane 35 near the junction 34. In this case, it is difficult for the host vehicle 30 to change lanes to lanes other than the connection lane 35 in order to avoid the merging vehicle 36 that has entered the connection lane 35. Therefore, it is necessary to cause the merging vehicle 36 to merge with the connection lane 35 by shifting the relative position between the own vehicle 30 and the merging vehicle 36 in the front-rear direction by speed adjustment or the like. Therefore, in the case where the connection lane 35 and the guide lane 33 overlap and the lane division line 31 of the junction point 34 is a lane change prohibition line, the lane change line 31 is a lane change permission line, It is necessary to increase the degree of alerting the driver to the merging vehicle 36. On the other hand, if the connecting lane 35 and the guiding lane 33 do not overlap, and the lane delineation line 31 at the junction point 34 is a lane change prohibition line, it is better than the lane delineation line 31 is a lane change permission line. The degree of alerting the driver to the merging vehicle 36 can be lowered.

  Therefore, in the present embodiment, the alertness degree determination unit 8 is a case where the guide road 32 has a plurality of lanes ahead of the junction point 34 in the traveling direction, and the connection lane 35 and the guide lane 33 do not overlap. If the lane delineation line 31 partitioning the plurality of lanes of the guide road 32 is a lane change prohibition line prohibiting a lane change, the lane delineation line 31 is a lane change permission line allowing lane change It is configured to lower the alertness compared to the case. Furthermore, when the connection lane 35 and the guidance lane 33 overlap and the lane division line 31 is a lane change prohibition line, the attention degree determination unit 8 determines that the lane division line 31 is a lane change permission line. It is comprised so that alerting degree may be made high compared with the case where it is.

When configured in this way, the lane division line 31 of the guiding road 32 is the lane change permission line in the determination of the alerting degree described above and in the example of the alerting screen display in FIG. 2 and FIG. 3 etc. It is an example of the case.
Below, when the lane division line 31 of the guidance road 32 is a lane change prohibition line, the example of determination of alerting degree and the screen display of alerting in is demonstrated.

For example, when the lane delineation line 31 of the guiding road 32 is a lane change prohibition line, the alert level determination unit 8 determines the alert level parameter as follows according to the lane interval. The alerting degree determination unit 8 determines that the lane delineation line 31 permits the lane changing of the alertness degree of the alerting degree parameter determined when the lane distance is 1 or more and the connection lane 35 and the guide lane 33 do not overlap. It is configured to be lower (in this example, reduced by 1) than in the case of the line. On the other hand, the alerting degree determination unit 8 changes the lane delineating line 31 to the lane alerting degree of the alerting degree parameter determined when the lane interval is 0 and the connection lane 35 and the guide lane 33 overlap. It is configured to be higher (in this example, increased by 1) than in the case of the permission line.
<Determination of alerting degree parameter>
-Lane interval = 0: alertness level parameter = 5
・ Lane interval = 1: alert level parameter = 1
-Lane interval = 2 or more: alertness parameter = 0

Also, for example, when the lane delineation line 31 of the guiding road 32 is a lane change prohibition line, the alerting degree determination unit 8 follows the alerting guidance message according to the lane interval (or the alerting degree parameter). Decide like. The alerting degree determination unit 8 is configured to increase the alerting degree of the guidance message determined when the lane interval is 0 as compared to when the lane marking 31 is the lane change permission line. . The degree of alerting of the guidance message, which is determined when the lane interval is 1 or more, is configured to be lower than when the lane division line 31 is the lane change permission line.
<Determination of guidance message>
Lane interval = 0 (or alertness parameter = 5):
Guidance message = Please pay attention to the confluence vehicle from the confluence road on the right side (or left side).
Lane interval = 1 (or alertness parameter = 1):
Guidance message = There is a junction road on the right side (or left side).
Lane spacing = 2 or more (or alertness parameter = 0):
Guidance message = none

Also, for example, the alertness determination unit 8 determines the alert alert according to the lane interval (or alertness parameter) when the lane delineation line 31 of the guide road 32 is the lane change prohibition line. Decide like. The alerting degree determination unit 8 increases the alerting degree of the warning sound, which is determined when the lane interval is 0, as compared to when the lane marking 31 is the lane change permission line (in this example, 1). It is configured to increase times). The alerting degree of the warning sound determined when the lane interval is 1 or more is configured to be lowered (one decrease in this example) as compared to the case where the lane marking 31 is the lane change permission line. There is.
<Determination of warning sound>
Lane interval = 0 (or alertness parameter = 5):
Warning sound = 4 times (for example, pipi, pipi, pipi, pipi)
Lane interval = 1 (or alertness parameter = 1):
Warning sound = none, lane interval = 2 or more (or alertness parameter = 0):
Warning sound = none

Further, for example, the alertness degree determination unit 8 determines the volume of the guidance message or the warning sound according to the lane interval (or the alertness level parameter) when the lane delineation line 31 of the guide road 32 is the lane change prohibition line. Is determined as follows. The alerting degree determination unit 8 increases the alerting degree of the volume determined when the lane interval is 0, as compared with the case where the lane marking 31 is the lane change permission line (in this example, increased by 1). ) Is configured. The degree of alerting of the volume determined when the lane interval is 1 or more is configured to be lower (in this example, decreased by 1) than when the lane line 31 is the lane change permission line. .
<Determination of volume>
Lane interval = 0 (or alertness parameter = 5): volume = 5
-Lane interval = 1 (or alertness parameter = 1): volume = 1
-Lane interval = 2 or more (or alertness parameter = 0): volume = 0

<Display on alert screen>
Further, for example, on the screen display of alerting when the lane marking 31 of the guiding road 32 is the lane change prohibition line, as shown in FIGS. 4 and 5, the alerting degree determination unit 8 determines that FIG. As compared with the case of the lane change permission line of FIG. 3, the thickness of the arrow line 38 representing the entry route of the merging vehicle 36 to a lane other than the connection lane 35 is made thinner. On the other hand, the alertness degree determination unit 8 thickens the thickness of the arrow line 38 representing the entry route of the joining vehicle 36 from the joining road 37 to the connection lane 35 than in the case of the lane change permission line of FIGS. Do. Furthermore, when the connection lane 35 and the guide lane 33 do not overlap, the alerting degree determination unit 8 makes the size of the alerting mark 40 smaller than in the case of the lane change permission line of FIGS. 2 and 3, etc. If the degree of alerting of the alerting mark 40 is lowered and the connection lane 35 and the guide lane 33 overlap, the size of the alerting mark 40 is larger than in the case of the lane change permission line of FIGS. 2 and 3. To increase the degree of alerting of the alerting mark 40.

1-5-2. When the number of lanes increases at the junction point 34 As shown in FIGS. 6 and 7, when the number of lanes of the guide road 32 at the junction point 34 increases more than the number of lanes of the junction road 37, FIGS. The probability that the merging vehicle 36 travels on the connecting lane 35 is higher than the case where the number of lanes of the guiding road 32 does not increase at the merging point 34 shown in FIG. 4. Conversely, the merging vehicle 36 enters lanes other than the connecting lane 35 The probability of traveling is lower. Before the junction point 34, the guide lane 33 is set to a lane that does not overlap the connection lane 35, and the vehicle 30 does not travel on the connection lane 35 increasing at the junction point 34. As shown in FIG. 6, when the guide lane 33 is not changed so as to overlap with the connection lane 35 at the junction point 34, the driving for the joining vehicle 36 is more than when the number of lanes of the guide road 32 does not increase at the junction point 34. The degree of alerting the person can be lowered. On the other hand, as shown in FIG. 7, when the guide lane 33 is changed from the lane other than the connection lane 35 to the connection lane 35 at the junction 34, the number of lanes of the guide road 32 does not increase at the junction 34 Rather, it is necessary to raise the degree of alerting the driver to the merging vehicle 36.

  Therefore, in the present embodiment, the alerting degree determination unit 8 determines that the number of lanes of the guide road 32 ahead of the junction 34 in the traveling direction is equal to the number of lanes of the guide road 32 before the junction 34 and the junction 37 If the connection lane 35 and the guide lane 33 do not overlap in the determination section H, the guide road 32 ahead of the junction point 34 in the traveling direction When the number of lanes is less than the total number of lanes, the alerting degree is lowered, and when the connecting lane 35 and the guiding lane 33 overlap in the determination section H, the traveling direction is higher than the merging point 34 As compared with the case where the number of lanes of the guide road 32 ahead is less than the total number of lanes, the degree of alertness is increased.

When configured in this way, the determination of the alerting degree described above, and the example of the alerting screen display in FIG. 2 and FIG. It is an example.
Below, when the lane number of the guide road 32 increases by the junction point 34 more than the lane number of the merging road 37, the example of determination of alerting degree and the screen display of alerting is demonstrated.

For example, when the number of lanes of the guiding road 32 increases at the junction point 34 by the number of lanes of the merging road 37 or more at the junction point 34, for example, the warning degree determining unit 8 determines the parameter of the calling degree as follows. . The alerting degree determination unit 8 lowers the alerting degree of the alerting degree parameter determined when the lane interval is 1 or more as compared with the case where the number of lanes does not increase (in this example, 1 decreases), The degree of alerting of the alertness level parameter determined when the interval is 0 is configured to be higher (in this example, increased by 1) than when the number of lanes is not increased.
<Determination of alerting degree parameter>
-Lane interval = 0: alertness level parameter = 5
・ Lane interval = 1: alert level parameter = 1
-Lane interval = 2 or more: alertness parameter = 0

Also, for example, when the number of lanes of the guide road 32 increases at the junction 34 by the number of lanes of the merging road 37 or more at the junction point 34, the alerting degree determination unit 8 calls alerting according to the lane interval (or the alerting degree parameter). The guidance message of is determined as follows. The alerting degree determination unit 8 lowers the alerting degree of the guidance message determined when the lane interval is 1 or more compared to the case where the number of lanes does not increase, and is determined when the lane interval is 0. The degree of alerting of the guidance message is configured to be higher than when the number of lanes does not increase.
<Determination of guidance message>
Lane interval = 0 (or alertness parameter = 5):
Guidance message = Please pay attention to the confluence vehicle from the confluence road on the right side (or left side).
Lane interval = 1 (or alertness parameter = 1):
Guidance message = There is a junction road on the right side (or left side).
Lane spacing = 2 or more (or alertness parameter = 0):
Guidance message = none

Also, for example, when the number of lanes of the guide road 32 increases at the junction 34 by the number of lanes of the merging road 37 or more at the junction point 34, the alerting degree determination unit 8 calls alerting according to the lane interval (or the alerting degree parameter). Determine the warning sound of as follows. The alerting degree determination unit 8 lowers the alerting degree of the warning sound determined when the lane interval is 1 or more as compared to the case where the number of lanes does not increase (in this example, decreases once), The degree of alerting of the warning sound determined when the interval is 0 is configured to be higher (in this example, increased once) than when the number of lanes is not increased.
<Determination of warning sound>
Lane interval = 0 (or alertness parameter = 5):
Warning sound = 4 times (for example, pipi, pipi, pipi, pipi)
Lane interval = 1 (or alertness parameter = 1):
Warning sound = none, lane interval = 2 or more (or alertness parameter = 0):
Warning sound = none

Further, for example, when the alerting degree determination unit 8 increases the number of lanes of the guiding road 32 at the merging point 34 by the number of lanes of the merging road 37 or more, the guidance message is determined according to the lane interval (or the alerting degree parameter). And the volume of the warning sound as follows. The alertness level determination unit 8 lowers the alert level of the volume determined when the lane interval is 1 or more compared to the case where the number of lanes does not increase (in this example, 1 decreases), and the lane interval The degree of alerting of the volume determined in the case of 0 is configured to be higher (in this example, increased by 1) than in the case where the number of lanes does not increase.
<Determination of volume>
Lane interval = 0 (or alertness parameter = 5): volume = 5
-Lane interval = 1 (or alertness parameter = 1): volume = 1
-Lane interval = 2 or more (or alertness parameter = 0): volume = 0

<Display on alert screen>
Further, for example, in the screen display of alerting when the number of lanes of the guiding road 32 increases at the merging point 34 by the number of lanes of the merging road 37 or more, as shown in FIGS. 3 and 4 reduces the thickness of the arrow line 38 representing the entry route of the joining vehicle 36 to a lane other than the connecting lane 35 and makes the joining vehicle to the connecting lane 35 more than the case where the number of lanes in FIGS. The thickness of the arrow line 38 representing the 36 entry routes is increased. Further, as shown in FIG. 6, when the connection lane 35 and the guide lane 33 do not overlap, the alerting degree determination unit 8 displays the alerting mark 40 more than when the number of lanes in FIGS. 2 and 3 does not increase. When the connection lane 35 and the guide lane 33 overlap as shown in FIG. 7, the lanes of FIG. 2 and FIG. The degree of alerting of the alerting mark 40 is increased by increasing the size of the alerting mark 40 or the like, as compared with the case where the number does not increase.

1-5-3. In the case where there is a traffic light at the junction point 34 When the traffic periods of the guide road 32 and the junction road 37 are divided by the traffic signal installed at the junction point 34, the junction point 34 shown in FIG. The possibility that the merging vehicle 36 approaches the host vehicle 30 is significantly reduced compared to the case where no traffic light is installed at the end of the road.

  Therefore, in the present embodiment, when the passing period of the vehicle between the guide road 32 and the junction road 37 is divided by the traffic light, the attention arousal degree determination unit 8 determines the guidance road 32 and the junction road 37 by the traffic light. It is configured to lower the alertness as compared with the case where the passing period of the vehicle is not divided.

When configured in this way, the determination of the alerting degree described above, and the example of the alerting screen display in FIG. 2 and FIG. 3 etc. become an example when the traffic signal is not installed at the junction point 34. .
In the present embodiment, the alerting degree determination unit 8 is configured to set the alerting degree to zero and not to alert when the traffic signal is installed at the junction 34.

When the traffic signal is installed at the junction point 34, the alertness level determination unit 8 reduces the degree of alerting in all lane intervals as compared to the case where the traffic signal is not set at the junction point 34, for example Reduce the degree of alertness of alertness parameter to zero.
-Lane interval = 0 or more: alertness parameter = 0
Further, when the traffic signal is installed at the junction point 34, the alertness level determination unit 8 is compared to the case where no traffic signal is set at the junction point 34 in all the lane intervals (or the alertness level parameter). , Reduce the degree of alerting of the content of each alerting, for example, reducing to zero.
Lane interval = 0 or more (or alertness parameter = 0):
Guidance message = None Warning sound = None Volume = 0
Further, the alerting degree determination unit 8 is configured not to display a screen display of alerting when a traffic signal is installed at the junction 34.

1-6. Alert execution unit 9
The alerting execution unit 9 is a functional unit that performs alerting according to the alerting degree in a state where the current position is in front of the junction point 34 between the guide road 32 and the junction road 37.
The alerting execution unit 9 performs alerting in accordance with the alerting degree via the speaker 22, the display device 23, and the like. In the present embodiment, as shown in FIG. 1, the speaker 22 and the display device 23 are provided in the information terminal device 2. The alerting execution unit 9 causes the speaker 22 to output the guidance message or the warning sound determined by the alerting degree determination unit 8 or causes the display screen of the display device 23 to display an alerting screen display. The alerting execution unit 9 is configured to start alerting when the current position of the vehicle 30 is within a predetermined start distance range before the merging point 34 in the traveling direction. Although the number of times the alerting is performed is at least one, the alerting execution unit 9 alerts the alert whenever the distance between the junction 34 and the current position is reduced by a predetermined distance or at a predetermined time interval. The notification may be configured to be performed multiple times, such as doing. At this time, the number of executions of the alerting may be changed according to the alerting degree. Further, the alerting execution unit 9 may be configured to alert at the junction point 34 so that, after the host vehicle 30 passes the junction point 34, alerting is performed within a predetermined distance range. It may be configured. The alerting execution unit 9 does not alert when there is no alert content, such as a low alertness level and no guidance message.

1-7. Flowchart The processing of the alertness degree determination unit 8 can be configured as a flowchart shown in FIG. The alerting degree determination unit 8 determines whether there is a merging road 37 that merges with the guiding road 32 ahead of the traveling direction of the vehicle 30 (step # 01). When it is determined that the merging road 37 is present (step # 01: Yes), the alerting degree determination unit 8 determines the alerting degree, which is the degree of alerting the driver of the vehicle 30 with respect to the merging road 37. Start processing When the caution lane determining unit 8 determines that the connecting lane 35, which is a lane of the guiding road 32 to which the merging road 37 is connected, overlaps the guiding lane 33 in the determination section H in step # 02, As compared with the case where the connection lane 35 and the guide lane 33 do not overlap in the inside, processing is performed to determine the degree of alerting so as to increase the degree of alerting.

  The alertness degree determination unit 8 determines whether the lane delineation line 31 partitioning the plurality of lanes of the guide road 32 ahead of the merging point 34 in the traveling direction is a lane change prohibition line (step # 03). When the alertness degree determination unit 8 determines that the lane line 31 is a lane change prohibition line (step # 03: Yes), the connection lane 35 and the guide lane 33 do not overlap in the determination section H. In this case, processing for reducing the alertness level is performed as compared to the case where the lane marking 31 is the lane change permission line (step # 04). Further, the caution degree determination unit 8 determines that the lane line 31 is the lane change prohibition line (step # 03: Yes), and the connection lane 35 and the guide lane 33 in the determination section H In the case of overlapping, processing for raising the alerting degree is performed as compared with the case where the lane line 31 is the lane change permission line (step # 04).

  The alerting degree determination unit 8 determines that the number of lanes of the guide road 32 ahead of the junction 34 in the traveling direction is the sum of the number of lanes of the guide road 32 and the number of lanes of the junction 37 before the junction 34. It is determined whether the total number of lanes is equal to or more (step # 05). When it is determined that the alertness level determination unit 8 determines that the number of lanes is equal to or greater than the total number of lanes (step # 05: Yes) and the connection lane 35 and the guide lane 33 do not overlap in the determination section H, the junction point As compared with the case where the number of lanes of the guide road 32 ahead of the traveling direction 34 is less than the total number of lanes, processing for lowering the alertness degree is performed (step # 06). Further, the alertness degree determination unit 8 determines that the total lane number is equal to or more (step # 05: Yes), and when the connection lane 35 and the guide lane 33 overlap in the determination section H, the merging occurs. A process of raising the alertness level is performed as compared to the case where the number of lanes of the guide road 32 ahead of the point 34 in the traveling direction is less than the total number of lanes (step # 06).

  The alertness degree determination unit 8 determines whether or not the traveling periods of the vehicle between the guide road 32 and the junction road 37 are divided by the traffic light (step # 07). When it is determined that the passing period is divided by the traffic light (step # 07: Yes), the alerting degree determination unit 8 does not divide the traveling period of the vehicle between the guide road 32 and the merging road 37 by the traffic light A process of lowering the alerting degree is performed as compared to the case (step # 08).

Other Embodiments
Finally, other embodiments will be described. The configurations of the embodiments described below are not limited to those applied individually, but may be applied in combination with the configurations of the other embodiments as long as no contradiction arises.

(1) In the above embodiment, the case where the position detection device 20, the road database 21, the speaker 22, and the display device 23 are provided in the information terminal device 2 incorporating the driving support system 1 has been described as an example. . However, embodiments of the present invention are not limited thereto. That is, a part or all of the position detection device 20, the road database 21, the speaker 22, and the display device 23 are provided outside the information terminal device 2 and can communicate with the information terminal device 2 by data communication such as wireless communication or wired communication. Data communication may be configured.

(2) In the above embodiment (in particular, the flowchart of FIG. 8), whether the alertness degree determination unit 8 determines whether the connection lane 35 and the guide lane 33 overlap in the determination section H (lane interval in the example) Accordingly, after determining the alert level, if there is a forbidden line, if the number of lanes increases, or if there is a traffic light, the alert level is configured to be higher or lower. The case has been described as an example. However, embodiments of the present invention are not limited thereto. That is, when there is a prohibited line, when the number of lanes increases, when there is a traffic light, or when there is no case, alerting degree setting data corresponding to each condition is set in advance, and the alerting degree is determined. The unit 8 uses alerting degree setting data corresponding to each condition being satisfied, and alerts based on whether the connection lane 35 and the guide lane 33 overlap in the determination section H (or the lane interval). It may be configured to determine the degree.

2. Overview of Embodiments of the Present Invention The embodiments of the present invention described above have at least the following configurations.
A driving support system (1) for supporting driving by a driver of a host vehicle (30), the host vehicle position acquisition unit (5) acquiring the current position of the host vehicle (30), road connection relationship and lanes A guide that is a route for guiding the vehicle (30) to a destination based on the road data acquisition unit (6) that acquires road data including information on the arrangement, the current position, the road data, and the set destination. A route search unit (7) which searches for a route including a guide lane (33) which is a lane of a road to guide, and a guide road (32) which is a road for which a guide route is set based on the guide route and road data. The alerting degree determination unit (8) determines the alertness degree, which is the alerting degree to the driver of the host vehicle (30) regarding the joining road (37) when there is a joining road (37) joining the). ) And the current position is draft The alerting degree includes an alerting execution unit (9) for alerting in accordance with the alerting degree in a state before the junction point (34) of the road (32) and the merging road (37) The determination unit (8) is a guide road (32) to which the merging road (37) is connected in the determination section (H) set along the traveling direction of the host vehicle (30) including the merging point (34). When the connecting lane (35) and the guiding lane (33), which are lanes) overlap each other, as compared with the case where the connecting lane (35) and the guiding lane (33) do not overlap in the judgment section (H), Determine the alertness level so as to increase the alertness level.

With such a configuration, the alerting degree is determined according to whether or not the connecting lane (35) and the guiding lane (33) overlap, so that a merging road (37 Based on the road shape of the junction (34) obtained from the road data and the guidance lane (33) of the host vehicle (30) without determining the merging vehicle (36) actually traveling on The alertness can be changed appropriately.
That is, when the connecting lane (35) and the guide lane (33) overlap near the junction (34), the merging road (37) is compared with the case where the connecting lane (35) and the guide lane (33) do not overlap. When the merging vehicle (36) joins the guide road (32) from the above), the possibility of the own vehicle (30) approaching the merging vehicle (36) increases. According to the above configuration, when the connection lane (35) and the guide lane (33) overlap in the determination section (H), the connection lane (35) and the guide lane (33) in the determination section (H) Since the alerting degree is determined so as to raise the alerting degree as compared with the case where the driver does not overlap, the driver can easily determine the degree of attention to the merging road (37), and the driver can join the merging road (37) can be properly warned.

  Further, in the embodiment of the present invention, the alertness degree determination unit (8) is configured such that the guide road (32) has a plurality of lanes ahead of the junction point (34) in the traveling direction and the connection lane (35) In the case where the guidance lane (33) does not overlap, and the lane division line (31) partitioning the plurality of lanes of the guidance road (32) is a line prohibiting a lane change, the lane division line It is preferable to lower the alertness as compared with the case where (31) is a line that allows lane change.

If the lane delineation line (31) of the guiding road (32) is a lane change prohibition line prohibiting a lane change, it is more confluent than if the lane delineation line (31) is a lane change permission line allowing lane change The probability that the vehicle (36) travels in the connection lane (35) is high, and conversely, the probability that the merged vehicle (36) travels in a lane other than the connection lane (35) is low. Therefore, when the connecting lane (35) and the guiding lane (33) do not overlap, and the lane dividing line (31) at the junction (34) is the lane change prohibition line, the lane dividing line (31) The degree of alerting the driver to the merging vehicle (36) can be lowered compared to the case where the lane change permission line is.
According to the above configuration, when the lane delineation line (31) is the lane change prohibition line, the guidance with the connection lane (35) is provided as compared to the case where the lane delineation line (31) is the lane change allowance line. Since the alerting degree when the lane (33) does not overlap is configured to be low, the alerting degree is set according to the type of lane line and the guide lane (33) of the host vehicle (30). It can be changed and set appropriately. As a result, the driver can be properly alerted to the merging road (37).

  Further, in the embodiment of the present invention, the alertness degree determination unit (8) guides by the traffic light when the traffic period of the vehicle between the guide road (32) and the junction road (37) is divided by the traffic light. It is preferable to lower the alertness as compared with the case where the vehicle travel period between the road (32) and the junction road (37) is not divided.

  When the traffic passage of the guide road (32) and the junction road (37) is divided by the traffic light installed at the junction (34), it is better than when no traffic light is installed at the junction (34) Also, the possibility of the merging vehicle (36) approaching the host vehicle (30) is reduced. According to the above configuration, when the traffic period of the vehicle between the guiding road (32) and the merging road (37) is divided by the traffic light, the guiding road (32) and the merging road (37) are separated by the traffic light. Since the alerting degree is set to be lower than in the case where the passing period of the vehicle is not divided, the alerting degree can be appropriately changed and set according to the presence or absence of the traffic signal. As a result, the driver can be properly alerted to the merging road (37).

  Further, in the embodiment of the present invention, the alertness degree determination unit (8) is configured such that the number of lanes of the guide road (32) ahead of the junction point (34) in the traveling direction is in front of the junction point (34). It is not less than the total number of lanes which is the sum of the number of lanes on the guiding road (32) and the number of lanes on the merging road (37) and the connecting lanes (35) and the guiding lanes (33) overlap in the judgment section (H) If the number of lanes of the guide road (32) ahead of the junction point (34) is less than the total number of lanes, the alerting degree is lowered and the judgment section (H) When the connecting lane (35) and the guiding lane (33) overlap, compared with the case where the number of lanes of the guiding road (32) in front of the junction point (34) in the traveling direction is less than the total number of lanes Alertness The higher is preferred.

When the number of lanes on the guiding road (32) increases at the junction point (34) by more than the number of lanes on the joining road (37), it is more than when the number of lanes on the guiding road (32) does not increase at the junction point (34). The probability that the merging vehicle (36) travels in the connection lane (35) is high, and conversely, the probability that the merging vehicle (36) travels in a lane other than the connection lane (35) is low. Before the junction point (34), the guide lane (33) is set to a lane not overlapping the connection lane (35), and the host vehicle (30) also increases at the junction point (34). Not traveling). Therefore, when the guide lane (33) is not changed to overlap with the connection lane (35) at the junction point (34), the number of lanes of the guide road (32) does not increase at the junction point (34). The degree of alerting the driver to the merging vehicle (36) can be reduced. On the other hand, when the guidance lane (33) is changed from the state not overlapping the connection lane (35) to the connection lane (35) at the junction point (34), the guide road at the junction point (34) It is necessary to raise the degree of alerting the driver to the merging vehicle (36) more than when the number of lanes of (32) does not increase.
According to the above configuration, the number of lanes of the guide road (32) ahead of the junction point (34) in the traveling direction is equal to or greater than the total number of lanes, and the connecting lane (35) and the guide lane in the determination section (H) When (33) does not overlap, the alerting degree is lowered compared to the case where the number of lanes is less than the total number of lanes, and in the determination section (H), the connecting lane (35) and the guiding lane (33) In the case where the numbers of lanes overlap, it is configured to increase the alertness compared to the case where the number of lanes is less than the total number of lanes, so the number of lanes of the guide road (32) at the junction point (34) increases. The alerting degree can be appropriately changed and set according to the presence or absence of and whether or not the connection lane (35) and the guide lane (33) overlap in the determination section (H). As a result, the driver can be properly alerted to the merging road (37).

  The various technical features of the driving support system described above are also applicable to the driving support method and the driving support program.

  The present invention can be suitably used for a driving support system, a driving support method, and a driving support program for supporting the driving of the driver's own vehicle.

1: Driving support system 2: Information terminal 5: Vehicle position acquisition part 6: Road data acquisition part 7: Route search part 8: Attention arousal determination part 9: Attention call execution part 20: Position detection device 21: Road database 22: Speaker 23: Display device 30: Vehicle 31: Lane division line 32: Guide road 33: Guidance lane 34: Junction 35: Connection lane 36: Junction vehicle 37: Junction road 40: Attention call mark H: Judgment section

Claims (6)

A driving support system for supporting driving by a driver of a host vehicle,
A vehicle position acquisition unit for acquiring the current position of the vehicle;
A road data acquisition unit that acquires road data including information on road connection and lane arrangement;
A route for searching a guide route which is a route for guiding the vehicle to the destination based on the current position, the road data, and the set destination, including a guide lane which is a lane of the road for guiding Search part,
When there is a junction road which is a road on which the guidance route is set and which has a plurality of lanes based on the guidance route and the road data, the driver of the host vehicle with respect to the junction road The alerting degree determination unit that determines the alerting degree, which is the alerting degree for
An alerting execution unit that performs alerting according to the alerting degree via a display device in a state where the current position is in front of a junction between the guide road and the junction road;
The alerting degree determination unit determines a screen display of an approach arrow line representing an entry route of a joining vehicle from the joining road to each lane of the guiding road, and the lane of the guiding road to which the joining road is connected It is determined that the thickness of the line is made thicker as the approach arrow line related to the lane of the guide road closer to the connection lane is
The attention drawing level determination unit is configured to determine the screen display of the guide arrow line representing the guide lane, it said in the decision interval which is set along the traveling direction of the vehicle including the junction, the connection lane When the guidance lane and the guidance lane overlap, the alertness degree is determined so as to increase the alertness degree as compared with the case where the connection lane and the guidance lane do not overlap in the determination section , The driving assistance system which determines the screen display of the alerting mark displayed on the part which the said guidance arrow line and the said approach arrow line cross | intersect according to the said alerting degree .   In the case where the guidance road has a plurality of lanes in front of the junction point from the junction point and the connection lane and the guidance lane do not overlap, the attention awakening degree determination unit When the lane dividing line that divides the plurality of lanes is a line prohibiting a lane change, the alerting degree is lowered compared to the case where the lane dividing line is a line that permits a lane change. The driving support system described in.   When the passing period of the vehicle between the guiding road and the junction road is divided by the traffic light, the alerting degree determination unit divides the passing period of the vehicle between the guiding road and the junction road by the traffic light. The driving assistance system according to claim 1 or 2, wherein the alertness level is lowered as compared with the case where the warning is not issued.   The alerting degree determination unit is configured such that the number of lanes of the guide road ahead of the junction point in the traveling direction is the sum of the number of lanes of the guide road and the number of lanes of the junction road before the junction point. If the connection lane and the guide lane do not overlap in the determination section, the number of lanes of the guide road ahead of the junction point in the traveling direction is the total lane. In the case where the alerting degree is lowered and the connection lane and the guide lane overlap in the determination section as compared with the case where the number is less than the number, the guide road in front of the traveling direction with respect to the junction point The driving assistance system according to any one of claims 1 to 3, wherein the alertness level is increased compared to when the number of lanes is less than the total number of lanes. Beam. A driving support method for supporting driving by a driver of a host vehicle,
The arithmetic processing unit
A vehicle position acquisition step of acquiring the current position of the vehicle;
A road data acquisition step of acquiring road data including information on road connections and lane arrangement;
A route for searching a guide route which is a route for guiding the vehicle to the destination based on the current position, the road data, and the set destination, including a guide lane which is a lane of the road for guiding Search step,
When there is a junction road which is a road on which the guidance route is set and which has a plurality of lanes based on the guidance route and the road data, the driver of the host vehicle with respect to the junction road Alerting degree determination step of determining the alerting degree which is the alerting degree for
Performing an alerting execution step of performing alerting according to the alerting degree via a display device in a state where the current position is in front of a junction between the guide road and the junction road;
In the alerting degree determination step, a screen display of an approach arrow line representing an approach route of a joining vehicle from the joining road to each lane of the guiding road is determined, and a lane of the guiding road to which the joining road is connected It is determined that the thickness of the line is made thicker as the approach arrow line related to the lane of the guide road closer to the connection lane is
The Caution Signal level determination step is configured to determine the screen display of the guide arrow line representing the guide lane, it said in the decision interval which is set along the traveling direction of the vehicle including the junction, the connection lane When the guidance lane and the guidance lane overlap, the alertness degree is determined so as to increase the alertness degree as compared with the case where the connection lane and the guidance lane do not overlap in the determination section , The driving assistance method determines the screen display of the alerting mark displayed on the part where the said guidance arrow line and the said approach arrow line cross | intersect according to the said alerting degree . A driving support program for causing a computer to realize a driving support function that supports driving by a driver of a host vehicle.
A vehicle position acquisition function of acquiring the current position of the vehicle;
A road data acquisition function of acquiring road data including information on road connection and lane arrangement;
A route for searching a guide route which is a route for guiding the vehicle to the destination based on the current position, the road data, and the set destination, including a guide lane which is a lane of the road for guiding With search function,
When there is a junction road which is a road on which the guidance route is set and which has a plurality of lanes based on the guidance route and the road data, the driver of the host vehicle with respect to the junction road Alerting degree determination function that determines the alerting degree, which is the alerting degree for
An alerting execution function of performing alerting according to the alerting degree via a display device while the current position is in front of the junction between the guide road and the junction road is realized by a computer Let
The alerting degree determination function determines a screen display of an approach arrow line representing an entry route of a joining vehicle from the joining road to each lane of the guiding road, and a lane of the guiding road to which the joining road is connected It is determined that the thickness of the line is made thicker as the approach arrow line related to the lane of the guide road closer to the connection lane is
The Note On Signal level determination function, and determines a screen display of the guide arrow line representing the guide lane, it said in the decision interval which is set along the traveling direction of the vehicle including the junction, the connection lane When the guidance lane and the guidance lane overlap, the alertness degree is determined so as to increase the alertness degree as compared with the case where the connection lane and the guidance lane do not overlap in the determination section , The driving assistance program which determines the screen display of the alerting mark displayed on the part which the said guidance arrow line and the said approach arrow line cross | intersect according to the said alerting degree .

Images