JP7198705B2 - Vehicle driving support system - Google Patents

Vehicle driving support system Download PDF

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JP7198705B2
JP7198705B2 JP2019065218A JP2019065218A JP7198705B2 JP 7198705 B2 JP7198705 B2 JP 7198705B2 JP 2019065218 A JP2019065218 A JP 2019065218A JP 2019065218 A JP2019065218 A JP 2019065218A JP 7198705 B2 JP7198705 B2 JP 7198705B2
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vehicle
intersection
driving support
behavior
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JP2020166456A (en
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弘喜 中島
実 小林
将隆 伊澤
崇弘 呉橋
佳紀 木下
宏 鎌倉
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Honda Motor Co Ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/50—Instruments characterised by their means of attachment to or integration in the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems

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  • Engineering & Computer Science (AREA)
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  • Human Computer Interaction (AREA)
  • Atmospheric Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Description

本発明は、車両用運転支援システムに関する。 The present invention relates to a vehicle driving assistance system.

信号情報活用運転支援システム（ＴＳＰＳ：Traffic Signal Prediction Systems）は、光ビーコン等から取得した信号情報を用いて信号交差点を円滑に通行するための車両の運転を支援するシステムとして知られている。 Traffic Signal Prediction Systems (TSPS) are known as systems that assist the driving of vehicles for smooth passage through signalized intersections using signal information acquired from optical beacons and the like.

特許文献１に提案されている技術は、次のような内容である。まず、車両が信号機の設置された交差点を通過する際に、前記交差点の上流地点で、前記信号機の現在の灯色、各灯色の点灯時間、及び次の灯色に変化するまでの残秒数（残り時間、待ち時間）等を含む信号情報を車外から受信する。そして、受信した信号情報と自車両の位置・車速とから前記自車両の前記交差点への到達時間を算出する。そして、前記交差点までの前記到達時間が前記信号機の灯色が青から黄又は赤に変化するまでの時間より長い場合には、運転者に減速開始を促す通知を行うというものである。 The technology proposed in Patent Document 1 is as follows. First, when a vehicle passes through an intersection where a traffic light is installed, at the upstream point of the intersection, the current light color of the traffic light, the lighting time of each light color, and the remaining seconds until the next light color changes Signal information including number (remaining time, waiting time) etc. is received from outside the vehicle. Then, the arrival time of the own vehicle to the intersection is calculated from the received signal information and the position/vehicle speed of the own vehicle. If the arrival time to the intersection is longer than the time required for the color of the traffic light to change from green to yellow or red, the driver is notified to start decelerating.

特開２０１０－２４４３０８号公報JP 2010-244308 A

一方、交通信号の中には右折矢印信号のように、直進と右左折では通過できるタイミングが異なる交差点も存在する。その際、車両のシステムは交差点で右左折する運転者に対しては右左折に応じた信号支援を行いたい。しかし、このようなシステムが運転者を支援したいタイミングは交差点のはるか手前である。そのため、車両のウインカー操作、ステアリング操舵、走行車線の変更が行われる前であるので、これらを検知することなどで運転者の右左折意思をくみ取ることができない。そのため、このようなケースでは適切な運転支援をすることができなかった。 On the other hand, among traffic signals, there are also intersections such as right-turn arrow signals in which the timing at which a vehicle can pass is different between going straight and turning right or left. At that time, the system of the vehicle should provide signal support according to the right or left turn for the driver turning right or left at the intersection. However, the timing at which such a system would like to assist the driver is far before the intersection. Therefore, since the turn signal operation of the vehicle, the steering operation, and the change of the driving lane are not performed, it is impossible to grasp the driver's right or left turn intention by detecting these. Therefore, in such cases, appropriate driving assistance cannot be provided.

そこで、本発明の目的は、交差点に進入しようとする車両の運転者に対して適切な運転支援を行うことができる車両用運転支援システムを提供することである。 SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a vehicle driving support system capable of providing appropriate driving support to a driver of a vehicle that is about to enter an intersection.

本発明は、交差点に設置された信号機の灯色の遷移及び灯色の点灯時間を少なくとも含む信号情報を車外から受信する受信部と、自車両位置から交差点までの残距離を算出する残距離算出部と、前記信号情報と前記残距離とに基づいて、前記交差点を信号機の灯色に従って通過できる速度範囲を算出する通過速度範囲算出部と、前記通過できる速度範囲と自車両の現在速度に基づいて運転支援情報として減速又は前記速度範囲での前記交差点の通過を促す報知を行う報知部とを備える車両用運転支援システムであって、前記信号情報を取得した交差点での自車両の挙動を挙動記憶部に記憶して前記交差点ごとに蓄積する蓄積部を備え、前記報知部は、自車両の経路が設定されているか否かを判定し、自車両の経路が設定されている場合は、当該経路に沿った交差点通過挙動に対応した運転支援情報を報知し、自車両の経路が設定されていない場合は、蓄積部を参照して当該交差点で行われた頻度の高い自車両の交差点通過挙動に対応した運転支援情報を報知することを特徴とする車両用運転支援システムである。 The present invention includes a receiving unit that receives signal information from outside the vehicle including at least the transition of the light color of the traffic signal installed at the intersection and the lighting time of the light color, and a remaining distance calculation that calculates the remaining distance from the position of the vehicle to the intersection. a passing speed range calculating unit for calculating a speed range in which the intersection can be passed according to the light color of the traffic light based on the signal information and the remaining distance; and an informing unit for decelerating or urging passing through the intersection in the speed range as driving assistance information, wherein the behavior of the own vehicle at the intersection where the signal information is acquired is determined. An accumulation unit is provided for storing data in a storage unit and accumulating information for each of the intersections. Notification of driving support information corresponding to the intersection crossing behavior along the route, and when the own vehicle's route is not set, referring to the accumulation unit, the frequently crossing crossing behavior of the own vehicle at the intersection It is a vehicle driving support system characterized by notifying driving support information corresponding to.

本発明によれば、交差点に進入しようとする車両の運転者に対して適切な運転支援を行うことができる車両用運転支援システムを提供することができる。 ADVANTAGE OF THE INVENTION According to this invention, the driving assistance system for vehicles which can perform appropriate driving assistance with respect to the driver|operator of the vehicle which is going to approach an intersection can be provided.

本発明の一実施形態である車両用運転支援システムのシステム構成を示すブロック図である。1 is a block diagram showing the system configuration of a vehicle driving support system that is an embodiment of the present invention; FIG. 本発明の一実施形態である車両用運転支援システムの動作を説明するフローチャートである。3 is a flowchart for explaining the operation of the vehicle driving support system that is one embodiment of the present invention; 本発明の一実施形態であるインパネの平面図である。1 is a plan view of an instrument panel that is an embodiment of the present invention; FIG.

以下、本発明の一実施形態について説明する。
図１は、車載されている車両用運転支援システムのシステム構成を示すブロック図である。車両用運転支援システム１は、マイクロコンピュータ等により構成され、所定のメッセージを表示するディスプレイ４と、音声を出音する出音装置５とを備えている。
車両用運転支援システム１は、機能ブロックとして表現した、受信部１１、残距離算出部１２、通過速度範囲算出部１３、蓄積部１４及び報知部１５の機能を実行する。 An embodiment of the present invention will be described below.
FIG. 1 is a block diagram showing the system configuration of a vehicle driving support system mounted on a vehicle. The vehicle driving support system 1 is composed of a microcomputer or the like, and includes a display 4 that displays a predetermined message and a sound output device 5 that outputs sound.
The vehicle driving support system 1 executes the functions of a receiver 11, a remaining distance calculator 12, a passing speed range calculator 13, an accumulation unit 14, and a notification unit 15 expressed as functional blocks.

受信部１１は、交差点に設置された信号機の灯色の遷移及び灯色の点灯時間を少なくとも含む信号情報を車外から受信する。
残距離算出部１２は、車両用運転支援システム１を搭載した自車両位置から交差点までの残距離を算出する。
通過速度範囲算出部１３は、前記信号情報と前記残距離とに基づいて、前記交差点を信号機の灯色に従って通過できる速度範囲を算出する。 The receiving unit 11 receives from outside the vehicle signal information including at least the transition of the light color and the lighting time of the light color of the traffic signal installed at the intersection.
The remaining distance calculation unit 12 calculates the remaining distance from the position of the vehicle equipped with the vehicle driving support system 1 to the intersection.
The passing speed range calculation unit 13 calculates a speed range in which the vehicle can pass through the intersection according to the light color of the traffic light based on the signal information and the remaining distance.

蓄積部１４は、前記信号情報を取得した交差点での自車両の挙動を挙動記憶部１７に記憶して蓄積する。すなわち、当該交差点での自車両の走行履歴を蓄積する。また、走行履歴は、所定回数分を蓄積し、その所定回数分を超える走行履歴が蓄積されたときは新しい走行履歴のデータで古い走行履歴のデータを更新する。
報知部１５は、前記の通過できる速度範囲と自車両の現在速度に基づいて運転支援情報として減速又は前記速度範囲での前記交差点の通過を促す等の報知を行う。
車両用運転支援システム１には、ＧＰＳ（Global Positioning System）などの衛星測位システムを備えたカーナビゲーションシステム２１と、車速を検出する車速センサ２２とが接続されている。 The accumulation unit 14 stores and accumulates the behavior of the own vehicle at the intersection where the signal information is acquired in the behavior storage unit 17 . That is, the travel history of the own vehicle at the intersection is accumulated. Further, the travel history is accumulated for a predetermined number of times, and when the travel history exceeding the predetermined number of times is accumulated, the old travel history data is updated with the new travel history data.
The notification unit 15 provides driving assistance information based on the speed range through which the vehicle can pass and the current speed of the vehicle, such as deceleration or prompting to pass through the intersection within the speed range.
The vehicle driving support system 1 is connected with a car navigation system 21 having a satellite positioning system such as GPS (Global Positioning System) and a vehicle speed sensor 22 for detecting vehicle speed.

次に、車両用運転支援システム１が実行する具体的な処理内容についてフローチャートを参照して説明する。図２は、本発明の一実施形態である車両用運転支援システム１の動作を説明するフローチャートである。
交差点に車両用運転支援システム１を搭載した車両が近づくと、当該交差点に対応した光ビーコンなどから当該交差点の信号に関する信号情報を受信部１１が受信する（Ｓ１のＹｅｓ）。この信号情報には、これから車両が通過しようとする交差点の信号の現在の灯色、次の灯色、現在の灯色から次の灯色まで遷移するまでに要する時間などの情報を含む。また、信号が右折矢印信号を備えているときは、灯色が赤になってから何秒後に右折矢印信号が点灯し、それが何秒継続するかの情報も含まれる。 Next, specific processing contents executed by the vehicle driving support system 1 will be described with reference to a flowchart. FIG. 2 is a flowchart for explaining the operation of the vehicle driving support system 1 that is one embodiment of the present invention.
When a vehicle equipped with the vehicle driving support system 1 approaches an intersection, the receiving unit 11 receives signal information regarding the signal of the intersection from an optical beacon corresponding to the intersection (Yes in S1). This signal information includes information such as the current light color of the signal at the intersection where the vehicle is about to pass, the next light color, and the time required to transition from the current light color to the next light color. Also, when the signal has a right turn arrow signal, information is included as to how many seconds after the light color turns red the right turn arrow signal lights up and how many seconds it lasts.

なお、光ビーコン以外にも、例えば、５．８ＧＨｚ帯の狭域通信であるＤＳＲＣ（Dedicated Short Range Communication）により、情報を取得してもよい。
また、車両用運転支援装置１は、「７００ＭＨｚ帯高度道路交通システム」（ARIB STD-T109）に既定される無線通信方式による路車間通信により、路側機（無線基地局）を介して、交通管制センタから情報を取得するようにしてもよい。
さらに、車両用運転支援装置１は、移動体通信によって、自車両の位置情報あるいは交差点番号あるいは交差点の位置情報（緯度・経度情報）を交通管制センタに通知し、必要な情報を取得してもよい。 In addition to the optical beacon, for example, information may be acquired by DSRC (Dedicated Short Range Communication), which is short-range communication in the 5.8 GHz band.
In addition, the vehicle driving support device 1 performs traffic control via a roadside device (radio base station) by road-to-vehicle communication according to a radio communication system defined in the "700 MHz band intelligent traffic system" (ARIB STD-T109). Information may be acquired from the center.
Furthermore, the vehicle driving support system 1 notifies the traffic control center of the location information of the own vehicle, the intersection number, or the location information of the intersection (latitude and longitude information) by mobile communication, and acquires necessary information. good.

次に、残距離算出部１２は、自車両位置から当該交差点までの残距離を算出する（Ｓ２）。自車両の位置は、カーナビゲーションシステム２１で判断できるので、これによって、地図データ上での自車両位置から当該交差点までの残距離を算出することができる。次に、通過速度範囲算出部１３が、前記信号情報と当該残距離とに基づいて、交差点を信号機の灯色に従って通過できる速度範囲を算出する（Ｓ３）。 Next, the remaining distance calculator 12 calculates the remaining distance from the position of the vehicle to the intersection (S2). Since the position of the own vehicle can be determined by the car navigation system 21, it is possible to calculate the remaining distance from the position of the own vehicle on the map data to the intersection. Next, the passing speed range calculator 13 calculates a speed range in which the vehicle can pass through the intersection according to the light color of the traffic light based on the signal information and the remaining distance (S3).

次に、報知部１５は、カーナビゲーションシステム２１に経路設定されているときは（Ｓ４のＹｅｓ）、当該交差点を自車両は右折、左折、直進のいずれの挙動を行う予定なのかを経路設定に基づいて判断する（Ｓ５）。また、当該経路設定がされていないときは（Ｓ４のＮｏ）、報知部１５は、挙動記憶部１７に蓄積されている当該交差点での自車両の挙動の過去の履歴から当該交差点で行われた頻度の高い自車両の交差点通過挙動を判断する（Ｓ６）。すなわち、過去に当該交差点で自車両は右折、左折、直進のいずれを多く行ったかである。５叉路以上に分岐した交差点では選択肢は更に多くなる。 Next, when the route is set in the car navigation system 21 (Yes in S4), the notification unit 15 determines whether the vehicle is to turn right, turn left, or go straight at the intersection in the route setting. (S5). Further, when the route has not been set (No in S4), the notification unit 15 determines from the past history of the behavior of the vehicle at the intersection accumulated in the behavior storage unit 17 The intersection crossing behavior of the own vehicle with high frequency is judged (S6). That is, it is which of the right turn, left turn, and straight ahead the vehicle made at the intersection in the past. There are even more options at intersections with five or more junctions.

このように、経路設定又は過去の履歴から当該交差点での自車両の挙動が類推できるので、報知部１５は、その結果から類推できる自車両の挙動に応じた運転支援情報の報知を行う。まず、報知部１５は、当該交差点を通過できる速度範囲（Ｓ３）と自車両の現在速度に基づいて、運転支援情報として減速又は前記速度範囲での当該交差点の通過を促す報知を行う（Ｓ７）。報知部１５は、報知をディスプレイ４や出音装置５によって行う。このとき予想される自車両の交差点通過挙動に応じて運転支援情報の内容も異なる場合がある。例えば、右折矢印信号のある交差点では、予想される自車両の交差点通過挙動が直進又は左折の場合には、自車両の減速を促すことがある。一方、予想される自車両の交差点通過挙動が右折の場合には、自車両で当該交差点へ進入して通過することを促すことがある。 In this way, the behavior of the own vehicle at the intersection can be inferred from the route setting or the past history, so the notification unit 15 notifies the driving support information according to the behavior of the own vehicle that can be inferred from the result. First, based on the speed range (S3) in which the vehicle can pass through the intersection and the current speed of the host vehicle, the notification unit 15 provides driving assistance information that decelerates or urges the vehicle to pass through the intersection within the speed range (S7). . The notification unit 15 performs notification using the display 4 and the sound output device 5 . At this time, the content of the driving support information may also differ depending on the expected intersection crossing behavior of the own vehicle. For example, at an intersection with a right-turn arrow signal, deceleration of the own vehicle may be urged if the expected behavior of the own vehicle through the intersection is to go straight or turn left. On the other hand, if the expected behavior of the vehicle passing through the intersection is to turn right, the vehicle may be urged to enter and pass through the intersection.

図３は、自車両のインパネ５１の平面図である。インパネ５１（ディスプレイ４が相当）には前記のように行う交差点通過の支援情報５２が表示される。図３の例では、予想される自車両の交差点通過挙動が右折の場合の例である。この例では、交差点を右折することを示す右折矢印５３と右折表示ランプ５４の点灯により、交差点での右折を支援する例を示している。左折するときは左折矢印（図示せず）と左折ランプ５５の点灯、直進するときは、直進矢印（図示せず）と直進ランプ５６の点灯によって支援を行う。 FIG. 3 is a plan view of the instrument panel 51 of the own vehicle. The instrument panel 51 (corresponding to the display 4) displays support information 52 for crossing the intersection as described above. The example of FIG. 3 is an example in which the expected behavior of the own vehicle through the intersection is a right turn. In this example, a right turn at an intersection is assisted by turning on a right turn arrow 53 and a right turn indicator lamp 54 indicating that the vehicle is to turn right at the intersection. When turning left, a left turn arrow (not shown) and a left turn lamp 55 are lit, and when going straight, a straight arrow (not shown) and a straight lamp 56 are lit for assistance.

このような運転支援情報を受けて当該交差点を通過したときは（Ｓ８のＹｅｓ）、現実に行われた当該交差点通過挙動の情報を当該交差点の識別情報と関連付けて、蓄積部１４が挙動記憶部１７に蓄積する（Ｓ９）。交差点通過挙動の情報はカーナビゲーションシステム２１の情報から判断することができる。この情報は将来におけるＳ６の判断のための情報となる。
以上説明した車両用運転支援システム１によれば、予想される交差点通過挙動に応じて交差点に進入しようとする車両の運転者に対して適切な運転支援を行うことができる。 When the driver passes through the intersection after receiving such driving support information (Yes in S8), the information on the behavior actually performed when passing the intersection is associated with the identification information of the intersection, and the storage unit 14 stores the behavior storage unit. 17 (S9). Information on intersection crossing behavior can be determined from information of the car navigation system 21 . This information will serve as information for the determination of S6 in the future.
According to the vehicle driving support system 1 described above, appropriate driving support can be provided to the driver of the vehicle that is about to enter the intersection according to the expected intersection passage behavior.

なお、交差点通過挙動を運転者が指定してもよい。例えば、特定の運転者のジェスチャーが特定の交差点通過挙動に対応していて、この運転者のジェスチャーを車内のモーションセンサで検出するようにしてもよい。 It should be noted that the driver may specify the intersection passing behavior. For example, a specific driver's gesture may correspond to a specific intersection crossing behavior, and the driver's gesture may be detected by an in-vehicle motion sensor.

１ 車両用運転支援システム
１１ 受信部
１２ 残距離算出部
１３ 通過速度範囲算出部
１４ 蓄積部
１５ 報知部
２１ カーナビゲーションシステム
２２ 車速センサ 1 Driving Support System for Vehicle 11 Receiving Part 12 Remaining Distance Calculating Part 13 Passing Speed Range Calculating Part 14 Accumulating Part 15 Reporting Part 21 Car Navigation System 22 Vehicle Speed Sensor

Claims (2)

交差点に設置された信号機の灯色の遷移及び灯色の点灯時間を少なくとも含む信号情報を車外から受信する受信部と、
自車両位置から交差点までの残距離を算出する残距離算出部と、
前記信号情報と前記残距離とに基づいて、前記交差点を信号機の灯色に従って通過できる速度範囲を算出する通過速度範囲算出部と、
前記通過できる速度範囲と自車両の現在速度に基づいて運転支援情報として減速又は前記速度範囲での前記交差点の通過を促す報知を行う報知部とを備える車両用運転支援システムであって、
前記信号情報を取得した交差点での自車両の挙動を挙動記憶部に記憶して前記交差点ごとに蓄積する蓄積部を備え、
前記報知部は、自車両の経路が設定されているか否かを判定し、
自車両の経路が設定されている場合は、当該経路に沿った交差点通過挙動に対応した運転支援情報を報知し、
自車両の経路が設定されていない場合は、蓄積部を参照して当該交差点で行われた頻度の高い自車両の交差点通過挙動に対応した運転支援情報を報知することを特徴とする車両用運転支援システム。 a receiving unit that receives from outside the vehicle signal information including at least the transition of the light color and the lighting time of the light color of the traffic light installed at the intersection;
a remaining distance calculation unit that calculates the remaining distance from the position of the vehicle to the intersection;
a passing speed range calculation unit that calculates a speed range in which the intersection can be passed according to the light color of the traffic light based on the signal information and the remaining distance;
A driving support system for a vehicle, comprising: a notification unit that provides driving support information based on the passable speed range and the current speed of the own vehicle to decelerate or notify the vehicle to pass through the intersection within the speed range,
an accumulation unit that stores the behavior of the own vehicle at the intersection where the signal information is acquired in a behavior storage unit and accumulates it for each intersection;
The reporting unit determines whether or not a route for the own vehicle is set,
When the route of the own vehicle is set, the driving support information corresponding to the intersection passing behavior along the route is notified,
When the route of the own vehicle is not set, a storage unit is referred to, and driving support information corresponding to the behavior of the own vehicle passing through the intersection with high frequency at the intersection is notified. support system. 前記報知部は、頻度の高い自車両の前記交差点通過挙動として前記交差点での自車両の右左折及び直進のいずれかの挙動に対応した前記運転支援情報を報知することを特徴とする請求項１に記載の車両用運転支援システム。 2. The notifying unit notifies the driving support information corresponding to either a right or left turn or a straight-ahead behavior of the own vehicle at the intersection as the intersection passage behavior of the own vehicle with high frequency. The vehicle driving support system according to .
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