JP2000113396A - Support device for driving at intersection - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce collision accidents between a right turning vehicle and a straight traveling vehicle, and a left turning vehicle and a pedestrian crossing walker in a crossing traffic flow at an intersection. SOLUTION: An image sensor 11 which detects an oncoming straight traveling vehicle approaching an intersection a roadside transmitter 12 which sends warning information comprising a direction code and a warning message to the intersection area in response to the detection from the image sensor 11, and a VICS transmitter 13 which sends identification information for warning information identification to vehicles traveling on the right turning lane are arranged on the on-road side and a car radio set 14 and a VICS receiver 15 which receive transmit information from the road are mounted on a vehicle. Consequently, it is on the side of a vehicle which is to turn right at the intersection, it is judged whether or not the warning information from the road is a warning message addressed to this vehicle according to the identification code and direction code and when so the presence of the oncoming vehicle is indicated with the voice warning from the speaker 14C of the car radio set 14.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driver of a right-turning vehicle or a left-turning vehicle in order to prevent a collision accident between a right-turning vehicle and a straight-ahead vehicle or a left-turning vehicle and a crossing pedestrian whose traveling directions intersect at an intersection. The present invention relates to a driving support device at an intersection for assisting driving.

[0002]

2. Description of the Related Art According to the traffic safety white paper of 1995, traffic accident fatalities at intersections are about 35% of all fatal accidents. Among them, about 43% died at signalized intersections,
Among them, about 11% died while walking on a pedestrian crossing and about 9% died while turning right. As for traffic signal control at intersections in Japan, green traffic light control is common. In the case of an intersection of two branches where two roads intersect, for example, one of the roads is set to a green light to allow the traveling, and the other road is set to a red light to inhibit the proceeding. In the case of this green traffic light control, the straight-ahead vehicle and the right-turning vehicle in the opposite lane are allowed to travel at the same time. If there is a pedestrian crossing, pedestrians and left-turn vehicles are also allowed to proceed at the same time. That is, in the green traffic light control, the crossing indicating control is performed in which the oncoming straight-ahead vehicle and the right-turning vehicle and the left-turning vehicle and the pedestrian are allowed to proceed at the same time. Is the cause.

[0003]

In order to eliminate an intersecting traffic flow in which an oncoming straight-ahead vehicle, a right-turning vehicle, and a left-turning vehicle and a pedestrian are allowed to travel at the same time, there is an arrow indication control system using an arrow light. This is indicated by the arrow light, going straight (pedestrian crossing),
Right and left turns are permitted in chronological order.
However, this method is liable to cause traffic congestion, and in reality, there is a problem in that it is more difficult to adopt the arrow indication control than the green traffic light control.

[0004] Therefore, in an actual intersection where there is a lot of green traffic light control where there is an intersecting traffic flow in which an oncoming straight-ahead vehicle and a right-turn vehicle and a left-turn vehicle and a pedestrian are allowed to travel at the same time, it is necessary to avoid the accident by the driver and the crossing. At present, it is left to the judgment of pedestrians. As a technique for preventing an accident at an intersection, for example, an obstacle detection device for a vehicle that can detect a pedestrian by aligning an obstacle detection area with a pedestrian crossing at the beginning of a right or left turn (Japanese Patent Laid-Open Publication No. 7-
No. 110899), a collision prevention device that sets a plurality of pedestrian detection areas on a sidewalk near an intersection and issues different warnings to the vehicle according to the behavior of the pedestrian (Japanese Patent Laid-Open No. 8-273)
No. 098) and a driving assistance device that transmits a right-turning vehicle image or the like of an on-going straight-ahead vehicle in a blind spot for a right-turning vehicle driver and assists the right-turning vehicle driver in making a right turn (Japanese Patent Application Laid-Open No. 9-270097). ) Etc. have been proposed.

The present invention alerts a driver of a right-turning vehicle or a left-turning vehicle when an oncoming straight-ahead vehicle or a crossing pedestrian is present in the vehicle to alert the driver to the intersection where an intersecting traffic flow exists. It is an object of the present invention to provide a driving support device that improves traffic safety and reduces traffic accidents at intersections.

[0006]

According to the first aspect of the present invention, there is provided a driving support device for assisting the driving of a vehicle whose course is changed at an intersection. Moving body detecting means for detecting a moving body moving in a direction in which the moving object is detected; transmitting means for transmitting warning information for a course change vehicle when the moving body detecting means detects the moving body; Identification information transmitting means for transmitting identification information for identifying whether or not to the course-changing vehicle, on the road, receiving means for receiving transmission information from each of the transmitting means, and the alarm based on each received information The vehicle is provided with a warning unit that warns the driver when the information is determined to be for the own vehicle.

According to this configuration, when the moving body detecting means detects the moving body, the warning information is transmitted from the transmitting means on the road. On the route changing vehicle side of the intersection, the identification information is transmitted in advance from the identification information transmitting means by a reception signal, the identification information is received, the warning information from the road is received, and the warning information is based on the identification information and the warning information is that of the own vehicle. Is determined, and if the warning information is for the own vehicle, a warning is issued to alert the driver.

[0008] In the invention according to the second aspect, the vehicle is provided with control means for enabling operation control of the braking device of the course changing vehicle when it is determined that the warning information is for the own vehicle. Specifically, as set forth in claim 3, there is provided a selection switch for selecting operation or non-operation, and the brake device is operated only when the selection switch is in the operation position.

With this configuration, when the alarm information is for the own vehicle, the braking device can be operated by the control means at will of the driver. According to a fourth aspect of the present invention, the moving body detecting means detects an oncoming straight-ahead vehicle approaching an intersection in a direction intersecting with a right-turn vehicle. Specifically, as described in claim 5,
The moving object detecting means includes a light emitting means installed on a road and blinking at a constant cycle, and an image pickup means for picking up an image of the light emitting means from the road side with the vehicle running path interposed therebetween, and a lighting image by the image pickup means. It is preferable to determine that there is no vehicle when the light-off image is repeatedly imaged at the fixed cycle, and to determine that there is a vehicle when the light-off image is continuously imaged.

[0010] With this configuration, driving support for a right-turning vehicle can be provided. In addition, when the light emitting means, the imaging means, and the like have a failure, the moving object detecting means has an image form similar to that of the vehicle, and a moving object with a fail-safe configuration can be detected.
According to a sixth aspect of the present invention, the moving body detecting means detects a pedestrian crossing in a direction intersecting with a left-turning vehicle. In this case, as described in claim 7, the moving body detecting means is provided on one of the road sides facing the pedestrian crossing road, and is provided with a light emitting means that blinks at a constant cycle, and on the other road side, An imaging unit is provided for imaging the light emitting unit. The illumination unit determines that there is no pedestrian when the lighting image and the extinguished image are repeatedly imaged at the fixed cycle, and the extinguished image is continuously imaged. It is good to adopt a configuration in which the presence of a pedestrian is determined when there is a pedestrian.

[0011] With this configuration, driving support for a left-turn vehicle can be provided. In addition, when the light emitting means, the imaging means, and the like have a failure, the moving object detecting means has an image form similar to that of the vehicle, and a moving object with a fail-safe configuration can be detected.
In the invention according to claim 8, the identification information transmitting means includes:
It may be a VICS transmitter.

In such a configuration, a VICS communication network can be used.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a first embodiment of the driving support device of the present invention, and FIG.
It is a figure showing an example of arrangement of this device in the case of an intersection of two branches where two roads intersect. In FIG. 2, only a configuration for supporting a right-turning vehicle waiting in a lane directed upward in the figure is shown and described.

In FIG. 1, the present apparatus has an image sensor 11 as moving body detecting means for detecting an oncoming straight-ahead vehicle 5 which is a moving body approaching the intersection 1 in FIG. When a detection signal of the oncoming straight-ahead vehicle 5 is input from the sensor 11, a voice alarm message as alarm information,
The roadside transmitter 12 as a transmitting means for transmitting the direction code signal to the right-turning vehicle 6 which is a course changing vehicle, and the right-turning vehicle 7 located in the right-turn lane just before the intersection are provided with a right-turn code in advance as identification information for warning information identification. VICS (Vehicle Information and Communica) as means for transmitting identification information to be transmitted
tion System) transmitter 13.

[0015] Further, as a configuration mounted on a vehicle, a car radio 14 for receiving alarm information from the roadside transmitter 12 is provided.
And a VICS receiver 15 for receiving a right turn code from the VICS transmitter 13. The image sensor 11 includes, for example, a light-emitting diode array 11A in which a number of near-infrared high-brightness light-emitting diodes are arranged and the light-emitting diodes flicker at a constant period (for example, 100 msec), and a CCD camera 1 that images the light-emitting diode array 11A.
1B and a camera controller 1 for controlling the CCD camera 11B
1C. Light emitting diode array 11A
As shown in FIG. 2, is installed at a substantially central portion of the road 2 that intersects the road 3 and a predetermined distance before the intersection 1 on the side of the traveling road 2a where the straight ahead vehicle 5 travels. The CCD camera 11B is
The light-emitting diode array 11A is installed on the road side (for example, at a high position via a pillar) where the light-emitting diode array 11A can capture an image with the traveling lane of the oncoming straight-ahead vehicle 5 interposed therebetween. A camera control unit 11C provided integrally with the CCD camera 11B processes the image from the CCD camera 11B, and alternately inputs the lighting image and the extinguished image of the light emitting diode array 11A in accordance with the blinking cycle of the light emitting diode array 11A. In this case, a signal indicating that there is no oncoming straight vehicle is output, and when an image is input that does not match the blinking cycle of the light emitting diode array 11A, a signal indicating that there is an oncoming straight vehicle is output. That is, in the image captured by the CCD camera 11B, when there is no vehicle, the light emitting diode array 11A is captured in a rectangular area as shown in FIG. Then, the image of the rectangular area is binarized by the camera control unit 11 </ b> C to determine the fully lit state A and the completely extinguished state B. In the case of FIG. 3A, the states A and B change from A → B → A at the same cycle as the blinking cycle of the light emitting diode array 11A.
→ It is repeated as B ... and it is determined that there is no vehicle.
On the other hand, when a part of the light emitting diode array 11A is hidden by the vehicle as shown in FIG. 3B, the states A and B are not repeated at the same cycle as the blinking cycle of the light emitting diode array 11A, and it is determined that the vehicle is present. . In the image sensor 11, a light emitting diode array 11A, a CCD camera 11B
Alternatively, in the event of a malfunction of the camera control unit 11C or the like, or in bad weather conditions such as poor visibility such as rain or fog, the detection output is a vehicle, and the driver of the right-turn vehicle 6 is a safe and fail-safe detection mode. High vehicle detection is possible. Here, the light emitting diode array 11A corresponds to a light emitting unit, and the CCD camera 11B and the camera control unit 11C correspond to an imaging unit.

The roadside transmitter 12 includes a transmitter body 12A installed on the roadside, for example, near a corner of the intersection 1, and an intersection 1
A transmission antenna 12B such as a dipole antenna is provided extending inward and upward. When a vehicle detection signal is input from the image sensor 11, the transmitter body 12A converts the voice alarm message and the direction code signal into a plurality of times using a medium-wave radio wave such as 1625 kHz as a medium through the transmission antenna 12B according to a predetermined format. The transmission is made to the right-turning vehicle 6 which is a route changing vehicle in the intersection 1.

The VICS transmitter 13 is, for example, of an optical type that oscillates near-infrared light.
The right turn code is locally and optically transmitted in advance as identification information for warning information identification to the right turn vehicle 7 located on the right turn lane of the traveling path 2b via the road. FIG.
2 shows a communication area of the local optical VICS transmitter 13.

Although not shown in FIG. 2, the image sensor 1
1 is a road 2b side of the road 2, each road 3a of the road 3,
3b, and the VICS transmitter 13 is also disposed on each of the traveling paths 3a and 3b of the road 3 on the traveling path 2a side of the road 2. By inputting information about the oncoming straight-ahead vehicle from the image sensors 11 arranged in four directions to the illustrated roadside transmitter 12, the driving assistance of each right-turning vehicle that makes a right turn from all the running paths 2 a, 2 b, 3 a, 3 b is provided. It is a configuration that can be done.

A car radio 14 mounted on a vehicle includes a receiver 14A that receives a radio wave from the roadside transmitter 12 via a receiving antenna, a reception signal from the receiver 14A, and a VICS signal.
The right turn code received by the receiver 15 is input, and an alarm judgment unit 14B for judging whether or not to generate an alarm signal based on these input signals, and a sound alarm is generated by the alarm signal from the alarm judgment unit 14b. And a speaker 14C.
The alarm occurrence determination in the alarm determination unit 14B is performed by the receiver 14
The direction code signal from A and the right turn code from VICS receiver 15 are checked for coincidence, and when they match a plurality of times, it is determined that the received alarm message is of the own vehicle and the alarm signal is sent to speaker 14C. Output. Here, the receiver 14A and the VICS receiver 15 of the car radio 14 correspond to a transmitting unit, and the warning determining unit 14B and the speaker 1C constitute a warning unit.

Next, the operation of this embodiment will be described. The right-turning vehicle 6 is driven by the V
The right turn code transmitted from the ICS transmitter 13 is VICS
The signal is received by the receiver 15 in advance. The right-turning vehicle 6 that has come to a point just before the intersection 1 goes into the intersection 1 to make a right turn if the traffic light (not shown) in front is a green light. At this time, when the oncoming straight-ahead vehicle 5 is detected by the image sensor 11, a warning message and a direction code indicating that the warning message is for the right-turning vehicle 6 on the traveling path 2 b are provided on the roadside by a detection signal from the image sensor. Transmitted from the transmitter 12 to the communication area including the intersection 1 a plurality of times. This transmission information is for intersection 1
Is received by the receiver 14A of the car radio 14 of the right turn vehicle 6 inside. If the received direction code and the already received right turn code match in a plurality of circuits, the car radio 14 determines that the warning message is directed to the own vehicle, and for example, from the speaker 14C, such as "coming straight". A voice alarm is issued to warn the driver of the right-turning vehicle 6.

Next, a second embodiment of the driving support device according to the present invention will be described. FIG. 5 shows a block diagram of the configuration of the second embodiment. The same parts as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. In the present embodiment,
In addition to the configuration of the first embodiment, a control device that can automatically operate the braking device of the host vehicle when alarm information is received is provided.

That is, in FIG. 5, a braking control device as a control means for controlling the operation of a vehicle braking device (for example, a side brake) 17 by inputting an automatic lock signal from an alarm determining unit 14B of the car radio 14 to the vehicle. 16 is provided. Specifically, for example, as shown in FIG. 6, the brake control device 16 includes a selection switch 16A for the driver to select operation / non-operation of the braking device 17 and an alarm determination when the selection switch 16A is “ON”. And a hydraulic drive unit 16B that generates a hydraulic pressure for operating the braking device 17 in response to the input of the automatic lock signal from the unit 14B. The hydraulic drive unit 16 </ b> B is configured to be drivable also by operating the normal side brake lever 18.

Incidentally, The arrangement of each device on the road is the same as in FIG. Next, a driving support operation according to a second embodiment will be described with reference to FIG. The right turn vehicle 6 advances into the intersection 1 after receiving the right turn code in advance, as in the first embodiment. When the oncoming straight-ahead vehicle 5 is detected by the image sensor 11, the roadside transmitter 12 of the present embodiment generates an alarm message and this alarm message based on the detection signal from the image sensor, on the traveling road 2b.
Further, in addition to the direction code indicating that the signal is for the right turn vehicle 6, an automatic lock signal is further synthesized, for example, in accordance with the format of FIG. This transmission information is transmitted to the car radio 14 of the right-turning car 6.
If the received direction code and the already received right turn code match in a plurality of circuits, the car radio 14 determines that the warning message is for the host vehicle, and for example, from the speaker 14C, A voice warning such as "The vehicle is going straight ahead" is generated, and the driver of the right turn vehicle 6 is warned. At the same time, an automatic lock signal is output to the braking control device 16, and when the selection switch 16A is "ON", the braking device (side brake) 17 is automatically operated for a fixed time (for example, 2 to 3 seconds). Thereby, right turn car 6
A collision accident between the vehicle and a straight ahead vehicle can be reliably prevented. If the selection switch 16A is set to “OFF”, the braking device 17 does not automatically operate, and the automatic braking operation by the braking device 17
The driver can be selected by the selection switch 16A.

At the intersection 1, there are four right-turning vehicles traveling in four directions, that is, from the traveling paths 2a, 2b, 3a, 3b toward the intersection 1. In this case, the roadside transmitter 12 receives the moving object detection signal from the image sensor 11 installed in each direction, combines the respective direction codes and the alarm message, transmits them in chronological order, and transmits the right turn vehicle in each direction. The alarm information may be transmitted to the user.

Next, as a third embodiment of the present invention, a driving support device for a left-turning vehicle when there is a pedestrian crossing will be described. The configuration on the roadside and the vehicle side is the second configuration shown in FIG.
The second embodiment is the same as the second embodiment, except for the differences from the second embodiment.
It is only the arrangement of the image sensor and the arrangement of the VICS transmitter 13.

That is, in FIG. 8 showing the arrangement on the roadside of the third embodiment, an image sensor 11 for detecting a crossing pedestrian, which is a moving body of the present embodiment, is provided on a traveling path 3a of the road 3. 9 on one road side of the pedestrian crossing 10a
As shown in (A), a light emitting diode array 11A is arranged, and an integrated CCD camera 11B and camera control unit 11C are provided.
Is built in a push button box 32 or the like attached to, for example, a traffic light column 31 on the other road side. With this arrangement, if the pedestrian 20 walks on the pedestrian crossing, a part of the light emitting diode array 11A arranged as shown in FIG. 9B is hidden by the body of the pedestrian 20. The image of the camera 11B can detect the presence of the pedestrian 20 because the repetition cycle of the full lighting state A and the total extinguishing state B does not match the blinking cycle of the light emitting diode array 11A '.

As shown in FIG. 8, the VICS transmitter 13 is disposed above a traveling lane on which the left-turning vehicle 9 travels on the road 2. In the present embodiment, only the configuration for supporting a left-turning vehicle that makes a left turn from the travel path 2b (the travel path heading upward in the figure) of the road 2 in FIG. 8 is shown, but the image sensor 11 is not shown. Are the other running paths 3b, 2a, 2b
Are also located on each of the crosswalks 10b, 10c, 10d
The ICS transmitter 13 is also arranged on the other traveling paths 2a, 3a, 3b. Then, by inputting information about the pedestrians to the illustrated roadside transmitter 12 from the image sensors 11 arranged in four directions, the driving support of each left-turning vehicle that makes a left turn from all the running paths 2a, 2b, 3a, 3b is provided. It is a configuration that can be done.

Next, the operation will be described. The left turn vehicle 9 receives the left turn code transmitted from the VICS transmitter 13 by the VICS receiver 15 in advance while traveling on the left turn lane on the traveling path 2b, and enters the intersection 1. At this time, when the crossing pedestrian 20 is detected by the image sensor 11, a detection signal from the image sensor 11 causes a warning message and a direction code indicating that the warning message is for the left-turning vehicle 9 on the traveling path 2b to be made. It is transmitted from the roadside transmitter 12 to the communication area including the intersection 1 a plurality of times. This transmission information is received by the receiver 14A of the car radio 14 of the left turn vehicle 9 in the intersection 1. If the received direction code and the already-turned left turn code match in a plurality of circuits, the car radio 14 determines that the warning message is for the own vehicle, and for example, from the speaker 14C, it is determined that "there is a pedestrian crossing". A voice alarm is issued to warn the driver of the left-turn vehicle 9. At the same time, an automatic lock signal is output to the braking control device 16, and when the selection switch 16A is "ON", the braking device (side brake) 17 automatically operates.

In the above embodiment, the driving support of the right-turning vehicle for the oncoming straight-ahead vehicle and the driving support of the left-turning vehicle for the pedestrian crossing are separately described. It goes without saying that the devices may be installed together. In this case, signals from eight image sensors may be input to one roadside transmitter at two intersections, and alarm information in eight directions may be transmitted in chronological order.

Further, an alarm indicator is further provided near each corner of the intersection, so that the alarm information is transmitted and an alarm indicator and a warning are displayed on the alarm indicator by a signal from the image sensor. In addition, the driver of the left turn vehicle can be more reliably notified of the danger.

[0031]

As described above, according to the first aspect of the present invention, the movement of the driver of the vehicle changing the course at the intersection in the direction intersecting with the direction of the course change at which there is a danger of collision. Since the presence of the body can be surely warned and cautioned, a collision accident caused by a vehicle changing direction at an intersection controlled by a green traffic light in which there is intersecting traffic flow can be reduced, and traffic safety at the intersection can be improved.

According to the second aspect of the present invention, it becomes possible to automatically activate the braking device of the course change vehicle in addition to the warning, and the traffic safety at the intersection is further improved. According to the third aspect of the present invention, the driver can select operation / non-operation of the braking device.

According to the fourth aspect of the present invention, it is possible to reduce a collision accident between a right-turning vehicle and a straight ahead vehicle. According to the invention described in claim 6, a collision accident between a left-turning vehicle and a pedestrian crossing can be reduced. According to the fifth and seventh aspects of the present invention, when the moving body detecting means is out of order or the visibility is poor, the output form of the moving body detecting means is the presence of the moving body, so that the fail-safe detection is performed. The reliability of the moving object detecting means is improved.

According to the invention described in claim 8, the existing V
An ICS communication network can be used.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a first embodiment of the present invention.

FIG. 2 is a diagram showing an arrangement near an intersection according to the first embodiment;

FIGS. 3A and 3B are diagrams illustrating an example of an image in the presence / absence of a moving body of an image sensor.

4A and 4B are diagrams showing communication areas of a VICS transmitter.

FIG. 5 is a block diagram showing a configuration of a second embodiment of the present invention.

FIG. 6 is a diagram illustrating a configuration example of a braking control device;

FIG. 7 is a diagram of a transmission format example of a roadside transmitter.

FIG. 8 is a diagram showing an arrangement near an intersection according to a third embodiment of the present invention.

FIGS. 9A and 9B are views showing an arrangement of an image sensor according to the third embodiment;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Intersection 5 Oncoming straight car 6 Right turn car 9 Left turn car 11 Image sensor 12 Roadside transmitter 13 VICS transmitter 14 Car radio 15 VICS receiver

Claims (8)

[Claims] 1. A driving assistance device for assisting driving of a vehicle changing a course at an intersection, comprising: moving body detecting means for detecting a moving body moving in a direction intersecting with a direction of changing a course of the vehicle; Transmitting means for transmitting alarm information for the diversion vehicle when the means detects a moving body, identification information transmitting means for transmitting identification information for identifying whether or not the alarm information is information for the own vehicle to the diversion vehicle, On the road, receiving means for receiving transmission information from each of the transmission means, and warning means for warning the driver when the warning information is determined to be for the own vehicle based on each received information, A driving assistance device at an intersection, comprising: a vehicle; 2. A driving support system at an intersection according to claim 1, wherein the vehicle is provided with control means for enabling operation control of a braking device of the course changing vehicle when it is determined that the warning information is for the own vehicle. . 3. The driving support system at an intersection according to claim 2, wherein said control means has a selection switch for selecting operation or non-operation, and activates the braking device only when the selection switch is in an operation position. apparatus. 4. The driving support system at an intersection according to claim 1, wherein said moving body detecting means detects an oncoming straight-ahead vehicle approaching the intersection in a direction intersecting the right-turning vehicle. . 5. The moving object detecting means includes: a light projecting means installed on a road and flickering at a constant cycle; and an image sensing means imaging an image of the light projecting means from a road side across a vehicle traveling road. 5. The vehicle according to claim 4, wherein a time when the lighting image and the extinguished light image are repeatedly imaged at the fixed cycle is determined as no vehicle, and a time when the extinguished image is continuously imaged is determined as the vehicle present.
A driving support device at the intersection according to (1). 6. The driving support device at an intersection according to claim 1, wherein said moving body detecting means detects a pedestrian crossing in a direction intersecting with a left-turning vehicle. 7. The moving object detecting means is provided on one of the road sides opposite to the pedestrian crossing and intermittently flickers at a constant cycle, and is mounted on the other road side to image the light emitting means. It is determined that there is no pedestrian when the lighting image and the extinguished light image are repeatedly imaged at the fixed cycle by the imaging means, and that the pedestrian is present when the extinguished light image is continuously imaged. The driving assistance device at an intersection according to claim 6, wherein the driving assistance device is configured to determine. 8. The driving support device at an intersection according to claim 1, wherein said identification information transmitting means is a VICS transmitter.