JP2006242905A - Driving support device, and driving support method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device and a driving support method capable of flashing a direction indicator lamp at proper timing. <P>SOLUTION: A CPU 2 provided in a navigation system 1 detects a peripheral situation of an own vehicle position, based on an image sensor 12 or the like. The CPU 2 transmits also a flashing control signal for flashing the direction indicator lamp 31 provided in own vehicle to a vehicular ECU 30. The CPU 2 searches a route up to a destination, and detects an objective point for flashing the direction indicator lamp 31 on the searched guide route. The CPU 2 judges the propriety of a flashing condition for flashing the direction indicator lamp 31, in a check point set in this side of the objective point, based on the peripheral situation. The flashing control signal is transmitted to the vehicular ECU 30, when judged to correspond to the flashing condition. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a driving support device and a driving support method.

2. Description of the Related Art Conventionally, a navigation device has been proposed for transmitting a right turn or a left turn of a host vehicle to a subsequent vehicle. For example, the navigation system described in Patent Document 1 has a search function for searching for a route to a destination, sets a guide route to the destination, and detects a right turn point and a left turn point on the guide route. . When the navigation system travels to the destination according to the guidance route, the navigation system is provided in the vehicle in a state where the vehicle can be visually recognized from the outside when the vehicle approaches until the detected relative distance to the right turn point becomes a predetermined distance. A message such as “turn right” is automatically displayed on the displayed display device toward another vehicle. In addition, an in-vehicle device that automatically blinks the direction indicator of the vehicle in accordance with the traveling direction when the host vehicle approaches until the distance to the right turn point or the like reaches a predetermined distance has been proposed.
JP-A-9-188190

  As described above, when the relative distance from the vehicle position to the right turn point or the like becomes equal to or less than a predetermined distance, each of the devices displays guidance such as a right turn or blinks the direction indicator. However, the blinking point where the relative distance from the vehicle position to the right turn point or the like is a predetermined distance is not always the optimum timing for blinking the direction indicator. For example, if another road that can turn left is connected between the blinking point of the direction indicator and the intersection scheduled to turn left, the misunderstanding that the blinking timing is too early and the vehicle turns left on the connecting road. To other drivers and pedestrians. On the other hand, if the direction indicator is blinked immediately before the intersection, the traveling direction of the host vehicle is slow to be transmitted to a two-wheeled vehicle or the like traveling behind, which not only prevents a smooth traffic flow but also causes a traffic accident.

  The present invention has been made in view of the above problems, and an object thereof is to provide a driving support device and a driving support method capable of blinking a direction indicator at an appropriate timing.

  In order to solve the above problems, the invention described in claim 1 is characterized in that the vehicle position specifying means for specifying the vehicle position, the reading means for reading the map data, and the guide route to the destination are represented by the map data. A guidance route setting means for searching based on the information and setting the guide route, a surrounding situation judging means for judging the surrounding situation of the own vehicle position, and a blinking control signal for blinking a direction indicator provided in the own vehicle. Control means for transmitting, the control means detects a target point that needs to blink the direction indicator on the set guidance route, and at the determination point before the target point, the surrounding situation Based on the determination means, it is determined whether or not the surrounding situation of the host vehicle corresponds to a flashing condition for flashing the direction indicator, and when it is determined that the flashing condition is satisfied, the flashing control signal is transmitted. The gist of the door.

  According to a second aspect of the present invention, in the driving support device according to the first aspect, the blinking condition is that there is no connection road connected between the target point and the determination point, and the control means Transmits the flashing control signal at the determination point when it is determined that there is no connection road, and the flashing after the host vehicle passes the connection road when it is determined that there is a connection road. The gist is to transmit a control signal.

  According to a third aspect of the present invention, in the driving support device according to the first or second aspect, the surrounding state determination means obtains detection data from a detection device that detects other vehicles or pedestrians around the host vehicle. The blinking condition is that, when a connection road is connected between the target point and the determination point, there is no other vehicle or pedestrian in the connection road, and the control means When there is no other vehicle or pedestrian in the connection road, the flashing control signal is transmitted at the determination point, and when there is another vehicle or pedestrian in the connection road, the vehicle passes through the connection road. After that, the gist is to transmit the blinking control signal.

  According to a fourth aspect of the present invention, in the driving support device according to any one of the first to third aspects, the surrounding state determination means is detected from a detection device that detects at least another vehicle behind the host vehicle. In addition to acquiring data, the blinking condition is that there is another vehicle approaching the host vehicle from the rear at the determination point, and the control means detects that the other vehicle approaching from the rear is the determination point. In some cases, the flashing control signal is transmitted.

  According to a fifth aspect of the present invention, in the driving support device according to any one of the first to fourth aspects, a plurality of the determination points are provided, and the control means is configured to pass the determination points. The gist is to determine whether or not each of the detected surrounding situations corresponds to the blinking condition set for each determination point.

  A sixth aspect of the present invention is the driving support apparatus according to any one of the first to fifth aspects, wherein the control means blinks with respect to the direction indicator control means provided in the host vehicle. The gist is to transmit a control signal.

  A seventh aspect of the present invention is the driving support apparatus according to any one of the first to fifth aspects, wherein the control means blinks the direction indicator on a display provided in a cabin of the host vehicle. The gist is to transmit the blinking control signal to display control means for displaying guidance.

  According to an eighth aspect of the present invention, in the driving support device according to any one of the first to fifth aspects, the control means outputs the blinking control signal to a voice output means that outputs a blinking guidance voice. The gist is to send.

  According to the ninth aspect of the present invention, the vehicle position specifying means for specifying the vehicle position, the reading means for reading the map data, and the guide route to the destination are searched based on the map data, and the guide route is determined. Using guide route setting means to set, surrounding situation judgment means for judging the surrounding situation of the vehicle position, and control means for transmitting a blinking control signal for blinking a direction indicator provided in the own vehicle, The control means detects a target point for blinking the direction indicator on the set guide route, and the surrounding situation of the host vehicle is determined based on the surrounding situation judgment means at a judgment point before the target spot. Is determined as to whether or not a blinking condition that requires the direction indicator to blink, and when it is determined that the blinking condition is satisfied, the blinking control signal is transmitted.

According to the first or ninth aspect of the present invention, the control means provided in the driving support device blinks the direction indicator such as the left turn point and the right turn point on the guide route when traveling according to the set guide route. The target point to be detected is detected. Then, at the determination point set before the target point, it is determined whether or not the blinking condition for blinking the direction indicator is met based on the surrounding state determination means. Further, when it is determined that the blinking condition is satisfied, a blinking control signal is transmitted. For this reason, it is possible to stop or execute blinking of the direction indicator according to the surrounding situation of the own vehicle, so that the right turn or left turn of the own vehicle is appropriately timed for other vehicles and pedestrians. To reduce accidents.

  According to the invention described in claim 2, the blinking condition for blinking the direction indicator is that there is no connection road to be connected between the target point and the determination point. For this reason, even though there is a connecting road between the right turn point and the judgment point, the direction indicator blinks early and the driver or pedestrian of the other vehicle turns the vehicle left or right on the connecting road. It is possible to prevent misunderstandings such as Therefore, since the direction indicator can be blinked at an appropriate timing, accidents can be reduced.

  According to the invention described in claim 3, the surrounding situation determination means detects other vehicles or pedestrians around the own vehicle. In addition, the control means transmits a blinking control signal when there is no other vehicle or pedestrian in the connecting road connected between the target point and the determination point. Therefore, it is possible to prevent misunderstandings such as the vehicle making a right or left turn on the connecting road to other vehicles or pedestrians in the connecting road, thereby reducing accidents.

  According to the fourth aspect of the present invention, the control means transmits the blinking control signal at the determination point when another vehicle approaching the host vehicle is behind the determination point. For this reason, since a direction indicator can be blinked early with respect to the other vehicle behind, accidents, such as a two-wheeled vehicle being involved, can be reduced.

  According to the invention described in claim 5, a plurality of judgment points are provided, and the control means judges whether or not the surrounding situation detected at each judgment point corresponds to the blinking condition set for each judgment point. To do. For this reason, it is possible to determine whether or not the direction indicator is to be blinked based on blinking conditions suitable for a position that has reached the vicinity such as a left turn point, a position that is close to the left turn point, and the like.

  According to the sixth aspect of the present invention, since the blink control signal is transmitted to the direction indicator control means for causing the direction indicator to blink, the direction indicator is turned on by the blink control signal transmitted by the control means. Can flash automatically.

  According to the seventh aspect of the invention, the blinking control signal is transmitted to the display control means for displaying the blinking guidance of the direction indicator on the display. For this reason, it is possible to prompt the driver to blink the direction indicator at an appropriate timing.

  According to the invention described in claim 8, the blinking control signal is transmitted to the sound output means for outputting the blinking guidance sound. For this reason, the driver can be prompted to blink the direction indicator at an appropriate timing without moving the viewpoint.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a block diagram illustrating a configuration of a navigation device 1 as a driving support device mounted on an automobile.

  As shown in FIG. 1, the navigation device 1 includes a CPU 2, a RAM 3, and a ROM 4. The ROM 4 stores a position calculation program for calculating the vehicle position, a route search program for searching for the optimum route to the destination, a surrounding situation determination program for judging the surrounding situation, and the like. Processes are executed according to various programs.

  The CPU 2 receives position detection data from the GPS receiving unit 6 constituting the vehicle position specifying means via the interface (I / F) 5. The GPS receiver 6 receives radio waves from GPS satellites. Then, the CPU 2 calculates positioning data such as latitude / longitude / altitude of the vehicle position based on the received data and the position calculation program. The CPU 2 constitutes the vehicle position specifying means, the reading means, the guide route setting means, the surrounding situation judgment means, and the control means described in the claims.

  Further, the CPU 2 receives detection data from the vehicle speed sensor 7 and the direction sensor 8 provided in the host vehicle via the interface 5. Based on these detection data, the CPU 2 calculates autonomous navigation data such as a relative distance from the reference position and a traveling direction. In addition, the CPU 2 calculates the vehicle position based on the positioning data based on the acquired data from the GPS receiver 6 and the autonomous navigation data calculated by the vehicle speed sensor 7 and the direction sensor 8.

  Further, the CPU 2 receives data including position information, traffic information, and the like from the road-vehicle communication unit 10 as a detection device provided in the host vehicle via the communication interface (I / F) 9. The road-to-vehicle communication unit 10 is, for example, a VICS (Vehicle Information and Communication System) receiving device, and includes detection data including position information, traffic jam information, and the like from a transmitting device arranged on the road and a beacon (not shown). Receive.

  Further, the CPU 2 is connected via a communication interface 9 to an inter-vehicle communication unit 11 as a detection device provided in the own vehicle. The inter-vehicle communication unit 11 can bidirectionally communicate various types of detection data with a communication device of the same standard provided in other vehicles such as ordinary automobiles and motorcycles.

  Further, the CPU 2 is connected to the image sensor 12, the ultrasonic sensor 13, the radar sensor 14 and the sensor interface (I / F) 15 as detection devices provided in the host vehicle. The image sensor 12 acquires imaging data with a CCD camera (not shown) provided in front of and behind the host vehicle. Then, the imaging data is analyzed to identify four-wheeled vehicles such as ordinary automobiles, two-wheeled vehicles, and pedestrians around the host vehicle, and the detection data is transmitted to the CPU 2. The radar sensor 14 is composed of a millimeter wave radar or the like and, together with the ultrasonic sensor 13, detects the presence of at least a car or the like around the own vehicle, and detects the relative distance, speed, and the like of the obstacle.

  Furthermore, the navigation apparatus 1 includes a disk drive 16 for reading data stored on the optical disk D. The optical disc D stores route data and drawing data as map data. The route data stores node data, link data, and the like, and is hierarchized from data indicating a wide range of map to narrow range data. When performing the route guidance process to the destination, the CPU 2 searches a plurality of routes according to the route data and the route search program, and calculates the distance of each route. Then, an optimum route is determined from each route, a node number, a link number, and the like corresponding to the route are acquired and temporarily stored in the RAM 3.

  The drawing data stored in the optical disc D is data for displaying a map from a wide range to a narrow range, like the route data. This drawing data includes image data for drawing roads, urban areas, rivers, and the like displayed on the map of each range, and position data such as roads drawn on the map.

Further, the navigation device 1 includes an image processor 17 and an image memory 18 as display control means. The image processor 17 displays the drawing data for drawing a map around the vehicle position, the vehicle position mark stored in the image memory 18, a screen template and the like on the display 20 in accordance with a drawing program. To do. The display 20 is, for example, a touch panel display, and various modes can be selected by operating a touch switch.

  Further, the CPU 2 executes various processes when an operation unit including the switch 21 and the touch panel is operated. For example, when the destination is input by the operation of the switch 21 and the touch panel and the “route guidance mode” is selected, the CPU 2 performs search processing for searching for a route based on route data stored in the optical disc D. Then, a route guidance process for displaying the route on the display 20 together with a map around the vehicle position is performed.

  In addition, the navigation device 1 includes an audio processor 19 as audio output means. The voice processor 19 synthesizes various voice data stored in the ROM 4 or the like according to a command from the CPU 2, and outputs a guidance voice such as “turn left at the next intersection” from the speaker 23 provided in the navigation device 1. .

  Further, the CPU 2 is connected to a vehicle electronic control device (hereinafter referred to as a vehicle ECU 30) as direction indicator control means via a vehicle side interface (I / F) 22. The vehicle ECU 30 performs various controls such as a blinking control of a brake lamp and a direction indicator (hereinafter referred to as a blinker) provided in the host vehicle. When the CPU 2 determines the timing of blinking of the direction indicator, it transmits a blinking control signal to the vehicle ECU 30 via the vehicle-side interface 22. And vehicle ECU30 carries out blink control of the blinker 31 based on the blink control signal.

  Next, the driving support process of the navigation device 1 will be described with reference to FIG. When the destination is input by operating the touch switch or switch 21 of the display 20, the CPU 2 searches for a route from the vehicle position to the destination based on route data stored in the optical disc D. And the node number of the node which shows the searched path | route, the link number of the link which connects each node, etc. are acquired. Further, the CPU 2 reads drawing data for drawing a map around the vehicle position from the optical disc D, superimposes it with an index indicating the guide route, displays it on the display 20, and guides the route (step S1-1). ).

  Moreover, CPU2 detects beforehand the object point which needs to blink the blinker 31 (step S1-2). Specifically, a left turn point and a right turn point are detected based on a node number and a link number indicating the searched route. Specifically, as shown in FIG. 3, when the guidance route traveled by the host vehicle 100 is a route traveling left on an intersection 102 from a road 101 and traveling on a road 103, it corresponds to the intersection 102 as a target point. The node N1 to be detected is detected.

  Then, the CPU 2 determines whether or not the host vehicle 100 has passed the primary check point as the determination point (step S1-3). In the present embodiment, the primary check point is set to a point 100 m before the target point (intersection 102). For example, as shown in FIG. 3, when there is an intersection 102 that turns left, a primary check point P1 is provided in the middle of the road 101 in front of the intersection.

When the CPU 2 determines that the host vehicle 100 has passed the primary check point P1 as shown in FIG. 4 (YES in step S1-3), the CPU 2 moves backward in accordance with the surrounding situation determination program stored in the ROM 4. It is determined whether or not there is a motorcycle 104 as a vehicle (step S1-4). At this time, the CPU 2 determines whether or not a radio wave transmitted from the communication device provided in the two-wheeled vehicle 104 is received from the inter-vehicle communication unit 11. When a radio wave indicating the motorcycle 104 is received, it is determined that the motorcycle 104 is behind. Further, the presence / absence of reception of detection data from the image sensor 12, the ultrasonic sensor 13 or the radar sensor 14 provided behind the host vehicle 100 is determined, and the presence / absence of the two-wheeled vehicle 104 traveling behind is detected.

  When the CPU 2 determines that the two-wheeled vehicle 104 is behind the host vehicle 100 as shown in FIG. 4 (first flashing condition), the CPU 2 determines that it is the timing to flash the blinker, A blinker blinking signal is transmitted via the vehicle side interface 22 (step S1-5). Receiving this signal, the vehicle ECU 30 blinks the blinker. In this way, by blinking the winker preferentially when the two-wheeled vehicle 104 is behind, the driver of the two-wheeled vehicle 104 is informed of the intention of making a left turn (or a right turn) at an early stage, and the occurrence of accidents such as rolling-in can be reduced.

  When the blinker is blinked, the CPU 2 determines whether or not the vehicle has passed the intersection 102 (target point) to turn left based on the GPS receiver 6, the vehicle speed sensor 7, and the direction sensor 8 (step S1-6). When determining that the vehicle has passed the intersection 102 as the target point, the CPU 2 transmits a blinking stop signal to the vehicle ECU 30 to turn off the blinker (step S1-7). Then, it is determined whether or not the guidance is finished (step S1-8). When the guidance is finished by arriving at the destination or by an input operation such as a touch switch (YES in step S1-8), the processing is finished. To do. If the guidance does not end, a target point that is a target for blinking the blinker 31 is detected (step S1-2).

  On the other hand, when the CPU 2 determines that the two-wheeled vehicle 104 is not behind in step S1-4, the CPU 2 determines whether or not the host vehicle 100 has passed the secondary check point as the determination point (step S1-9). ). As shown in FIG. 3, the secondary check point P <b> 2 is set between the intersection 102 as the target point and the primary check point P <b> 1 and 30 m before the intersection 102. This step S1-9 is repeated until the host vehicle 100 passes the secondary check point P2.

  If it is determined that host vehicle 100 has passed secondary check point P2 (YES in step S1-9), CPU 2 determines other vehicles including two-wheeled vehicles and four-wheeled vehicles in accordance with the surrounding state determining program stored in ROM 4. It is determined whether there is a subsequent vehicle 106 (step S1-10). At this time, the CPU 2 determines the presence or absence of the succeeding vehicle 106 based on detection data from the inter-vehicle communication unit 11 and the image sensor 12, the ultrasonic sensor 13, and the radar sensor 14 provided behind the host vehicle 100.

  As shown in FIG. 5, if it is determined that the following vehicle 106 is present (second blinking condition) when passing the secondary check point P <b> 2 (YES in step S <b> 1-10), the CPU 2 blinks the blinker 31. As it is timing, a blinker blinking signal is transmitted to the vehicle ECU 30 via the vehicle-side interface 22 (step S1-5). Thus, the occurrence of an accident can be reduced by telling the intention of making a left turn (or a right turn) early when there is a succeeding vehicle 106. Then, after passing through the intersection 102, the CPU 2 turns off the blinker 31 (steps S1-6, S1-7). Then, it is determined whether or not the guidance is finished (step S1-8). When the guidance is finished (YES in step S1-8), the process is finished. If the guidance does not end, the process returns to step S1-2.

If the CPU 2 determines that there is no following vehicle 106 after passing the secondary check point P2 (NO in step S1-10), the secondary check point P2 and the intersection as the target point according to the surrounding situation program. It is determined whether or not there is a connecting road 105 with respect to 102 (step S1-11). For example, when there is a left turn point where the host vehicle is scheduled to turn left on the guide route, the CPU 2 determines whether the link L1 corresponding to the road on which the host vehicle 100 is currently traveling and the node N1 corresponding to the left turn point. It is determined whether there is another node or link between them. If there is another node N3 or link L2, it is determined that there is a connection road 105 connected to the road 101 that is currently traveling. Furthermore, based on the direction of the link L3 connected to the node N3, etc., it is determined whether or not the connecting road 105 can turn left. At this time, if only a road that can turn right is connected before the intersection 102 that is a left turn point, it is determined that there is no connection road.

  For example, when there is a right turn point where the host vehicle is scheduled to turn right on the guidance route, the CPU 2 determines whether there is a right turn road that is connected to the currently traveling road 101. At this time, if there is no road connected to the road 101 or there is only a connection road 105 that can turn left, it is determined that there is no connection road 105.

  If it is determined that there is no connecting road 105 (third blinking condition) (NO in step S1-11), the intention to change the traveling direction without misleading the driver or pedestrian of the surrounding car Therefore, a blinker blinking signal is transmitted to the vehicle ECU 30 to blink the blinker 31 (step S1-5). Then, after passing through the intersection 102, the blinker 31 is turned off (steps S1-6, S1-7), and it is further determined whether or not the guidance is finished (step S1-8). (YES in step S1-8), the process is terminated. If the guidance does not end, the process returns to step S1-2.

  On the other hand, if it is determined that there is a connected road (YES in step S1-11), the CPU 2 performs the inter-vehicle communication unit 11 or the image sensor 12 provided in front of the host vehicle 100 according to the surrounding situation determination program. Based on the ultrasonic sensor 13 and the radar sensor 14, it is determined whether there is another vehicle 107 or a pedestrian in the connection road 105 (step S1-12). When CPU 2 determines that there is no other vehicle or pedestrian on connecting road 105 (fourth blinking condition) (NO in step S1-12), the driver or pedestrian of the other vehicle in connecting road 105 is notified. Since there is no misunderstanding, a blinker blinking signal is transmitted to the vehicle ECU 30 to blink the blinker 31 (step S1-5). Then, after passing through the intersection 102, the blinker 31 is turned off (steps S1-6, S1-7).

  Further, as shown in FIG. 6, when the other vehicle 107 existing in the connection road 105 is detected (YES in step S1-12), the CPU 2 detects the own vehicle position and detects the connection point with the connection road 105. It waits for the passage of (node N3) (step S1-13). If it is determined that the vehicle has passed through the connection point (node N3) (fourth blinking condition) as in the upper vehicle 100 in FIG. 6 (YES in step S1-13), the CPU 2 blinks the blinker 31. The blinker blinking signal is transmitted to the vehicle ECU 30 to blink the blinker 31 (step S1-5). Thus, even though the host vehicle 100 makes a left turn at the intersection 102, the blinker 31 is blinked in front of the connection point between the road 101 and the connection road 105, so that the driver or pedestrian in the surrounding car can connect to the road. It is possible to prevent a misunderstanding such as turning left at 105.

  Further, the CPU 2 determines whether or not the vehicle has passed the intersection 102 (step S1-6), and turns off the blinker 31 after the passage (step S1-7). When the turn signal is turned off, it is determined whether or not the guidance is finished (step S1-8). If the guidance is finished (YES in step S1-8), the process is finished. When the guidance does not end, the CPU 2 detects the target point again (step S1-2), and thereafter repeats the above-described processes.

According to the first embodiment, the following effects can be obtained.
(1) In the first embodiment, the CPU 2 provided in the navigation device 1 detects a target point such as the intersection 102 that blinks the blinker 31 such as a left turn point or a right turn point on the set guide route. Then, the CPU 2 determines that the surrounding situation is a winker based on the detection data from the sensors such as the image sensor 12 and the inter-vehicle communication unit 11 at the primary check point P1 and the secondary check point P2 set before each target point. It is determined whether or not each blinking condition for blinking 31 is satisfied. Further, when it is determined that the blinking condition is satisfied, a blinking control signal for blinking the blinker 31 is transmitted to the vehicle ECU 30. For this reason, since blinking of the blinker 31 can be stopped or executed according to the surrounding situation of the own vehicle, a right turn or a left turn of the own vehicle 100 is appropriately timed with respect to another vehicle or a pedestrian. To reduce accidents.

  (2) In the first embodiment, the CPU 2 transmits a blinking control signal to the vehicle ECU 30 when it is determined that the two-wheeled vehicle 104 is behind the primary check point P1. For this reason, when the two-wheeled vehicle 104 is behind, the blinker 31 can be preferentially blinked and the intention to change the traveling direction can be transmitted early, so that it is possible to reduce accidents such as a two-wheeled vehicle being involved.

  (3) In the first embodiment, the CPU 2 transmits a blinking control signal to the vehicle ECU 30 when determining that there is a succeeding vehicle 106 at the secondary check point P2. For this reason, since the intention of changing the traveling direction can be transmitted to the following vehicle 106 at an early stage, the traveling direction can be changed without hindering smooth traffic conditions.

  (4) In the first embodiment, the CPU 2 transmits a blinking control signal to the vehicle ECU 30 when it is determined that there is no connection road 105 between the target point such as the intersection 102 and the secondary check point P2. I did it. For this reason, despite the connection road 105 between the left turn point and the secondary check point P2, the blinker 31 blinks early, and the driver or pedestrian of the other vehicle 107 in the connection road 105 It is possible to prevent the host vehicle 100 from giving a misunderstanding such as making a left turn or the like on the connecting road. Therefore, since the blinker 31 can be blinked at an appropriate timing, the traveling direction can be changed without obstructing the traffic flow, and the accident can be reduced.

  (5) In the first embodiment, the CPU 2 controls the vehicle ECU 30 to blink when there is no other vehicle or pedestrian in the connection road 105 between the target point such as the intersection 102 and the secondary check point P2. Send a signal. Therefore, it is possible to prevent misunderstanding that the own vehicle 100 makes a right / left turn or the like on the connection road 105 to other vehicles or pedestrians in the connection road 105.

  (6) In the first embodiment, two check points for determining the timing of blinking the blinker 31 are provided in front of the target point such as the intersection 102. Further, at the primary check point P1, the presence or absence of the rear motorcycle 104 is determined, and at the secondary check point P2, the presence or absence of the following vehicle 106, the presence or absence of the connecting road 105, and other vehicles 107 and pedestrians in the connecting road 105. Judgment of presence or absence. For this reason, since it can be determined whether or not the blinker 31 is blinked based on the blinking condition suitable for each of the check points P1 and P2, a more accurate timing can be calculated.

  (7) In the first embodiment, the CPU 2 transmits a blinking control signal to the vehicle ECU 30 that blinks the blinker. For this reason, since the blinker 31 can be automatically blinked at an appropriate timing, an operation error by the driver, a delay in the blinking timing, and the like can be prevented.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to FIGS. In the second embodiment, the blinker automatic blinking control of the first embodiment is merely changed to the control of the display 20 and the speaker 23, and therefore, detailed description of the same parts is omitted. .

  When the CPU 2 determines that it is time to blink the blinker 31 in each of the processes described above, the CPU 2 transmits the vehicle position data and the blink control signal to the image processor 17. The image processor 17 extracts image data from the image memory 18 and displays a blinker blinking guide 50 on the display 20 as shown in FIG. The blinker blinking guide 50 displays a message indicating that the blinker 31 blinks in a direction such as a left turn or a right turn. Note that the blinking timing of the blinker 31 means that when there is a motorcycle 104 behind after passing the primary check point P1 (YES in step S1-4), there is a succeeding vehicle 106 after passing the secondary check point P2. If determined (YES in step S1-10), if there is no connected road 105 after passing the secondary check point P2 (NO in step S1-11), it is determined that there is no other vehicle 107 or pedestrian in the connected road 105. If this is the case (NO in step S1-12), it is determined that another vehicle 107 or the like has passed through a certain connecting road 105 (YES in step S1-13).

  Further, the image processor 17 extracts image data associated with the vicinity of the vehicle position and displays the map screen 51 on the display 20. The map screen 51 displays a map around the vehicle position, and is overlapped with a vehicle position mark 52 indicating the current position and an index 53 indicating the route.

  At the same time, the CPU 2 transmits a traveling direction of the host vehicle 100 and a blinking control signal to the sound processor 19. The voice processor 19 extracts and synthesizes voice data from the ROM 4 or the like, and outputs a guidance voice from the speaker 23. As a result, as shown in FIG. 8, when the CPU 2 determines that the blinker blinking timing, the direction of travel such as “turn left at the next intersection” or “please blink blinker” from the speaker 23. A blinking guidance voice for instructing blinker blinking is output. Based on the blinker blinking guidance 50 and guidance voice on the display 20, the driver of the host vehicle 100 operates the blinker operation unit to blink the blinker.

Therefore, according to the second embodiment, in addition to the effects described in the first embodiment, the following effects can be obtained.
(8) In the second embodiment, the CPU 2 transmits a blinking control signal to the image processor 17. Then, the image processor 17 displays the blinker blinking guide 50 on the display 20. For this reason, the driver can be prompted to blink the blinker 31 at an appropriate timing.

  (9) In the second embodiment, the CPU 2 transmits a blinking control signal to the sound processor 19. For this reason, the driver can be prompted to blink the blinker 31 at an appropriate timing without moving the viewpoint.

In addition, you may change each said embodiment as follows.
Although the route data and the drawing data are read from the optical disc D, the navigation device 1 may include a hard disk.

-The primary check point P1 may be a point other than 100 m before the target point. The secondary check point P2 may be a point other than 30m before the target point.
If the transmitting device provided on the roadside can provide information on surrounding vehicles, etc., the two-wheeled vehicle 104 and the following vehicle 106 may be detected by radio waves received by the road-to-vehicle communication unit 10 as a detection device. .

In the second embodiment, only the blinker blinking guide 50 may be displayed on the display 20.
In each of the above embodiments, the two-wheeled vehicle 104 and the succeeding vehicle 106 are detected by the devices of the inter-vehicle communication unit 11, the image sensor 12, the ultrasonic sensor 13, and the radar sensor 14, but any one or a plurality of devices It may be detected by Moreover, you may make it judge that there exists a two-wheeled vehicle or a succeeding vehicle, when the two-wheeled vehicle 104 or the succeeding vehicle 106 is detected by one or several apparatuses using two or more among each apparatus.

  In each of the above embodiments, the CPU 2 may transmit the blinker blinking control signal at different timings based on the speed of the host vehicle 100 at the time of passage through the primary check point P1 or the secondary check point P2. For example, when the speed passing through the primary check point P1 is relatively high and the two-wheeled vehicle 104 is behind, the flashing control signal is transmitted immediately after passing, and the speed passing through the primary check point P1 is low. May transmit a blinking control signal when a predetermined time has elapsed after passing through.

The automatic mode of the first embodiment and the manual mode of the second embodiment may be selectable by the switch 21.
In each of the above embodiments, after step S1-10 or step S1-11, the distance from the connection point (node N3) of the connection road 105 to the target point such as the intersection 102 is a predetermined distance (for example, 5 to 5). 7m or the like) may be performed. When the distance from the connection point of the connection road 105 to the target point is shorter than the predetermined distance, the blinker 31 may be blinked.

  In each of the above embodiments, the case where the host vehicle 100 makes a left turn or a right turn has been described. However, the target point where the blinker 31 blinks includes a branch point. As shown in FIG. 9, the branch point 112 is set at the boundary with the branch road 111 that branches from the road 110 on which the host vehicle 100 travels. A primary check point (not shown) and a secondary check point P2 are set before the branch point 112, and the CPU 2 determines the timing for blinking the blinker 31 as in the above embodiments. Even in such a case, it is possible to prevent the timing of blinking the blinker 31 from being delayed.

  In each of the above embodiments, the determination of the presence or absence of the rear motorcycle 104 in step S1-4 and the determination of the presence or absence of the rear vehicle 106 in step S1-9 may be omitted. In other words, when the host vehicle 100 passes the secondary check point P2 or the like, the presence / absence of the connection road 105 is determined (step S1-10) and the other vehicle 107 in the connection road 105 is determined (step S1-11). If there is no other vehicle or the like in the connecting road 105, the blinker may be blinked. Then, when there is another vehicle 107 or the like in the connection road 105, the blinker 31 may be blinked after passing through the connection road 105. Alternatively, when there is a connected road 105 (YES in step S1-10), the determination of another vehicle 107 or pedestrian in the connected road 105 (step S1-12) is omitted, and the vehicle always passes through the connected road 105. You may make it blink the blinker 31 later. In this way, compared to the above embodiments, the timing for transmitting the change in the traveling direction to the following vehicle 106 and the like is relatively late, but it is possible to reliably convey the target point or the like to turn left to the surrounding drivers and the like. .

In each of the above embodiments, the determination of the presence or absence of the connection road 105 (step S1-10) and the determination of the other vehicle 107 or pedestrian in the connection road 105 (step S1-11) may be omitted. One of the determination of the presence or absence of the rear motorcycle 104 at the primary check point P1 (step S1-4) and the determination of the presence or absence of the following vehicle 106 at the secondary check point P2 (step S1-9). You may make it calculate the timing which blinks the blinker 31 by performing one or both processes. In this way, when there is a connecting road 105, there is a possibility of giving a misunderstanding such as a left turn or a right turn on the connecting road 105, but it is possible to tell early that the own vehicle 100 changes the traveling direction. Therefore, accidents such as entrainment can be reduced.

  In step S1-12 of each of the above embodiments, the CPU 2 of the navigation device 1 detects not only the presence or absence of the other vehicle 107 in the connection road 105 but also the direction of the other vehicle 107 in the connection road 105. Also good. At this time, when the CPU 2 detects the other vehicle 107 in the connection road 105, the other vehicle 107 is driven by the own vehicle 100 based on the inter-vehicle communication unit 11, the image sensor 12, the ultrasonic sensor 13, and the radar sensor 14. It is determined whether it is facing the direction to enter the road 101 that is running or the direction away from the road 101. Then, the process proceeds to step S1-13 only when the detected other vehicle 107 is facing the direction of entering the road 101. Further, when it is determined that the other vehicle 107 is facing away from the road 101, the blinker 31 is blinked (step S1-5).

-In each said embodiment, you may change the order of the judgment process of step S1-10-step S1-13.
In each of the above embodiments, the driving support device that calculates the blinking timing of the blinker 31 is embodied in the navigation device 1, but may be embodied in a device having another configuration. For example, the display 20 or the speaker 23 may be omitted, and a driving support device that performs only driving support may be used.

The block diagram which shows the structure of the navigation apparatus of this embodiment. Explanatory drawing which shows the process sequence of the navigation apparatus. Explanatory drawing for demonstrating the process sequence of the navigation apparatus. Explanatory drawing for demonstrating the process sequence of the navigation apparatus. Explanatory drawing for demonstrating the process sequence of the navigation apparatus. Explanatory drawing for demonstrating the process sequence of the navigation apparatus. Explanatory drawing for demonstrating the process sequence of the navigation apparatus. Explanatory drawing for demonstrating the process sequence of the navigation apparatus. Explanatory drawing for demonstrating the process sequence of the navigation apparatus.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus as a driving assistance device, 2 ... Own vehicle position specifying means, reading means, search means, CPU as surrounding condition detection device and control means, 6 ... GPS receiving unit constituting own vehicle position specifying means, 10 ... a road-to-vehicle communication unit as a detection device, 11 ... an inter-vehicle communication unit as a detection device, 12 ... an image sensor as a detection device, 13 ... an ultrasonic sensor as a detection device, 14 ... a radar sensor as a detection device, 17 ... Image processor as display control means, 19 ... Audio processor as voice output means, 20 ... Display, 30 ... Vehicle ECU as direction indicator control means, 31 ... Winker as direction indicator, 100 ... Own vehicle, 101, 103, 110 ... road, 102 ... intersection as target point, 104 ... two-wheeled vehicle as other vehicle, 105 ... connecting road, 10 ... following vehicles as other vehicle, 107 ... other vehicles, P1 ... 1 primary check point as determined point, P2 ... 2-order check point as determined point.

Claims (9)

Own vehicle position specifying means for specifying the own vehicle position;
Reading means for reading map data;
A guide route setting means for searching for a guide route to a destination based on the map data and setting the guide route;
A surrounding situation judging means for judging the surrounding situation of the vehicle position;
Control means for transmitting a blinking control signal for blinking a direction indicator provided in the host vehicle,
The control means is
Detecting a target point that needs to blink the direction indicator on the set guide route,
At the determination point in front of the target point, based on the surrounding state determination means, determine whether the surrounding state of the host vehicle corresponds to a blinking condition for blinking the direction indicator,
When it is determined that the blinking condition is satisfied, the blinking control signal is transmitted. The driving support device according to claim 1,
The blinking condition is that there is no connection road connecting between the target point and the determination point,
The control means includes
When it is determined that there is no connection road, the flashing control signal is transmitted at the determination point,
When it is determined that there is a connecting road, the driving support device transmits the blinking control signal after the host vehicle passes through the connecting road. In the driving assistance device according to claim 1 or 2,
The surrounding situation determination means acquires detection data from a detection device that detects other vehicles or pedestrians around the host vehicle, and
The blinking condition is that when a connection road is connected between the target point and the determination point, there is no other vehicle or pedestrian in the connection road,
The control means includes
When there is no other vehicle or pedestrian in the connecting road, the flashing control signal is transmitted at the determination point,
When there is another vehicle or a pedestrian in the connection road, the driving support device transmits the blinking control signal after passing through the connection road. In the driving assistance device according to any one of claims 1 to 3,
The surrounding state determination means obtains detection data from a detection device that detects at least another vehicle behind the host vehicle, and
The blinking condition is that there is another vehicle approaching the host vehicle from behind at the determination point,
The control means transmits the blinking control signal when there is another vehicle approaching from the rear at the determination point. In the driving assistance device according to any one of claims 1 to 4,
A plurality of the determination points are provided,
The control means determines whether or not each of the surrounding situations detected when passing through each judgment point corresponds to the blinking condition set for each judgment point. Support device. In the driving assistance device according to any one of claims 1 to 5,
The driving support device, wherein the control means transmits the blinking control signal to a direction indicator control means provided in the host vehicle. In the driving assistance device according to any one of claims 1 to 5,
The driving support device, wherein the control means transmits the blinking control signal to display control means for displaying blinking guidance of the direction indicator on a display provided in a cabin of the host vehicle. In the driving assistance device according to any one of claims 1 to 5,
The driving support device, wherein the control means transmits the blinking control signal to a voice output means for outputting a blinking guidance voice. Own vehicle position specifying means for specifying the own vehicle position;
Reading means for reading map data;
A guide route setting means for searching for a guide route to a destination based on the map data and setting the guide route;
A surrounding situation judging means for judging the surrounding situation of the vehicle position;
With a control means for transmitting a blinking control signal for blinking a direction indicator provided in the host vehicle,
By the control means,
Detecting a target point that needs to blink the direction indicator on the set guide route,
At the determination point in front of the target point, based on the surrounding state determination means, determine whether the surrounding state of the host vehicle corresponds to a blinking condition for blinking the direction indicator,
The driving support method, wherein the flashing control signal is transmitted when it is determined that the flashing condition is satisfied.

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