JP2007286810A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device, for terminating an alarm at a proper time according to the situation where the degree of risk is changed during traveling of a vehicle. <P>SOLUTION: A risk area setting part 8 constituting a control device 3 of the driving support device 1 sets a plurality of risk areas so as to gradually extend outwardly based on a risk point located on a traveling road of the own vehicle and so as to reduce the degree of risk stepwise, a start/end determination part 10 controls, when the own vehicle is located in a certain risk area, to give an alarm to a driver according to the degree of risk of the area concerned, and stops the alarming operation when it recognizes that the own vehicle moves from the high-risk area to an area with lower risk. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a driving support device having a function of giving a warning to a driver when a vehicle enters an area requiring attention for driving.

  For example, in Patent Document 1, map information, road condition information, and the like are updated from time to time by distributing the information from the information distribution center to each vehicle including the navigation device, and the navigation device is included in the information. For example, when it is determined that a vehicle is approaching an area that requires attention, such as an accident-prone area, the road situation is such that a warning is given while changing the mode according to the road situation in the area and the degree of approach. An information providing system is disclosed.

JP 2005-165378 A

However, in Patent Document 1, no consideration is given to the timing at which the started warning is terminated. For example, even if the vehicle is located in the above area, the danger level may be reduced in an actual situation. There is a risk that it will interfere.
The present invention has been made in view of the above circumstances, and an object thereof is to provide a driving support device that terminates a given warning at an appropriate timing in accordance with a situation in which the degree of danger changes while the vehicle is traveling. It is in.

According to the driving support apparatus of the first aspect, the danger area setting means is configured to gradually spread outward around the danger point located on the traveling path of the host vehicle, and to reduce the degree of danger step by step. A plurality of danger areas are set, and the warning control means controls the warning means so as to warn the driver according to the level of danger in the area when the own vehicle is located in the danger area. . When the host vehicle recognizes that the vehicle has shifted from a high risk area to a lower area, the warning operation is stopped.
That is, even when the vehicle is located in the danger area, there are a case where the vehicle is moving so as to approach the central danger point and a case where the vehicle is moving away from the danger point. In the former case, since the degree of danger becomes higher, it is necessary to give a warning. In the latter case, however, the degree of danger tends to gradually decrease, so it is not necessary to give a warning. Therefore, if the warning operation is stopped when the vehicle moves from a high risk area to a lower area, the warning can be terminated at an appropriate timing.

  According to the driving support apparatus of the second aspect, the dangerous area setting means sets the size and / or shape of the plurality of dangerous areas according to the type of the dangerous point. That is, changing the size or shape of the dangerous area depending on what the object recognized as dangerous makes it possible to appropriately set the area corresponding to the actual driving situation.

  According to the driving support apparatus of the third aspect, the dangerous area setting means sets the size and / or shape of the plurality of dangerous areas according to the traveling speed of the vehicle. That is, when the traveling speed is high, the vehicle approaches the center of the danger point faster, so for example, the shape is such that the entire danger area is enlarged or the area on the side where the vehicle enters the danger area is expanded. By changing the, the driver can be warned earlier, and the time for receiving the warning will be about the same as when the traveling speed is slow. The warning end timing can be appropriately changed as the danger area changes.

  According to the driving support device of the fourth aspect, since the danger area setting means sets the plurality of danger areas in a concentric circle, the distance at which the degree of danger changes around the danger point is equal from any direction. Can be set to Therefore, when the danger point is a stationary point such as an intersection, the danger area can be set optimally.

  According to the driving support apparatus of the fifth aspect, the danger area setting means sets the risk levels of the plurality of danger areas according to the traffic conditions of the road on which the host vehicle is traveling. For example, if the traffic volume on a road that passes through a dangerous area is higher than normal, it can be estimated that the danger level of the area is higher, so the risk level is suitable for the actual traffic situation. Can be set dynamically.

  According to the driving support apparatus of the sixth aspect, the dangerous area setting means sets the degree of risk to be set in the plurality of dangerous areas according to the traveling state of the host vehicle. For example, if the traveling speed of the vehicle is relatively fast, it can be seen that the degree of risk is rising, so the risk level is dynamically set so that it is suitable for the state where the vehicle is actually traveling. Can do.

  According to the driving support apparatus of the seventh aspect, the dangerous area setting means sets the degree of danger to be set in the plurality of dangerous areas according to the date and time. For example, even in the same danger area, it is generally considered that the visibility is more difficult at night and the visibility is higher than in the daytime. Further, the traffic volume may change in a predetermined pattern according to the date and time. Accordingly, the dynamically changing risk level can be set to some extent by referring to the date and time.

  According to the driving support apparatus of the eighth aspect, the dangerous area setting means sets the degree of risk to be set in the plurality of dangerous areas according to the driving skill of the driver determined by the driving skill determination means. That is, it is considered that the higher the driving skill of the driver, the lower the degree of risk during traveling. Therefore, the degree of risk can be appropriately changed according to the height of the driving skill.

  According to the driving support device of the ninth aspect, when the dangerous area setting means recognizes that the object detected by the object detecting means corresponds to the dangerous point, a plurality of dangerous areas are centered on the dangerous point. Set. For example, when there is a pedestrian who is going to cross the road ahead, the pedestrian can be regarded as a dangerous point. And if the dangerous area is set around the pedestrian detected by the object detection means, the setting position of the dangerous area will change as the pedestrian moves on the road. The danger area can be changed.

  According to the driving support apparatus of the tenth aspect, the warning control means restarts the warning operation when the position of the host vehicle again shifts to a higher risk area from the time when the warning operation by the warning means is stopped. In other words, depending on the setting state of the dangerous area and the traveling state of the vehicle that is going to pass through the dangerous area, it is also assumed that the vehicle again moves to an area with a higher degree of danger. Therefore, if the warning operation is resumed in that case, the warning can be appropriately performed as the degree of danger rises again.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a functional block diagram schematically showing the configuration of the driving support apparatus. The driving support device 1 includes various sensors 2, a control device 3, and an output device (warning means) 4. The various sensors 2 include, for example, current position acquisition means 5, vehicle information acquisition means (speed information acquisition means) 6, external environment recognition means (traffic information acquisition means, object detection means) 7, driver state detection means 8, and the like. Has been. The current position acquisition means 5 acquires the current position information of the host vehicle obtained by a navigation device (not shown). The vehicle information acquisition means 6 is, for example, from the vehicle side ECU (Electronic Control Unit) via the in-vehicle LAN. It acquires information such as vehicle speed, brake operation amount, steering operation amount, and switch position of the wiper.

The external environment recognition means 7 acquires information about the environment around the host vehicle. For example, traffic information and weather information provided by an information center via an infrastructure such as VICS (Vehicle Information and Communication System, registered trademark), The wiper switch position information obtained via the vehicle information acquisition means 6, processed video information around the own vehicle imaged by the monitoring camera attached to the own vehicle, or located around the own vehicle It consists of obstacle sensors, distance sensors, etc. that detect the presence and distance of other vehicles, pedestrians, obstacles, etc. using microwaves or lasers.
The driver state detection means 8 detects the direction of the driver's face or the direction of the line of sight by processing video information obtained from a camera that captures the behavior of the driver during driving. Various sensor signals output by the various sensors 2 are given to the control device 3.

  The control device 3 is configured by a microcomputer or the like, and includes a dangerous area setting unit (dangerous area setting unit) 9, a warning application start / end determination unit (warning control unit) 10, and a past state storage unit 11 as internal function blocks. , An output processing unit 12 and the like. The dangerous area setting unit 9 determines whether or not there is a dangerous point on the travel road based on various sensor signals given by the various sensors 2. Here, the “danger point” is, for example, a point such as an intersection where traffic accidents have frequently occurred in the past, or other vehicles or pedestrians located near the periphery of the host vehicle.

  When the danger area setting unit 9 determines that there is a danger point on the road, the danger area setting unit 9 gradually spreads outward (for example, draws concentric circles) around the danger point, and the degree of danger gradually increases. A plurality of danger areas are set so as to decrease (details will be described later). The start / end determination unit 10 acquires the current position of the host vehicle from the current position acquisition unit 5 of the various sensors 2 and determines whether or not the host vehicle has entered the danger area set by the danger area setting unit 9. Judging. And if the danger degree regarding the driving | running | working state of the own vehicle rises by approaching the inside of a danger area, the application (program) for alerting a driver via the output process part 12 and the output device 4 will be started. Further, it is also determined whether to stop the started application according to the subsequent change in the risk level.

  The past state storage unit 11 also refers to information given from the current position acquisition unit 5 and the danger area setting unit 9. When the vehicle enters the danger area set for a certain danger point, every time position information is acquired by the current position acquisition means 5 until it completely leaves the danger area of the point, the previous time The danger area that belonged at the position of is stored. The past state storage unit 11 also stores, as a warning history, whether or not the start / end determination unit 10 has already started a warning operation according to the state where the vehicle is located in the danger area. ing.

Then, the start / end determination unit 10 compares the previous dangerous area stored in the past state storage unit 11 with the dangerous area to which the position obtained this time belongs (that is, the movement history of the dangerous area). Based on the warning history, the warning operation being performed is stopped.
Moreover, the output device 4 is comprised by the display (display means) 13, the speaker 14, etc. which are installed in the instrument panel in a vehicle interior, for example. About these, you may use what comprises some navigation apparatuses, for example.

Next, the operation of this embodiment will be described with reference to FIGS. FIG. 2 is a flowchart mainly showing the processing contents of the control device 3, and the area setting unit 9 recognizes that a “danger point” is located in front of the host vehicle based on sensor signals given from various sensors 2. When it does, execution is started.
The “danger point” is, for example, an intersection where a vehicle is about to enter is specified in advance as an “accident frequent occurrence point” from past data statistics or the like. The information is provided as VICS information, for example, and the driving support device 1 can acquire the information via the external environment recognition means 7. In addition, for example, when there is a pedestrian or vehicle that is entering or may enter the travel route of the vehicle in front of the host vehicle, the pedestrian or the like is designated as a “danger point”. The external environment recognition means 7 recognizes it.

  When the area setting unit 9 recognizes the “danger point”, the area setting unit 9 sets a plurality of danger areas around the danger point (step S1). FIG. 3 shows an example of the danger area setting state. When the intersection where the host vehicle is about to pass is a danger point, the area setting unit 9 sets the danger areas 3 to 1 so as to draw concentric circles around the intersection. That is, the danger area 3 is an area closest to the center of the intersection, and the danger area 1 is set on the outermost side.

  Next, the start / end determination unit 10 determines whether the host vehicle is in or out of the danger area based on the position information of the host vehicle obtained from the current position acquisition unit 5 and the stored contents of the past state storage unit 11. It is determined whether or not it has moved in step S2. That is, as shown in FIG. 3, for example, when the vehicle enters the dangerous area 1 from outside the dangerous area (0), or when the vehicle enters the dangerous area 2 from the dangerous area 1, it is determined that “move is present”. If there is no area movement, the process proceeds to step S4, and if it is determined that the host vehicle is located outside the danger area, the process returns to step S1.

On the other hand, if it is determined in step S2 that there is an area movement, the start / end determination unit 10 determines whether the movement is from the outside to the inside of the dangerous area (for example, area 1 → 2), or conversely, the movement from the inside to the outside. (For example, area 2 → 1) is determined (step S3). In the case of movement from the outside to the inside (inside), the start / end determination unit 10 warns the driver via the output processing unit 12 and the output device 4 because the host vehicle is moving so as to approach the danger point. The application (program) for performing is started, and warning operation is started (step S6). Then, the process returns to step S1.
The warning is performed by, for example, displaying a message indicating that the danger point is approached on the display 13 or outputting the message from the speaker 14 by voice. Then, the content of the warning performed in step S6 is stored in the past state storage unit 11 as a warning history.

  In step S3, if the host vehicle is moving from the inside of the danger area to the outside (outside), the vehicle is moving away from the danger point. Is terminated (step S5). Then, the process returns to step S1.

FIG. 4 shows in what manner the warning is given in response to each state in which the vehicle moves in the danger area shown in FIG. That is, when the host vehicle enters the danger area 1 from (1) outside the danger area, the display 13 only displays a warning, assuming that the degree of danger is “low”. In addition, (2) when entering the danger area 2 from the danger area 1, it is assumed that the danger level is “medium”, and in addition to the warning display on the display 13, the speaker 14 also outputs a sound. (3) When entering the most dangerous area 3 from the dangerous area 2, the warning corresponding to “medium” is emphasized more, considering that the degree of danger is “high”. For example, the display 13 blinks or the volume of the speaker 14 is increased.
On the other hand, in the cases (4) to (6) in which it is determined that the host vehicle is moving “outside”, it is not necessary to give any warning since it moves away from the danger point as described above. , End the warning.

  5 and 6 show the case of FIG. 3 more specifically. In FIG. 5, as in FIG. 3, the intersection is a danger point, and the danger areas 3 to 1 are set concentrically. The size of the danger area is changed according to the traveling speed of the host vehicle, and the area diameter is set to increase as the speed increases. In this case, the area setting unit 9 sets the risk level of the dangerous area in consideration of the weather information obtained through the external environment recognition means 7. That is, in the case of fine weather, the risk level is set in the same manner as in FIG. 4, but the risk level is increased by one rank when heavy rain or fog occurs.

In the case of fine weather, for example, when the host vehicle enters the danger area 1 from outside the area, a warning is displayed on the display 13, and when the vehicle enters the danger area 2 from the danger area 1 Please output ". Although not shown in FIGS. 5 and 6, when entering the danger area 3 from the danger area 2, a warning is given with more emphasis on the display and sound.
On the other hand, in the case of heavy rain or fog, the above warning mode is shifted one rank, and when entering the danger area 1, the warning display on the display 13 and the sound output of the speaker 14 are performed, and when entering the danger area 2, they are emphasized. Make a warning. And if the own vehicle passes the intersection and shifts from the dangerous area 3 to the dangerous area 2, the warning is ended regardless of the degree of danger according to the weather.

In addition, the setting of the risk level for each danger area is not limited to that based on weather information. For example, when the traveling speed of the host vehicle is high, the risk level is set higher, or the traffic situation near the intersection is set. By obtaining from VICS, when the traffic volume is large (however, there is no traffic jam), the degree of danger may be set higher.
In addition, after determining that “no area movement” in step S2, the case where it is determined in step S4 that the host vehicle is located in the dangerous area is, for example, a state where the vehicle is parked or stopped in the dangerous area. It corresponds to the case of starting from. At this time, the start / end determination unit 10 proceeds to step S7, refers to the warning history in the past state storage unit 11, and determines whether or not the warning has already been performed when it is located in the current danger area.

The determination here corresponds to a case where the warning point exists statically, for example, at an intersection, and a case where it dynamically occurs, such as a pedestrian or another vehicle. That is, in the former case, the warning should be started when it is located in the current danger area, and the history is stored in the past state storage unit 11. On the other hand, in the latter case, there is no danger point when the vehicle is parked or stopped, and it is a case that occurred later, so the warning has not started yet, and the history is stored in the past state storage unit 11. Not.
If it is determined in step S7 that the warning has already been started, the warning corresponding to the state remaining in the history may be continued, so the process proceeds to step S1 and if it is determined that the warning has not yet started. The process proceeds to step S6 and a warning is started.

  Further, although it is unlikely to occur in the case shown in FIG. 5, according to the flowchart of FIG. 2, even if the warning is stopped in step S <b> 5 because the movement of the host vehicle is in the outside direction of the danger area, If it moves again from that state toward the inside of the danger area, the warning is resumed in step S6. Such a case is considered to occur depending on the setting mode of the dangerous area.

  As described above, according to the present embodiment, the danger area setting unit 9 constituting the control device 3 of the driving assistance device 1 gradually spreads outward around the danger point located on the traveling path of the host vehicle. In addition, a plurality of danger areas are set so that the danger level gradually decreases, and when the host vehicle is located in the danger area, the start / end determination unit 10 determines whether the danger level of the area is high. The warning operation is stopped when it is recognized that the vehicle has shifted from a high risk area to a lower area. Therefore, the warning can be terminated at an appropriate timing when the risk level is lowered.

  Further, since the danger area setting unit 9 sets the sizes of the plurality of danger areas according to the traveling speed of the vehicle, when the traveling speed is high, the driver can receive a warning at an earlier stage. The time to receive is the same as when the running speed is slow. And according to the change of a danger area, the end timing of a warning can also be changed appropriately. Furthermore, since the danger area setting unit 9 sets a plurality of danger areas in a concentric circle shape, when the danger point is a stationary point such as an intersection, the direction in which the distance at which the degree of danger changes around the point is changed. It is possible to optimally set the danger area so that the distance is equal.

  In addition, since the start / end determination unit 10 restarts the warning operation when the position of the host vehicle again shifts to a higher risk area from the time when the warning operation is stopped, Warnings can be made appropriately. Furthermore, the danger area setting unit 9 sets the danger level of the danger area according to the traveling state of the host vehicle and the traffic situation of the road on which the host vehicle is traveling, so that the vehicle is actually traveling The risk level can be dynamically set to suit the traffic situation.

(Second embodiment)
7 to 9 show a second embodiment of the present invention. The same parts as those of the first embodiment are denoted by the same reference numerals and the description thereof is omitted, and only different parts will be described below. The configuration of the second embodiment is basically the same as that of the first embodiment, and shows a case where the danger point is a pedestrian. FIG. 7 shows the setting state of the danger area. A pedestrian is located at the southeast corner of the intersection with respect to the traveling direction of the vehicle (for example, the north-south direction) in the same positional relationship as the intersection shown in FIG. The driving support device 1 recognizes the pedestrian as a dangerous point by detecting the pedestrian by the external environment recognition means (object detection means) 7 (not shown in FIG. 7). Yes.

  And in this case, since the pedestrian may cross the intersection in the east-west direction or the north-south direction, the shape of the danger area is an ellipse that spreads more greatly on the northwest side around the southeast corner where the pedestrian is located. It is set to form. Moreover, since the pedestrian moves very slowly, the size of the danger area is set smaller than that in the first embodiment. In addition, in this case, as the pedestrian moves, the set center of the dangerous area also moves.

  FIG. 8 is a diagram corresponding to FIG. 6, but the area setting unit 9 sets the danger level of the danger area with reference to the current time. For example, the time zone is divided into “daytime” and “nighttime” at an appropriate time (may be changed according to the date), and in the case of “nighttime”, the risk level is increased by one rank from “daytime”. ing.

  Further, in the flowchart shown in FIG. 9, when it is determined that “out of area” in step S4, the activation / termination determination unit 10 determines whether or not the danger target is a pedestrian (step S8), and is not a pedestrian. ("NO") shifts to step S1. On the other hand, if the person is a pedestrian ("YES"), it is determined whether or not the current time zone is nighttime (step S9), and stepping is performed according to nighttime ("YES") and daytime ("NO"). The process proceeds to S7 and S1.

That is, as shown in FIG. 8, in the case of “daytime”, the warning is not given before the host vehicle enters the danger area 1, and when entering the danger areas 1 and 2, as in the first embodiment, The warning is given in the form of warning display (warning display + audio output). Further, in the case of the second embodiment, the warning ends when the host vehicle moves from the danger area 2 to the danger area 1 without entering the danger area 3.
In the case of “night”, a warning is displayed on the display 13 even when the pedestrian is recognized as a danger point and before entering the danger area 1. When entering the danger area 1, a warning is given in the form of (warning display + sound output), and when entering the danger area 2 from the danger area 1, the warning is given with more emphasis on the display and sound. Further, when the transition is made from the danger area 2 to the danger area 1, the warning is terminated at the same time as in the “daytime” case.

  As described above, according to the second embodiment, the dangerous area setting unit 9 sets the sizes of a plurality of dangerous areas according to the types of dangerous points. Specifically, when the external environment recognition means 7 recognizes that a pedestrian located in front of the host vehicle corresponds to a danger point, a plurality of danger areas are set around the danger point. The danger area can be changed according to the movement. Further, the danger area setting unit 9 sets the danger level to be set in a plurality of danger areas according to the time zone or date / time such as “daytime”, “nighttime”, etc., so that it changes dynamically according to the time zone etc. The degree of danger to be performed can be set to some extent reasonable.

(Third embodiment)
FIG. 10 shows a third embodiment of the present invention, and different portions from the first embodiment will be described. The driving support device 1A in the third embodiment is configured such that the control device 3A incorporates a driving skill determination device (driving skill determination means) 15 therein. The driving skill determination device 15 includes a “drive recorder” that records the driving operation of the vehicle acquired through the vehicle information acquisition unit over a predetermined period, analyzes the recording result, and each driving situation, for example, The driving skill of the driver is determined by comparing with an ideal driving operation pattern corresponding to the driver.

The danger area setting unit 9A is configured to take into account the level of the driving skill of the driver evaluated by the driving skill determination device 15 when setting the degree of danger in each danger area in step S1. . That is, when the driving skill of the driver is high, the risk level is set to be lower, and conversely, when the driving skill is low, the risk level is set to be higher.
According to the third embodiment configured as described above, the dangerous area setting unit 9A considers the driving skill of the driver determined by the driving skill determination device 15 with respect to the risk level set in the plurality of dangerous areas. Since it is set, the degree of risk can be appropriately changed according to the level of the driving skill.

The present invention is not limited to the embodiments described above or shown in the drawings, and the following modifications are possible.
The warning may be performed using only one of the display 13 and the speaker 14.
The setting form of the danger area is not limited to a concentric circle or an ellipse, but may be set to a polygonal shape.
Further, the number of dangerous areas set for one dangerous point may be one or more including an area having a risk level of “0”.
Changing the setting of the risk level according to the weather information or the date and time may be performed as necessary. Further, the size of the danger area does not necessarily need to be changed according to the traveling speed of the vehicle.
Various sensors may be appropriately selected and provided according to individual use.

The functional block diagram which is 1st Example of this invention and shows the structure of a driving assistance device roughly Flowchart mainly showing the processing contents of the control device Diagram explaining the setting status of the danger area The figure explaining how warning is performed corresponding to each state in which the vehicle moves in the danger area shown in FIG. The figure which shows the case of FIG. 3 more concretely Figure 4 equivalent FIG. 5 equivalent diagram showing a second embodiment of the present invention. 6 equivalent diagram 2 equivalent diagram FIG. 1 equivalent view showing a third embodiment of the present invention.

Explanation of symbols

  In the drawings, 1, 1A is a driving support device, 4 is an output device (warning means), 6 is vehicle information acquisition means (speed information acquisition means), and 7 is external environment recognition means (traffic information acquisition means, object detection means). , 9 is a dangerous area setting section (danger area setting means), 10 is a warning application activation / termination determination section (warning control means), and 15 is a driving skill determination device (driving skill determination means).

Claims (10)

Position acquisition means for acquiring the current position of the host vehicle;
A danger area where a plurality of danger areas are set so that when the danger point is located on the traveling path of the host vehicle, the danger point gradually spreads outward with the danger point as the center, and the danger level gradually decreases. Setting means;
Based on the position of the host vehicle acquired by the position acquisition means, when the vehicle is located in the danger area, warning means is provided so as to warn the driver according to the risk level of the area. When the vehicle moves from the high risk area to the low risk area when the vehicle passes through the plurality of danger areas based on the position change of the host vehicle acquired by the position acquisition means, the warning means A driving support device comprising warning control means for stopping a warning operation.   The driving assistance device according to claim 1, wherein the dangerous area setting means sets the size and / or shape of the plurality of dangerous areas according to the type of the dangerous point. Comprising speed information acquisition means for acquiring travel speed information of the host vehicle from the vehicle side;
The driving assistance device according to claim 1 or 2, wherein the dangerous area setting means sets the size and / or shape of the plurality of dangerous areas according to the traveling speed.   The driving assistance apparatus according to any one of claims 1 to 3, wherein the dangerous area setting means sets the plurality of dangerous areas in a concentric circle shape. Provide traffic information acquisition means to acquire information on road traffic conditions,
The driving assistance according to any one of claims 1 to 4, wherein the danger area setting means sets the danger level of the plurality of danger areas according to traffic conditions of a road on which the host vehicle is traveling. apparatus. A travel information acquisition means for acquiring information on the travel state of the host vehicle;
The driving assistance apparatus according to any one of claims 1 to 5, wherein the danger area setting means sets the risk levels of the plurality of danger areas according to a traveling state of the host vehicle.   The driving assistance apparatus according to any one of claims 1 to 6, wherein the danger area setting means sets a risk level to be set in the plurality of danger areas according to a date and time. Driving skill determination means for determining the driving skill of the driver of the own vehicle is provided,
The driving assistance apparatus according to any one of claims 1 to 7, wherein the dangerous area setting means sets the degree of danger of the plurality of dangerous areas according to the driving skill. An object detection means for detecting the position of the object moving on the traveling path of the host vehicle;
The danger area setting means, when recognizing that an object detected by the object detection means corresponds to the danger point, sets the plurality of danger areas around the danger point. Item 9. The driving support device according to any one of Items 1 to 8.   The warning control means restarts the warning action when the position of the host vehicle moves again to the higher risk area from the time when the warning action by the warning means is stopped. The driving assistance apparatus in any one of thru | or 9.

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