JP2008213735A - Driving assisting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving assisting device which reduces a trouble for a driver by warning only an obstacle not grasped by the driver. <P>SOLUTION: When getting on of a driver is detected, CPU 41 detects a movement article such as the other vehicle and a pedestrian moving at a periphery of the driver's own vehicle through respective outdoor side cameras 53 and memorizes it on RAM 42 as the movement article (grasped movement article) grasped by the driver when the driver gets on the vehicle (S11-S14). The CPU 41 successively detects the movement article moving at the periphery of the one's own vehicle 2 through the respective outdoor side cameras 53 (S15-S16). When a detection signal for detecting that a shift lever is moved from a parking position to a drive position or a reverse position is inputted from a shift lever switch, the CPU 41 performs warning relative to the driver when the movement article different from the grasped movement article exists in an advancement direction of the one's own vehicle 2 (S17-S20). <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a driving support apparatus that detects an obstacle around a vehicle and warns a driver.

Conventionally, various driving assistance devices that detect an obstacle around the vehicle and warn the driver have been proposed.
For example, an imaging device that captures an image of the periphery of the vehicle, a storage device that stores an image captured by the imaging device, and a first timing at which the vehicle tries to park or park (timing at which the parking signal switches from the off state to the on state) And the image acquired from the imaging device at the second timing (the timing at which the parking signal is switched from the on state to the off state) immediately before departure of the vehicle. Based on the comparison result, it is determined whether there is an obstacle around the vehicle, and if it is determined that there is an obstacle, there is a driving support device composed of a control device that sounds a warning sound to the driver. (For example, refer to Patent Document 1).
JP 2004-221871 A (paragraphs (0020) to (0045), FIGS. 1 to 5)

  However, the above-described driving support device described in Patent Document 1 has a problem that it is troublesome for the driver because it detects and warns an obstacle noticed when the driver gets in. On the other hand, there is a problem that it is necessary to warn the driver because the driver does not grasp obstacles that have changed in movement between when the driver gets in and when the vehicle departs. is there.

  Accordingly, the present invention has been made to solve the above-described problems, and provides a driving support device that can warn only an obstacle that is not grasped by the driver and reduce troublesomeness for the driver. For the purpose.

  In order to achieve the above object, the driving support apparatus according to claim 1 is an imaging means (53) for imaging the periphery of the vehicle in the driving support apparatus (1) that detects an obstacle around the vehicle and warns the driver. ), Boarding detection means (13, 61) for detecting the boarding of the driver, and when the boarding of the driver is detected, the moving body around the vehicle is detected and stored as a grasping body through the imaging unit. Grasping moving object storage means (13, 42, 51, 53), driving start detection means (13, 61) for detecting the start of driving by which the driver is going to start the vehicle, and detecting the driving start In addition, a moving object detecting means (13, 51) after starting driving that detects moving objects around the vehicle via the imaging means, and a moving object detected by the moving object detecting means after starting driving are the grasping moving object and Whether or not When it is determined that the moving object detected by the moving object determining means (13) to be determined and the moving object detecting means after the start of driving is different from the grasped moving object, a warning is given to the driver. And moving object warning control means (13) for controlling.

  The driving support apparatus according to claim 2 is the driving support apparatus according to claim 1, wherein the moving object determining means (13) is a moving object detected by the moving object detection means after the start of driving. Among the moving objects detected by the moving object detecting means after the start of driving, the moving object warning control means (13) determines whether the moving object in the vehicle traveling direction is different from the grasped moving object. When it is determined that the moving object in the traveling direction is different from the grasped moving object, control is performed so as to warn the driver.

  According to a third aspect of the present invention, there is provided the driving support device according to the first or second aspect, wherein the driving start is detected before a predetermined time elapses after the driver enters the vehicle. If it is determined that the start of operation is not detected until the predetermined time has elapsed, the moving object detection unit detects the moving object after the start of operation. And a detection stop control means (13) for controlling to stop.

  According to a fourth aspect of the present invention, there is provided a driving support device according to any one of the first to third aspects, wherein the driver assists the driver via the moving object warning control means. In such a case, the additional storage control means (13) for controlling the moving object determined to be different from the grasped moving object by the moving object determining means to be stored in the grasped moving object storage means as a new grasped moving object. It is provided with.

  According to a fifth aspect of the present invention, there is provided a driving assistance device according to any one of the first to fourth aspects, wherein the driving assistance device (1) according to any one of the first to fourth aspects includes a getting-off detection means (13, 61) for detecting the getting-off of the driver. And an imaging control means (13, 51) for controlling the imaging means to stop when the driver gets off after getting on.

  Furthermore, the driving support device according to claim 6 is the driving support device (1) according to any one of claims 1 to 5, wherein when the start of driving is detected, the vehicle travels through the imaging means. A moving direction stop detecting means (13, 51) for detecting a moving stop in the direction, and a stop for determining whether the stop detected by the moving direction stop detecting means is the same as the grasped moving object. When it is determined that the object detected by the object determination unit (13) and the moving direction stop object detection unit is the same as the grasped moving object, control is performed so as to warn the driver. And a stationary object warning control means (13).

In the driving support apparatus according to claim 1 having the above-described configuration, when the driver's boarding is detected, the moving object around the vehicle is detected and stored as the grasping moving object via the imaging unit. Further, when the driver detects the start of driving to start the vehicle, moving objects around the vehicle are detected via the imaging means. If the moving object around the vehicle detected from the start of driving is different from the stored grasping moving object, a warning is given to the driver.
As a result, the moving object around the vehicle when the driver gets in is stored as a grasping moving object, so that it is possible to prevent the driver from warning the moving object grasped when getting in, It is possible to reduce the troublesomeness of the warning for the driver. In addition, since only a moving object that appears after the driver has boarded and the driver does not know is warned, a warning is given only when a warning of confirmation of the moving object is necessary to assist the driver's driving. It becomes possible.

Further, in the driving support device according to claim 2, when the moving object in the vehicle traveling direction among the moving objects around the vehicle detected from the start of driving is different from the grasped moving object stored in the vehicle, a warning is given to the driver. Is done.
As a result, only a moving object that appears after the driver gets in and appears in the vehicle traveling direction that the driver does not know is warned, so only a warning for confirming the moving object is issued. It becomes possible to appropriately support the driving of the driver.

In the driving support device according to the third aspect, in the case where the driving is not started until a predetermined time (for example, 1 minute to 2 minutes) elapses after the driver enters the vehicle, Object detection is stopped.
As a result, when a predetermined time elapses after the driver gets in, there is a high possibility that the situation around the vehicle will be completely different. Therefore, the detection of moving objects around the vehicle is stopped and no unnecessary warning is given. This makes it possible to further reduce the troublesomeness caused by warnings for the driver.

In the driving support device according to claim 4, when a moving object around the vehicle is warned to the driver, the moving object determined to be different from the grasping moving object is a new grasping moving object. Remembered.
As a result, the moving object around the vehicle once warned is stored as a new grasping moving object, so that it is possible to prevent the moving object from being warned twice. It becomes possible to reduce.

  Further, in the driving support device according to claim 5, when the driver gets off after getting on, the imaging unit stops, and therefore the imaging unit is driven only when it is necessary to support the driving of the driver. This makes it possible to save energy.

Further, in the driving support device according to the sixth aspect, when the driver detects the start of driving to start the vehicle, a stop in the vehicle traveling direction is detected via the imaging means. When the detected stopped object is the same as the grasping moving object detected when the driver gets in, a warning is given to the driver.
This makes it possible to warn even if the moving object grasped by the driver at the time of getting on does not move as it is and stops in the vehicle traveling direction at the start of driving against the driver's prediction. It is possible to assist the driver in driving more safely.

  Hereinafter, the driving support device according to the present invention will be described in detail with reference to the drawings based on the first to fifth embodiments in which the navigation device is embodied.

  First, a schematic configuration of a vehicle on which the navigation device according to the first embodiment is mounted will be described with reference to FIG. FIG. 1 is a schematic configuration diagram of a vehicle 2 on which a navigation device 1 according to the first embodiment is mounted.

  As shown in FIG. 1, a camera ECU (Electronic Control Unit) 51 that drives and controls a CCD camera or the like is electrically connected to the navigation control unit 13 of the navigation device 1 installed on the vehicle 2. In addition, at the front end portion and the rear end portion of the vehicle 2, each vehicle exterior camera 53 configured by a CCD camera or the like is installed.

The navigation device 1 is provided on the center console or the panel surface of the vehicle 2, displays a search route to a map or destination on a liquid crystal display (LCD) 15, and provides voice guidance regarding route guidance by a speaker 16. Output. In addition, when the predetermined condition is satisfied, the navigation device 1 can transmit a control signal to the camera ECU 51 to detect a vehicle, a pedestrian, and the like in front of and behind the vehicle 2.
In addition, the camera ECU 51 performs image processing on the video signal of each of the outside cameras 53 based on the control signal received from the navigation device 1 and outputs detection signals of vehicles and pedestrians in front of and behind the vehicle 2. Each vehicle exterior camera 53 is connected to the control unit.

Next, the configuration related to the control system of the vehicle 2 according to the first embodiment will be described with reference to FIG. FIG. 2 is a block diagram schematically showing a control system centered on the navigation device 1 mounted on the vehicle 2.
As shown in FIG. 2, the control system of the vehicle 2 is configured based on a navigation device 1 and a camera ECU 51 that is electrically connected to the navigation device 1. The device is connected.

The navigation device 1 includes a current position detection processing unit 11 that detects a current position of the own vehicle (hereinafter referred to as “own vehicle position”), a data recording unit 12 that records various data, and input information. Based on the navigation control unit 13 that performs various arithmetic processing, the operation unit 14 that receives operations from the operator, a liquid crystal display (LCD) 15 that displays information such as a map to the operator, and route guidance The communication device 17 is configured to communicate with each other between a speaker 16 that outputs voice guidance and warning sound and an information center such as a road traffic information center (VICS (registered trademark)). The navigation control unit 13 is connected to a vehicle speed sensor 21 that detects the traveling speed of the vehicle. The navigation control unit 13 includes a door lock switch that detects the locked state of the door, a seating sensor that detects the driver's seating on the driver's seat, an ignition switch that detects whether the ignition is on / off, and a parking position of the shift lever. A vehicle sensor 61 composed of a shift lever switch for detecting a drive position, a reverse position, and the like is connected.
The communication device 17 includes, for example, a LAN (Local Area Network), a WAN (Wide Area Network), an intranet, a mobile phone network, a telephone network, a public communication network, a dedicated communication network, a communication network such as the Internet, etc. It can be used by connecting to other communication systems.

Below, each component which comprises the navigation apparatus 1 is demonstrated.
As shown in FIG. 2, the current position detection processing unit 21 includes a GPS 31, a direction sensor 32, a distance sensor 33, an altimeter (not shown), and the like, and the current position, direction, and target (for example, an intersection) of the own vehicle. Can be detected.

  Specifically, the GPS 31 detects the current location and current time of the vehicle on the earth by receiving radio waves generated by artificial satellites. The azimuth sensor 32 includes a geomagnetic sensor, a gyro sensor, an optical rotation sensor attached to a rotating portion of a steering wheel (not shown), a rotation resistance sensor, an angle sensor attached to a wheel, or the like. Detect the direction of the vehicle. The distance sensor 33 measures, for example, the rotational speed of a wheel (not shown) of the host vehicle, detects the distance based on the measured rotational speed, measures the acceleration, and integrates the measured acceleration twice. Thus, it is composed of a sensor or the like for detecting the distance, and detects the moving distance of the own vehicle.

  The data recording unit 12 reads an external storage device and a hard disk (not shown) as a recording medium, a map information database (map information DB) 25 stored in the hard disk, a predetermined program, etc. And a recording head (not shown) which is a driver for writing the data. In the first embodiment, a hard disk is used as the external storage device and storage medium of the data recording unit 12, but in addition to the hard disk, a magnetic disk such as a flexible disk, memory card, CD, DVD, optical disk, IC A card or the like can also be used as an external storage device.

  The map information DB 25 is composed of various information necessary for route guidance and map display. For example, new road information for specifying each new road, map display data for displaying a map, each intersection Intersection data on nodes, node data on node points, link data on roads (links) as a type of facility, search data for searching for routes, store data on points of interest (POI) of stores as a type of facility, It consists of search data for searching for points, feature information on various features such as traffic lights at intersections, and the like. Further, the contents of the map information DB 25 are updated by downloading update information distributed from an information distribution center (not shown) via the communication device 17.

As shown in FIG. 2, the navigation control unit 13 constituting the navigation device 1 is an arithmetic device that performs overall control of the navigation device 1, a CPU 41 as a control device, and working when the CPU 41 performs various arithmetic processes. In addition to being used as a memory, the RAM 42 that stores route data when a route is searched, a control program, confirmation of surrounding vehicles and pedestrians at the start of driving in a parking lot described later, etc. A ROM 43 that stores a warning processing program (see FIG. 3) that performs a warning, an internal storage device such as a flash memory 44 that stores a program read from the ROM 43, a timer 45 that measures time, and the like are provided.
Here, a semiconductor memory, a magnetic core, or the like is used as the RAM 42, the ROM 43, the flash memory 44, or the like. As the arithmetic device and the control device, an MPU or the like can be used instead of the CPU 41.

  In the first embodiment, various programs are stored in the ROM 43 and various data are stored in the data recording unit 12. However, the programs, data, and the like are stored in the same external storage device, memory card, and the like. It is also possible to read out a program, data, etc. from the flash memory 44 and so on. Further, the program, data, etc. can be updated by exchanging a memory card or the like.

  Furthermore, the navigation control unit 13 is electrically connected to peripheral devices (actuators) of the operation unit 14, the liquid crystal display 15, the speaker 16, and the communication device 17.

The operation unit 14 is operated when correcting the current location at the start of travel, inputting a departure point as a guidance start point and a destination as a guidance end point, or searching for information about facilities, and the like. And a plurality of operation switches. The navigation control unit 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. Note that the operation unit 14 may be configured by a keyboard, a mouse, or the like, or a touch panel provided on the front surface of the liquid crystal display 15.
The liquid crystal display 15 also has operation guidance, operation menus, key guidance, guidance route from the current location to the destination, guidance information along the guidance route, traffic information, news, weather forecast, time, mail, TV program, etc. Is displayed.

  In addition, the speaker 16 outputs a driving guide along the guidance route, a voice guidance for warning of stoppage or safety confirmation at the start of driving in a parking lot or the like based on an instruction from the navigation control unit 13. Here, as voice guidance to be guided, for example, “200m ahead, turn right at the XX intersection”, or “Pip, Pip,・ ・ There is a warning sound such as (intermittent sound).

The communication device 17 is a communication means such as a mobile phone network that communicates with the information distribution center, and transmits / receives the latest version of updated map information and the like to / from the information distribution center. Further, in addition to the information distribution center, the communication device 17 receives traffic information including information such as traffic jam information transmitted from a road traffic information center (VICS (registered trademark)) and the congestion status of a service area.
In addition, the camera ECU 51 includes a data receiving unit 51A that receives the control information transmitted from the navigation control unit 13, and controls each of the outside cameras 53 based on the received control information and performs an image recognition. It has.

Next, based on FIG.3 and FIG.4, it is based on FIG.3 and FIG.4 about the warning process which performs the warning of confirmation of the surrounding vehicle, a pedestrian, etc. at the time of the driving | running start in the parking lot etc. which the CPU41 of the navigation apparatus 1 comprised as mentioned above performs. explain.
FIG. 3 is a flowchart illustrating a warning process for performing a warning of confirmation of surrounding vehicles and pedestrians at the start of driving in a parking lot or the like, which is executed by the CPU 41 of the navigation device 1 according to the first embodiment. FIG. 4 is a diagram illustrating an example of a change in the peripheral state at the start of driving in a parking lot or the like.
Note that the program shown in the flowchart of FIG. 3 is stored in the ROM 43 provided in the navigation control unit 13 of the navigation device 1 and is executed when the CPU 41 parks in a parking lot or the like.

As shown in FIG. 3, first, in step (hereinafter abbreviated as S) 11, the CPU 41 executes a determination process for determining whether or not the driver has boarded.
Whether the driver has boarded or not is determined by the door lock switch signal being switched from the ON state to the OFF state, the door lock being released, and the seating sensor signal being switched from the OFF state to the ON state. When the driver's seating is confirmed and the ignition switch is switched from the OFF state to the ON state, the CPU 41 determines that the driver has boarded. In the case where a seat belt switch for detecting presence / absence of the seat belt is provided, the CPU 41 gets on the driver when the seat belt switch is switched from the OFF state to the ON state. Is determined.

When it is determined that the driver is not on board (S11: NO), the CPU 41 waits for the driver to board again.
On the other hand, when it is determined that the driver has boarded (S11: YES), the CPU 41 proceeds to the process of S12. In S <b> 12, the CPU 41 starts imaging of the respective outside cameras 53 provided at the front end portion and the rear end portion of the host vehicle 2 via the camera ECU 51.
Subsequently, in S <b> 13, the CPU 41 performs image processing on the video signal of each vehicle camera 53 and detects moving objects such as other vehicles and pedestrians moving around the host vehicle 2.
In S <b> 14, the CPU 41 recognizes a moving object such as another vehicle or a pedestrian moving around the host vehicle 2 detected via each of the outside cameras 53 when the driver gets on the moving object ( It is stored in the RAM 42 as a grasping moving object).

Here, moving objects such as other vehicles and pedestrians moving around the own vehicle 2 detected via the respective outside cameras 53 are grasped when the driver gets on (moving objects). An example stored in the RAM 42 will be described with reference to FIG.
For example, as shown at the left end of FIG. 4, when the driver 71 leaves the store and moves to the own vehicle 2 parked in the parking lot 72, another driver 76 gets on the other vehicle 75. Trying to. A pedestrian 77 is walking from the entrance / exit of the parking lot 72 toward the store. In addition, another vehicle 78 is parked behind the other vehicle 75.

  Then, as shown in the center of FIG. 4, when the CPU 41 determines that the driver 71 has boarded the host vehicle 2 from signals such as a door lock switch, a seating sensor, and an ignition switch (S11: YES), When the video signal of each of the outside cameras 53 provided at the front end portion and the rear end portion of the vehicle 2 is image-processed and the other vehicle 75 moving toward the entrance / exit is detected, the other vehicle 75 is It memorize | stores in RAM42 as the moving body (grasping moving body) grasped | ascertained when the driver | operator 71 gets on (S12-S14). Further, when the CPU 41 detects the pedestrian 77 walking toward the store by performing image processing on the video signal of each of the outside cameras 53 provided at the front end and the rear end of the host vehicle 2, The pedestrian 77 is stored in the RAM 42 as a moving object (a grasped moving object) grasped when the driver 71 gets on (S12 to S14).

  Subsequently, as shown in FIG. 3, in S <b> 15, the CPU 41 resets the timer 45 and starts measuring the elapsed time after starting running. Specifically, the CPU 41 starts measuring the elapsed time after the detection signal that detects that the shift lever has moved from the parking position to the drive position or the reverse position is input from the shift lever switch.

In S <b> 16, the CPU 41 performs image processing on the video signal of each of the outside cameras 53 and detects moving objects such as other vehicles and pedestrians moving around the host vehicle 2.
Subsequently, in S <b> 17, the CPU 41 determines whether or not moving objects such as other vehicles and pedestrians moving around the own vehicle 2 detected via the respective on-vehicle cameras 53 are moving objects that the driver does not grasp. A determination process is performed to determine whether or not. Specifically, the CPU 41 is a moving object that is not the same as the grasping moving object stored in the RAM 42 among the moving objects such as other vehicles and pedestrians that move around the own vehicle 2 detected through the respective outside cameras 53. A determination process for determining whether or not there is is executed.
Then, when there are no moving objects that are not the same as the grasping moving objects stored in the RAM 42 among the moving objects such as other vehicles and pedestrians that move around the own vehicle 2 detected via the vehicle cameras 53 ( S17: NO), the CPU 41 proceeds to the process of S22.

On the other hand, when there is a moving object that is not the same as the grasping moving object stored in the RAM 42 among the moving objects such as other vehicles and pedestrians that move around the own vehicle 2 detected through the vehicle cameras 53 ( S17: YES), the CPU 41 proceeds to the process of S18. In S <b> 18, the CPU 41 determines whether or not an intention to start is input from the driver, that is, whether or not a detection signal that detects that the shift lever is moved from the parking position to the drive position or the reverse position is input from the shift lever switch. A determination process is performed to determine whether or not.
When the detection signal that detects that the shift lever has moved from the parking position to the drive position or the reverse position is not input from the shift lever switch (S18: NO), the CPU 41 proceeds to the process of S22.

On the other hand, when a detection signal that detects that the shift lever has moved from the parking position to the drive position or the reverse position is input from the shift lever switch (S18: YES), the CPU 41 proceeds to the process of S19. In S <b> 19, the CPU 41 executes determination processing for determining whether or not the moving object that the driver detected in S <b> 17 does not grasp exists in the traveling direction of the host vehicle 2.
The CPU 41 determines the traveling direction of the host vehicle 2 based on a sensor signal input from an optical rotation sensor, a rotation resistance sensor, an angle sensor attached to a wheel, etc. It can be detected from the detection signal moved to the drive position or reverse position input from the switch.

And when the moving body which the driver | operator who is not grasped | ascertained by said S17 does not exist in the advancing direction of the own vehicle 2 (S19: NO), CPU41 transfers to the process of S22.
On the other hand, when the moving object that the driver detected in S17 does not grasp exists in the traveling direction of the host vehicle 2 (S19: YES), the CPU 41 proceeds to the process of S20. In S20, the CPU 41 warns the driver with a warning sound or the like that there is a moving object that the driver does not grasp in the traveling direction. For example, the CPU 41 performs a buzzer sound, a warning sound such as “beep-beep”, and voice guidance such as “There is an obstacle in the traveling direction” via the speaker 16. Further, the CPU 41 displays an image in the traveling direction on a liquid crystal display (LCD) 15 to highlight a moving object such as another vehicle or a pedestrian that is not grasped by surrounding it with a red frame.

Here, when the shift lever of the own vehicle 2 moves from the parking position to the reverse position, an example in which another vehicle not recognized by the driver starts to move behind the own vehicle 2 based on FIG. explain.
As shown at the right end of FIG. 4, the CPU 41 performs image processing on the video signal of the vehicle exterior camera 53 provided at the rear end portion of the host vehicle 2, and the other vehicle 75 and the pedestrian 77 moving behind the host vehicle 2. The other vehicle 78 is detected, and it is determined that the other vehicle 78 does not coincide with the grasping moving object (the other vehicle 75 and the pedestrian 77) stored in the RAM 42 (S17: YES).

  Then, the CPU 41 receives a detection signal that detects that the shift lever has moved from the parking position to the reverse position from the shift lever switch, and a signal indicating that the steering is rotated to the left is from a rotation sensor or the like attached to the steering wheel. If it is input, it is determined that the host vehicle 2 proceeds rearward on the left side. Further, since the other vehicle 78 exists on the left rear side, the CPU 41 determines that the other vehicle 78 is present in the traveling direction of the host vehicle 2, and emits a beeping sound through the speaker 16. Then, the rear image is displayed on the liquid crystal display (LCD) 15 and the other vehicle 78 is highlighted by surrounding it with a red frame to warn the driver 71 that the other vehicle 78 exists behind ( S18-S20).

After that, as shown in FIG. 3, in S21, the CPU 41 recognizes the moving object that has been warned to the driver by a warning sound through the speaker 16 or an emphasis display through the liquid crystal display 15, etc. In addition to the grasping moving object already stored in the RAM 42, the grasping moving object is stored.
Subsequently, in S22, the CPU 41 receives an elapsed time from the start of traveling, that is, after a detection signal that detects that the shift lever has moved from the parking position to the drive position or the reverse position is input from the shift lever switch. A determination process is performed to determine whether or not the elapsed time has reached a certain time (for example, approximately 1 to 3 minutes). If the elapsed time since the start of traveling has not reached a certain time (S22: NO), the CPU 41 executes the processing subsequent to S16 again.

On the other hand, when the elapsed time from the start of traveling has reached a certain time (S22: YES), the CPU 41 determines that the vehicle has exited the parking lot and has entered a normal traveling state, and ends the loop. , The process proceeds to S23.
In S <b> 23, the CPU 41 stops each of the outside cameras 53 via the camera ECU 51, ends the imaging around the vehicle, and ends the process.

  As described in detail above, in the navigation device 1 according to the first embodiment, the CPU 41 detects the on-board cameras 53 provided at the front end portion and the rear end portion of the host vehicle 2 when detecting the ride of the driver. And moving objects such as other vehicles and pedestrians moving around the host vehicle 2 are stored in the RAM 42 as moving objects (grassed moving objects) grasped when the driver gets on (S11 to S11). S14). In addition, the CPU 41 continues to detect moving objects that move around the host vehicle 2 via each vehicle-side camera 53 (S15 to S16). When a detection signal that detects that the shift lever has moved from the parking position to the drive position or the reverse position is input from the shift lever switch, the CPU 41 determines that the moving object that moves around the host vehicle 2 is the RAM 42. It is determined whether or not it is different from the grasping moving object stored in. Subsequently, the CPU 41 determines whether or not a moving object different from the grasped moving object is in the traveling direction of the host vehicle 2. When a moving object different from the grasped moving object is in the traveling direction of the host vehicle 2, the CPU 41 issues a warning to the driver (S17 to S20).

  As a result, moving objects such as other vehicles and pedestrians that move around the host vehicle 2 when the driver gets on are stored as grasping moving objects that the driver grasps when getting on the vehicle. It is possible to prevent a warning from being given to a moving object that the driver grasps when getting in, and to reduce the troublesomeness of the warning for the driver. In addition, in order to warn only other moving objects such as other vehicles or pedestrians in the traveling direction of the own vehicle 2 that appear after the driver gets on and the driver does not grasp the moving direction, Only when a confirmation warning is necessary, it is possible to provide a warning and appropriately support the driver's driving.

Further, when the driver is warned about moving objects such as other vehicles or pedestrians in the traveling direction of the host vehicle 2, the CPU 41 uses the moving object that has given this warning as a new grasping moving object in the RAM 42. To remember.
As a result, moving objects such as other vehicles and pedestrians around the own vehicle 2 once warned are stored in the RAM 42 as moving objects newly grasped by the driver (grown moving objects). Thus, it is possible to prevent the warning from being issued twice, and it is possible to further reduce the troublesomeness caused by the warning for the driver.

Next, the navigation apparatus 111 according to the second embodiment will be described with reference to FIG.
In the following description, the same reference numerals as those of the configuration of the navigation apparatus 1 according to the first embodiment in FIGS. 1 to 4 indicate the same or corresponding parts as the configuration of the navigation apparatus 1 in the first embodiment. .
FIG. 5 is a flowchart illustrating a warning process for performing a warning of confirmation of surrounding vehicles and pedestrians at the start of driving in a parking lot or the like, which is executed by the CPU 41 of the navigation device 111 according to the second embodiment.

The schematic configuration and control configuration of the navigation device 111 according to the second embodiment are substantially the same as those of the navigation device 1 according to the first embodiment.
However, in the navigation device 111 according to the second embodiment, as shown in FIG. 5, the detection signal that detects that the shift lever has moved from the parking position to the drive position or the reverse position in S18 is input from the shift lever switch. If not (S18: NO), the CPU 41 is different from the navigation device 1 according to the first embodiment in that the processing of S31 to S32 is executed.

Hereinafter, the processing executed by the CPU 41 of the navigation device 111 according to the second embodiment in S31 to S32 will be specifically described.
As shown in FIG. 5, the CPU 41 of the navigation device 111 executes the same processing as the CPU 41 of the navigation device 1 of the first embodiment in S11 to S18.
When the detection signal that detects that the shift lever has moved from the parking position to the drive position or the reverse position is not input from the shift lever switch (S18: NO), the CPU 41 proceeds to S31.

  In S31, the CPU 41 reads the measurement time of the timer 45 and starts the processing after S12, that is, a certain time after the driver gets on (for example, about 1 after starting the loop processing after S15). Minutes to 2 minutes.) A determination process for determining whether or not the time is within is executed. Then, in a case where it is within a certain time (for example, about 1 to 2 minutes after starting the loop processing after S15) after starting the processing after S12 (S31: YES), the CPU 41 The process after S22 is executed.

  On the other hand, when a certain time (for example, about 1 to 2 minutes from the start of the loop processing after S15) has elapsed since the start of the processing after S12 (S31: NO), the CPU 41 The process proceeds to S32. In S <b> 32, the CPU 41 provides voice guidance “End of detection of moving objects around the vehicle” via the speaker 16, and “Ends detection of moving objects around the vehicle” on the liquid crystal display 15. After displaying and notifying that the process is to be terminated, the processes after S23 are executed.

  As described above in detail, in the navigation device 111 according to the second embodiment, the CPU 41 determines a predetermined time (for example, 1 minute to 2 after starting the loop processing after S15 after the driver gets on the host vehicle 2). If the detection signal that detects that the shift lever has moved from the parking position to the drive position or the reverse position is not input from the shift lever switch (S18: NO to S31), That is, when the driver does not start driving, detection of moving objects such as other vehicles and pedestrians around the host vehicle 2 is stopped (S32 to S23).

  Thereby, in the navigation device 111 according to the second embodiment, in addition to the operational effects of the navigation device 1 according to the first embodiment, when a predetermined time has passed without the driver starting driving after getting on, Since there is a high possibility that the situation around the own vehicle 2 is completely different, the CPU 41 stops detecting other moving objects such as other vehicles and pedestrians around the own vehicle 2 via the respective outside cameras 53. It is possible to prevent unnecessary warnings, and it is possible to further reduce the troublesomeness of warnings for the driver.

Next, a navigation device 121 according to the third embodiment will be described with reference to FIGS.
In the following description, the same reference numerals as those of the configuration of the navigation apparatus 1 according to the first embodiment in FIGS. 1 to 4 indicate the same or corresponding parts as the configuration of the navigation apparatus 1 in the first embodiment. .
FIG. 6 is a flowchart illustrating a warning process for performing a warning of confirmation of surrounding vehicles, pedestrians, and the like at the start of driving in a parking lot or the like executed by the CPU 41 of the navigation device 121 according to the third embodiment. FIG. 7 is a sub-flowchart showing a sub-process of the “imaging process” of FIG.

The schematic configuration and control configuration of the navigation device 121 according to the third embodiment are substantially the same as those of the navigation device 111 according to the second embodiment.
However, as shown in FIG. 6, the CPU 41 of the navigation device 121 according to the third embodiment allows the driver to get on the vehicle 2 for a predetermined time (for example, 1 minute to after starting the loop processing after S15. 2 minutes.) If the detection signal for detecting that the shift lever has moved from the parking position to the drive position or the reverse position is not input from the shift lever switch (S18: NO), S31 The CPU 41 reads the time measured by the timer 46 and starts the processing after S12, that is, about a minute after the driver gets on (for example, about 1 minute after starting the loop processing after S15). To 2 minutes.) A determination process for determining whether or not the time is within is executed.
Then, in a case where it is within a certain time (for example, about 1 to 2 minutes after starting the loop processing after S15) after starting the processing after S12 (S31: YES), the CPU 41 The process after S22 is executed.

On the other hand, when a certain time (for example, about 1 to 2 minutes from the start of the loop processing after S15) has elapsed since the start of the processing after S12 (S31: NO), the CPU 41 The process proceeds to S41.
Therefore, the CPU 41 of the navigation device 121 according to the third embodiment executes the sub-process (see FIG. 7) of “imaging process” in S41 instead of the process in S32 (see FIG. 5), and then ends the process. This is different from the navigation device 111 according to the second embodiment.

Hereinafter, the sub-process of “imaging process” in S41 executed by the CPU 41 of the navigation device 121 according to the third embodiment in place of the process in S32 will be described with reference to FIG.
As shown in FIG. 7, in S51, the CPU 41 of the navigation device 121 waits for an input of a start intention from the driver (S51: NO), that is, the shift lever is moved from the parking position to the drive position or the reverse position. It waits for the detection signal that has detected the movement to be input from the shift lever switch (S51: NO).

If a detection signal that detects that the shift lever has moved from the parking position to the drive position or the reverse position is input from the shift lever switch (S51: YES), the CPU 41 proceeds to the process of S52.
In S <b> 52, the CPU 41 resets the timer 45 and starts measuring the elapsed time after starting running. Specifically, the CPU 41 measures the elapsed time after the detection signal that has detected that the shift lever has moved from the parking position to the drive position or the reverse position is input from the shift lever switch.

Then, in S53, the CPU 41 provides voice guidance through the speaker 16 that “the situation around the vehicle is different from the time of boarding” to indicate that the situation around the host vehicle 2 is different from the time of boarding. Inform.
Subsequently, in S54, the CPU 41 determines the traveling direction of the host vehicle 2 from an optical rotation sensor, a rotation resistance sensor attached to the rotating part of the steering wheel, an angle sensor attached to the wheel, or the like. And a detection signal moved to the drive position or the reverse position input from the shift lever switch. Then, the CPU 41 displays on the liquid crystal display 15 an image of the outside camera 53 that captures the detected traveling direction.

  In S55, the elapsed time from the start of traveling, that is, the elapsed time since the detection signal that detected that the shift lever has moved from the parking position to the drive position or the reverse position is input from the shift lever switch. A determination process for determining whether or not a predetermined time (for example, about 1 to 3 minutes) has been reached is executed. If the elapsed time since the start of traveling has not reached a certain time (S55: NO), the CPU 41 executes the processing subsequent to S53 again.

On the other hand, when the elapsed time from the start of traveling has reached a certain time (S55: YES), the CPU 41 determines that the vehicle has exited the parking lot and has entered a normal traveling state, and ends the loop. , The process proceeds to S56.
In S <b> 56, the CPU 41 stops each of the outside cameras 53 via the camera ECU 51, returns to the main flowchart after completing the video display in the traveling direction.

  As described above in detail, in the navigation device 121 according to the third embodiment, the CPU 41 determines a predetermined time after the driver gets on the host vehicle 2 (for example, 1 minute to 2 after starting the loop processing after S15). When the detection signal that detects that the shift lever has moved from the parking position to the drive position or the reverse position is not input from the shift lever switch (S18: NO to S31), That is, when the driver does not start driving, the driver waits for the driver to start again (S51: NO). Then, when the driver starts driving (S51: YES), voice guidance is given via the speaker 16 that "the situation around the vehicle is different from when riding" until a certain time has elapsed after traveling. At the same time, the moving direction image is displayed on the liquid crystal display 15 (S53 to S55: NO). On the other hand, if a certain time has elapsed after traveling, the video display in the traveling direction is terminated (S55: YES to S56).

  Thereby, in the navigation device 121 according to the third embodiment, in addition to the operational effects of the navigation device 1 according to the first embodiment, when a predetermined time has passed without the driver starting driving after getting on, Since there is a high possibility that the situation around the host vehicle 2 is completely different, the CPU 41 notifies the fact that the situation around the vehicle is different from the time of boarding and displays an image of the traveling direction of the host vehicle 2 on the liquid crystal display 15. It becomes possible. For this reason, by stopping detection of other moving objects such as other vehicles and pedestrians in the vicinity of the host vehicle 2 through the respective outside cameras 53, it is possible to prevent unnecessary warnings from being given to the driver. The troublesomeness caused by warning can be further reduced. In addition, the driver can check the moving image and easily check moving objects such as other vehicles and pedestrians that exist in the moving direction, and assist the driver to drive more safely. It becomes possible to do.

Next, a navigation device 131 according to a fourth embodiment will be described with reference to FIG.
In the following description, the same reference numerals as those of the configuration of the navigation apparatus 1 according to the first embodiment in FIGS. 1 to 4 indicate the same or corresponding parts as the configuration of the navigation apparatus 1 in the first embodiment. .
FIG. 8 is a flowchart illustrating a warning process for performing a warning of confirmation of surrounding vehicles, pedestrians, and the like at the start of driving in a parking lot or the like executed by the CPU 41 of the navigation device 131 according to the fourth embodiment.

The schematic configuration and control configuration of the navigation device 131 according to the fourth embodiment are substantially the same as the navigation device 1 according to the first embodiment.
However, the navigation device 131 according to the fourth embodiment is different from the navigation device 1 according to the first embodiment in that the CPU 41 executes the processing of S61 to S62 after executing the processing of S15 as shown in FIG. Is different.

Hereinafter, the process executed by the CPU 41 of the navigation device 131 according to the fourth embodiment in S61 to S62 will be specifically described.
As shown in FIG. 8, the CPU 41 of the navigation device 131 performs the same processing as the CPU 41 of the navigation device 1 of the first embodiment in S11 to S15.
Subsequently, in S61, the CPU 41 executes a determination process for determining whether or not the driver is on board, that is, whether or not the driver gets off after getting on.
Whether the driver gets off after getting on is determined by switching the door lock switch signal from the ON state to the OFF state, releasing the door lock, and the seating sensor signal from the ON state to the OFF state. When it is confirmed that the driver has left the seat and the ignition switch is switched from the ON state to the OFF state, the CPU 41 determines that the driver has exited. In the case where a seat belt switch for detecting presence / absence of the seat belt is provided, when the seat belt switch is switched from the ON state to the OFF state, the CPU 41 gets off the driver. Is determined.

When the driver is on board (S61: YES), the CPU 41 executes the same processing as the CPU 41 of the navigation device 1 of the first embodiment in S16 to S22.
On the other hand, when the driver gets off after getting on (S61: NO), the CPU 41 proceeds to the process of S62. In S62, the CPU 41 stops each of the outside cameras 53 via the camera ECU 51 and finishes imaging of the periphery of the vehicle, and then executes the processing after S11 again, that is, waits for the driver to get on again.

As described above in detail, in the navigation device 131 according to the fourth embodiment, when the driver gets off after getting on, the CPU 41 stops each of the outside cameras 53 via the camera ECU 51 and images the surroundings of the vehicle. After completion, the driver waits for the driver to get on again (S61: NO to S62).
Thus, in the navigation device 131 according to the fourth embodiment, in addition to the operational effects of the navigation device 1 according to the first embodiment, when the driver gets off the vehicle 2 after getting on the host vehicle 2, Only when the vehicle can be stopped and it is necessary to notify the driver of moving objects such as other vehicles and pedestrians in the vicinity of the host vehicle 2, it becomes possible to drive each of the outside cameras 53, thereby saving energy. It becomes possible.

Next, a navigation device 141 according to Embodiment 5 will be described with reference to FIG.
In the following description, the same reference numerals as those of the configuration of the navigation apparatus 1 according to the first embodiment in FIGS. 1 to 4 indicate the same or corresponding parts as the configuration of the navigation apparatus 1 in the first embodiment. .
FIG. 9 is a flowchart illustrating a warning process for performing a warning of confirmation of surrounding vehicles, pedestrians, and the like at the start of driving in a parking lot or the like executed by the CPU 41 of the navigation device 141 according to the fifth embodiment.

The schematic configuration and control configuration of the navigation device 141 according to the fifth embodiment are substantially the same as the navigation device 1 according to the first embodiment.
However, as shown in FIG. 9, the navigation device 141 according to the fifth embodiment includes a moving object such as a pedestrian or another vehicle that moves around the own vehicle 2 detected through the vehicle exterior camera 53 in S <b> 17. If there is no moving object that is not the same as the grasping moving object stored in the RAM 42 (S17: NO), the process of S71 is executed, and the processes of S72 to S74 are executed instead of the processes of S19 to S21. This is different from the navigation device 1 according to the first embodiment.

Hereinafter, the warning process which performs the warning of the confirmation of the surrounding vehicle, the pedestrian, etc. at the time of the driving | running start in the parking lot etc. which the CPU41 of the navigation apparatus 141 concerning Example 5 performs is demonstrated concretely.
As shown in FIG. 9, the CPU 41 of the navigation device 141 executes the same processing as the CPU 41 of the navigation device 1 of the first embodiment in S11 to S17.
Then, when there are no moving objects that are not the same as the grasping moving objects stored in the RAM 42 among the moving objects such as other vehicles and pedestrians that move around the own vehicle 2 detected via the vehicle cameras 53 ( (S17: NO), the CPU 41 proceeds to the process of S71.

In S <b> 71, the CPU 41 performs image processing on the video signal of each of the outside cameras 53, and executes determination processing for determining whether or not the grasping moving object stored in the RAM 42 is stopped around the host vehicle 2. And when the grasping moving body memorize | stored in RAM42 has not stopped in the periphery of the own vehicle 2 (S71: NO), CPU41 performs the process after said S22.
On the other hand, when the grasped moving object stored in the RAM 42 is stopped around the host vehicle 2 (S71: YES), the CPU 41 stores the stopped grasped moving object as a stopped object in the RAM 42, and then in S18. Transition to processing. In S <b> 18, the CPU 41 determines whether or not an intention to start is input from the driver, that is, whether or not a detection signal that detects that the shift lever is moved from the parking position to the drive position or the reverse position is input from the shift lever switch. A determination process is performed to determine whether or not.

And when the detection signal which detected that the shift lever moved to the drive position or the reverse position from the parking position is not input from the shift lever switch (S18: NO), CPU41 performs the process after S22. .
On the other hand, when a detection signal that detects that the shift lever has moved from the parking position to the drive position or the reverse position is input from the shift lever switch (S18: YES), the CPU 41 proceeds to the process of S72. In S <b> 72, the CPU 41 performs a determination process for determining whether the moving object that the driver detected in S <b> 17 does not grasp or the stop detected in S <b> 71 exists in the traveling direction of the host vehicle 2. Execute.

And when the moving body which the driver | operator detected by said S17 does not grasp | ascertain, or the stop thing detected by said S71 does not exist in the advancing direction of the own vehicle 2 (S72: NO), CPU41 is S22. The subsequent processing is executed.
On the other hand, when the moving object that the driver detected in S17 does not grasp or the stopped object detected in S71 exists in the traveling direction of the host vehicle 2 (S72: YES), the CPU 41 performs S73. Move on to processing. In S73, the CPU 41 gives a warning sound or the like that there is a moving object that the driver does not grasp in the traveling direction, or that the moving object that the driver has moved in the traveling direction is stopped in the traveling direction. Warn the driver.

  For example, the CPU 41 gives a buzzer sound, a warning sound such as “beep-beep”, or voice guidance such as “There is an obstacle in the traveling direction” or “There is an obstacle in the traveling direction” via the speaker 16. I do. In addition, the CPU 41 displays an image in the traveling direction on the liquid crystal display (LCD) 15 and surrounds a moving object such as another vehicle or a pedestrian that is not grasped or a stopped object that has been moving when the vehicle is boarded with a red frame. And highlight it.

  Thereafter, in S74, the CPU 41 uses, as a moving object (grassed moving object) grasped by the driver, a moving object that has warned the driver by a warning sound via the speaker 16 or an emphasis display via the liquid crystal display 15 or the like. In addition to the grasping moving object already stored in the RAM 42, the stored moving object is stored. Further, the CPU 41 deletes the stopped object that has warned the driver by a warning sound through the speaker 16 or a highlight display through the liquid crystal display 15 from the grasped moving objects already stored in the RAM 42.

Subsequently, the CPU 41 executes processes after S22.
If the elapsed time since the start of traveling has not reached a certain time (S22: NO), the CPU 41 executes the processing subsequent to S16 again.
On the other hand, the elapsed time from the start of traveling, that is, the elapsed time after the detection signal that detects that the shift lever has moved from the parking position to the drive position or the reverse position is input from the shift lever switch, is a fixed time. (For example, about 1 to 3 minutes) is reached (S22: YES), the CPU 41 determines that the vehicle has exited the parking lot and has entered a normal running state, ends the loop, The process proceeds to S23.
In S <b> 23, the CPU 41 stops each of the outside cameras 53 via the camera ECU 51, ends the imaging around the vehicle, and ends the process.

  As described above in detail, in the navigation device 141 according to the fifth embodiment, the CPU 41 causes the moving object that the driver does not grasp, or the stopped object that the driver has moved when boarding to travel the host vehicle 2. If it exists in the direction, a warning is notified to the driver (S71: YES to S73). When the CPU 41 notifies the driver of the warning, the CPU 41 stores the moving object that is not grasped by the driver existing in the traveling direction of the host vehicle 2 in the RAM 42 as the grasped moving object. The stop object that the driver existing in the traveling direction 2 was moving at the time of boarding is deleted from the grasped moving objects already stored in the RAM 42 (S74).

  As a result, in the navigation device 141 according to the fifth embodiment, in addition to the operational effects of the navigation device 1 according to the first embodiment, the grasped moving object grasped by the driver when boarding does not move as it is, and the driver's prediction On the other hand, even when the vehicle is stopped in the vehicle traveling direction at the start of driving, a warning can be issued, and the driver can be supported to perform safer driving.

  The present invention is not limited to the first to fifth embodiments described above, and various improvements and modifications can be made without departing from the scope of the present invention. For example, the following may be used.

(A) In the loop processing in steps 15 to 22 and steps 52 to 55 described above, the loop may be terminated when the vehicle has reached a constant speed after starting running.
(B) In the loop processing in steps 15 to 22 and steps 52 to 55, when the vehicle has traveled a certain distance after the start of travel, the loop may be terminated.
(C) In the loop processing in steps 15 to 22 and steps 52 to 55, when a shift change is made after the start of traveling, the loop may be terminated.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic block diagram of the vehicle by which the navigation apparatus concerning Example 1 is mounted. It is a block diagram which shows typically the control system centering on the navigation apparatus mounted in a vehicle. It is a flowchart which shows the warning process which performs the warning of confirmation of the surrounding vehicle, a pedestrian, etc. at the time of the driving | running start in the parking lot etc. which CPU of the navigation apparatus which concerns on Example 1 starts. It is a figure explaining an example of the change of the peripheral state at the time of the driving | operation start in a parking lot etc. It is a flowchart which shows the warning process which performs the warning of confirmation of the surrounding vehicle at the time of the driving | operation start in the parking lot etc. which the CPU of the navigation apparatus which concerns on Example 2 starts. It is a flowchart which shows the warning process which performs the warning of confirmation of the surrounding vehicle, a pedestrian, etc. at the time of the driving | running start in the parking lot etc. which CPU of the navigation apparatus which concerns on Example 3 starts. 7 is a sub-flowchart showing a sub-process of “imaging process” in FIG. 6. It is a flowchart which shows the warning process which performs the warning of the confirmation of the surrounding vehicle, a pedestrian, etc. at the time of the driving | running start in the parking lot etc. which CPU of the navigation apparatus which concerns on Example 4 starts. It is a flowchart which shows the warning process which performs the warning of confirmation of the surrounding vehicle, a pedestrian, etc. at the time of the driving | running start in the parking lot etc. which CPU of the navigation apparatus which concerns on Example 5 starts.

Explanation of symbols

1 Navigation device 2 Vehicle (own vehicle)
11 Current location detection processing unit 13 Navigation control unit 15 Liquid crystal display (LCD)
16 Speaker 21 Vehicle speed sensor 41 CPU
42 RAM
43 ROM
51 Camera ECU
53 Outside camera 72 Parking lot 75, 78 Other vehicle 77 Pedestrian

Claims (6)

In a driving support device that detects obstacles around the vehicle and warns the driver,
Imaging means for imaging the periphery of the vehicle;
Boarding detection means for detecting the boarding of the driver;
Grasping moving object storage means for detecting moving objects around the vehicle and storing them as grasping moving objects when the driver's boarding is detected;
Driving start detection means for detecting the driving start of the driver to start the vehicle;
When the start of driving is detected, the moving object detecting means after starting driving detects the moving object around the vehicle via the imaging means;
A moving object determining means for determining whether the moving object detected by the moving object detecting means after the start of operation is different from the grasped moving object;
When it is determined that the moving object detected by the moving object detecting unit after the start of driving is different from the grasped moving object, a moving object warning control unit that performs control so as to warn the driver;
A driving support apparatus comprising: The moving object determining means determines whether or not a moving object in a vehicle traveling direction is different from the grasping moving object among moving objects detected by the moving object detecting means after the start of driving,
If the moving object warning control means determines that the moving object in the vehicle traveling direction is different from the grasped moving object among the moving objects detected by the moving object detection means after the start of driving, the moving object warning control means The driving support device according to claim 1, wherein the driving support device is controlled so as to issue a warning. Elapsed time determination means for determining whether or not the start of driving has been detected until a predetermined time has elapsed since the driver got into the vehicle;
When it is determined that the operation start is not detected before the predetermined time has elapsed, a detection stop control unit that controls the moving object detection unit to stop detection of the moving object after the start of operation;
The driving support apparatus according to claim 1 or 2, further comprising:   When a warning is given to the driver via the moving object warning control means, the moving object that is determined to be different from the grasped moving object by the moving object determination means is used as the new grasping moving object. The driving support apparatus according to any one of claims 1 to 3, further comprising additional storage control means for performing control so as to be stored in the object storage means. Alighting detection means for detecting the driver's getting off;
An imaging control means for controlling the imaging means to stop when the driver gets off after getting on;
The driving support device according to any one of claims 1 to 4, further comprising: A traveling direction stop detection unit that detects a stop in the vehicle traveling direction via the imaging unit when detecting the start of driving;
A stationary object judging means for judging whether or not the stationary object detected by the traveling direction stationary object detecting means is the same as the grasping moving object;
When it is determined that the stationary object detected by the advancing direction stationary object detection means is the same as the grasping moving object, a stationary object warning control means for controlling the driver to give a warning;
The driving support apparatus according to any one of claims 1 to 5, further comprising:

Images