JP2009087257A - Device for determination of head vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for determination of a head vehicle, improving the accuracy of determining whether one's own vehicle is a head vehicle out of vehicles on standby for turning to the right. <P>SOLUTION: A vehicle surroundings information processing part 28 determines whether or not one's own vehicle is a head vehicle out of vehicles on standby for turning to the right based on the own vehicle speed of his own vehicle obtained by a vehicle state sensor 22, a GPS receiver 24 and a current state calculating part 26 and the approach speed of the next vehicle ahead obtained by a radar device 20 when the vehicle state sensor 22 detects that his own vehicle is on standby for turning to the right. Thus, it is possible to improve the accuracy of determining whether or not his own vehicle is a head vehicle out of vehicles on standby for turning to the right without any influence of the number of vehicles on standby for turning to the right and an error in position detected by the GPS or the like. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a leading vehicle determination device, and more particularly, to a leading vehicle determination device that determines whether or not the host vehicle is the leading vehicle in a vehicle waiting for a right turn.

  2. Description of the Related Art Conventionally, a system for smoothing traffic by issuing a message permitting a right turn waiting vehicle to pass first from an oncoming straight vehicle located in a priority lane to a right turn waiting vehicle at an intersection or the like has been studied. In this case, if an unnecessary message is given to a vehicle that is not the leading vehicle in the right turn waiting vehicle, the driver of the right turn waiting vehicle feels bothered.

Therefore, for example, in Patent Document 1, the information provided from the information antenna is received when the own vehicle passes through the base point and enters the information providing section, the position information of the other vehicle is acquired from the provided information, It is determined whether the vehicle is the leading vehicle in the state of waiting for a right turn or entering the intersection at the intersection. If the own vehicle is the leading vehicle, display and audio information are presented. If it is not a vehicle, the presentation of information by voice is gradually reduced, etc., and only the presentation of information by display is executed, thereby suppressing the presentation of information in unnecessary situations and causing annoyance to the driver. Techniques for reducing this are disclosed.
JP 2003-331399 A

  In order to reduce the annoyance felt by the driver in the above-described technology, information indicating whether or not the host vehicle is the leading vehicle in the waiting vehicle is presented to the oncoming vehicle from the waiting vehicle waiting to the right. Can be considered. However, in consideration of errors included in position information acquired by GPS (Global Positioning System) or the like, when a plurality of standby vehicles are close to each other, it is accurate whether the host vehicle is the leading vehicle in the standby vehicles. It is impossible to judge well.

  The present invention has been made to solve the above-described problems, and provides a leading vehicle determination device capable of improving the accuracy of determining whether or not the host vehicle is the leading vehicle in a vehicle waiting for a right turn. The purpose is to provide.

  The present invention acquires a right turn standby state detecting means for detecting that the own vehicle is waiting for a right turn, a forward vehicle detecting means for detecting a forward vehicle located in front of the own vehicle, and an own vehicle speed of the own vehicle. The own vehicle speed acquisition means, the approach speed acquisition means for acquiring the approach speed of the preceding vehicle detected by the forward vehicle detection means, and the right turn standby state detection means detect that the own vehicle is waiting for the right turn. Sometimes, based on the own vehicle speed acquired by the own vehicle speed acquisition means and the approach speed of the preceding vehicle acquired by the approach speed acquisition means, the own vehicle is the leading vehicle in the vehicle waiting for a right turn. And a leading vehicle determining device that determines whether or not the leading vehicle is determined.

  According to this configuration, the leading vehicle determination means detects the own vehicle speed of the own vehicle acquired by the own vehicle speed acquisition means when the right turn waiting state detection means detects that the own vehicle is waiting for a right turn, and Based on the approach speed of the preceding vehicle acquired by the approach speed acquisition means, in order to determine whether the host vehicle is the leading vehicle in the vehicle waiting for the right turn, the number of vehicles waiting for the right turn, GPS, etc. Thus, it is possible to improve the accuracy of determining whether or not the host vehicle is the leading vehicle among the vehicles that are waiting for a right turn without being affected by the position error detected by.

  In this case, it is preferable that the leading vehicle determination unit determines that the own vehicle is the leading vehicle when the approach speed exceeds the own vehicle speed.

  When the approach speed is equal to or lower than the own vehicle speed, the preceding vehicle is a preceding vehicle and the own vehicle is not the leading vehicle. On the other hand, when the approach speed exceeds the own vehicle speed, the preceding vehicle is the oncoming vehicle and the own vehicle is the leading vehicle. Therefore, according to this configuration, it is possible to reliably determine whether or not the host vehicle is the leading vehicle among the vehicles waiting for a right turn by a simple method.

  The leading vehicle determination means preferably determines that the own vehicle is not the leading vehicle when the approach speed does not exceed the own vehicle speed and the approach speed is not zero.

  When the approach speed does not exceed the own vehicle speed, the preceding vehicle is the preceding vehicle and the own vehicle is following the preceding vehicle instead of the leading vehicle, and the approach speed is 0 and the preceding vehicle is When traveling in the same direction and at the same speed (including the case where the preceding vehicle and the host vehicle are stopped and the respective speeds are 0), the approach speed is 0 and the preceding vehicle is It can be considered that the car is almost opposite. Therefore, when the approach speed does not exceed the own vehicle speed and the approach speed is not 0, it can be determined that the own vehicle is not the leading vehicle. Therefore, according to this configuration, it is possible to reliably determine whether or not the host vehicle is the leading vehicle among the vehicles waiting for a right turn by a simple method.

  Alternatively, a host vehicle traveling direction acquisition unit that acquires a traveling direction of the host vehicle and a front vehicle traveling direction acquisition unit that acquires a traveling direction of the preceding vehicle are further provided, and the leading vehicle determination unit is configured such that the approach speed is 0 In addition, based on the traveling direction of the host vehicle acquired by the host vehicle traveling direction acquisition unit and the traveling direction of the preceding vehicle acquired by the forward vehicle traveling direction acquisition unit, the host vehicle is the leading vehicle in the vehicle waiting for a right turn. It is preferable to determine whether or not there is.

  When the approaching speed is 0, when the preceding vehicle is traveling at the same speed in the same direction as the own vehicle (including the case where the preceding vehicle and the own vehicle are stopped and each speed is 0), It is conceivable that the vehicle in front is stopped opposite to the host vehicle. Therefore, according to this configuration, when the approach speed is 0, the leading vehicle determination unit determines the traveling direction of the own vehicle acquired by the own vehicle traveling direction acquisition unit and the preceding vehicle acquired by the preceding vehicle traveling direction acquisition unit. By determining whether or not the host vehicle is the leading vehicle in the vehicle waiting for the right turn based on the traveling direction, it is possible to reliably determine the leading vehicle in the vehicle waiting for the right turn by a simple method. It is possible to determine whether or not there is.

  In this case, it is preferable that the leading vehicle determination unit determines that the own vehicle is the leading vehicle when the difference between the traveling direction of the host vehicle and the traveling direction of the preceding vehicle is 90 ° to 270 °.

  When the difference between the traveling direction of the host vehicle and the traveling direction of the preceding vehicle is 90 ° to 270 °, it is considered that the preceding vehicle and the host vehicle are not in the same lane but are in different lanes. Therefore, according to this configuration, when the approach speed is 0, the leading vehicle determination means determines that the own vehicle is in a state where the difference between the traveling direction of the own vehicle and the traveling direction of the preceding vehicle is 90 ° to 270 °. By determining that the vehicle is the leading vehicle, it is possible to reliably determine whether or not the host vehicle is the leading vehicle among the vehicles waiting for a right turn by a simple method.

  According to the leading vehicle determination device of the present invention, it is possible to improve the accuracy of determining whether or not the own vehicle is the leading vehicle in a vehicle waiting for a right turn.

  Hereinafter, a leading vehicle determination device according to an embodiment of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a block diagram illustrating a configuration of a right turn waiting leading vehicle determination device according to an embodiment. The right turn waiting leading vehicle determination device 10 is mounted on a vehicle, and when the host vehicle is located in a lane facing or intersecting with the priority lane for waiting for a right turn, waiting for entering the priority lane for waiting for a right turn When a plurality of standby vehicles are close to each other, it is determined whether or not the host vehicle is the leading vehicle in the vehicle waiting for a right turn, and information on whether or not the host vehicle is a leading vehicle waiting for a right turn in an oncoming vehicle By providing this, when the host vehicle is not the leading vehicle, an unnecessary message such as “Please come first” is not sent from the oncoming vehicle.

  The right turn waiting leading vehicle determination device 10 includes an inter-vehicle communication device 14, a radar device 20, a vehicle state sensor 22, a GPS receiver 24, a current state calculation unit 26, a surrounding vehicle information processing unit 28, and an inter-vehicle information generation unit 36. I have.

  The inter-vehicle communication device 14 is a vehicle that is traveling in a priority lane, another waiting vehicle that is waiting to enter the priority lane in order to wait for a right turn, in particular, a forward vehicle that is located at the closest distance in front of the own vehicle. The vehicle-to-vehicle communication is performed through the vehicle-to-vehicle communication antenna 12. In the inter-vehicle communication by the inter-vehicle communication device 14, information such as the vehicle ID of each vehicle in the communicable area, the absolute position of each vehicle detected by the GPS of each vehicle, the speed of each vehicle, and the traveling direction of each vehicle is received. It is possible. The vehicle ID is assigned to each vehicle and is unique. Further, the inter-vehicle communication device 14 uses the inter-vehicle data provided by the inter-vehicle information generating unit 36 for the right turn waiting leading vehicle flag indicating whether or not the host vehicle is the leading vehicle among the vehicles waiting for the right turn. It is possible to transmit to the oncoming vehicle traveling in the priority lane. The inter-vehicle communication device 14 functions as a forward vehicle traveling direction acquisition unit described in the claims.

  The radar device 20 irradiates the front of the host vehicle while scanning a detection wave such as a radio wave of a millimeter wave band or a laser beam in the horizontal direction, and the other vehicle, in particular, the front vehicle located at the closest distance in front of the host vehicle. This is an autonomous sensor for receiving a reflected wave reflected from the surface and detecting a distance / direction (relative position) and approach speed (relative speed) with another vehicle. The direction of the other vehicle is detected using the angle of the reflected wave, the distance is the time from when the radio wave is emitted until the reflected wave returns, and the speed of the other vehicle is detected using the frequency change (Doppler effect) of the reflected wave. The radar device 20 functions as a forward vehicle detection unit or an approach speed acquisition unit described in the claims.

  Specifically, the vehicle state sensor 22 is a direction indicator (blinker), a vehicle speed sensor, a gyro sensor, and the like, and is used for detecting the right turn waiting state of the host vehicle, the vehicle speed of the host vehicle, and the traveling direction. is there.

  The GPS receiver 24 is for receiving a GPS (Global Positioning System) satellite signal for detecting the vehicle position. The current state calculation unit 26 detects the vehicle position based on the GPS satellite signal received by the GPS receiver 24. The current state calculation unit 26 calculates the travel distance based on the vehicle speed signal of the vehicle speed sensor of the vehicle state sensor 22 and detects the vehicle traveling direction according to the signal from the gyro sensor of the vehicle state sensor 22. Further, the current state calculation unit 26 detects whether or not the host vehicle is in a right turn standby state from the detected position of the host vehicle, the vehicle speed, the traveling direction, and the operation state of the direction indicator. Thereby, the current state calculation unit 26 can calculate the current state such as the position, speed, traveling direction, and right turn standby state of the host vehicle. The current state calculation unit 26 functions as a right turn standby state detection unit, a host vehicle speed acquisition unit, or a host vehicle traveling direction acquisition unit described in the claims.

  The surrounding vehicle information processing unit 28 is configured such that the radar device 20 makes a relative position with respect to another vehicle (front vehicle), an approach speed (relative speed) and a traveling direction of the other vehicle, and a current state calculation unit 26 determines the position, speed, This is for determining whether or not the host vehicle is the leading vehicle among the vehicles that are waiting for a right turn based on information such as the traveling direction and the right turn waiting state. The peripheral vehicle information processing unit 28 functions as a leading vehicle determination unit described in the claims.

  Of the data from the inter-vehicle communication device 14 and the data from the current state calculation unit 26, the GPS data includes an error.

  The inter-vehicle information generating unit 36 is based on the determination result by the surrounding vehicle information processing unit 28 as to whether or not the own vehicle is the leading vehicle in the vehicle waiting for the right turn, and the leading vehicle in the vehicle waiting for the right turn. If it is, the vehicle-to-vehicle communication data with the right turn waiting leading vehicle flag set to ON is generated. On the other hand, if the host vehicle is not the leading vehicle in the vehicle waiting for the right turn, the inter-vehicle communication data with the right turn waiting leading vehicle flag set to OFF is generated. The inter-vehicle information generating unit 36 outputs the generated inter-vehicle communication data to the inter-vehicle communication device 14 in order to send the generated inter-vehicle communication data to another vehicle traveling on the priority road.

  Hereinafter, the operation of the right turn waiting leading vehicle determination device of the present embodiment will be described. In the following description, as shown in FIG. 2, at the intersection, vehicles A and B are approaching and waiting for a right turn, facing vehicles C and D in opposite lanes that are priority roads, and waiting for a right turn. Description will be made assuming a case where the vehicle A which is the inside vehicle is equipped with the right turn waiting leading vehicle determination device 10 of the present embodiment. It is assumed that there is a possibility that there is another vehicle that is waiting for a right turn (not shown) ahead of the vehicle A. The following operation is repeatedly executed at a frequency of about several ms to several hundred ms per cycle.

  As shown in FIG. 3, the radar apparatus 20 detects the vehicle ahead (S11). The laser device 20 calculates the relative speed (approach speed) of the preceding vehicle with respect to the host vehicle (S12). The surrounding vehicle information processing unit 28 compares the vehicle speed obtained by the vehicle state sensor 22, the GPS receiver 24, and the current state calculation unit 26 with the relative speed of the preceding vehicle, and the relative speed of the preceding vehicle is It is determined whether or not the speed is exceeded (S13).

Here, as shown in FIG. 4, when the vehicle D, which is a forward vehicle, is traveling in the direction of facing the opposite lane at the speed V _D with respect to the vehicle A waiting for the right turn at the own vehicle speed V _A. Since the relative speed (approach speed) of the vehicle D with respect to the vehicle A is V _D + V _A and V _D + V _A > V _A , the relative speed V _D + _VA of the preceding vehicle exceeds the own vehicle speed V _A. . Therefore, when the relative speed of the preceding vehicle exceeds the own vehicle speed (S13), the surrounding vehicle information processing unit 28 determines that the own vehicle is the first vehicle waiting for a right turn (S14).

On the other hand, when the relative speed of the preceding vehicle does not exceed the own vehicle speed (S13) and the relative speed (approaching speed) is not zero (S15), as shown in FIG. vehicle E present as is the vehicle speed V _a of the vehicle a at different speeds V _E, is considered to be traveling in substantially the same direction. Therefore, when the relative speed of the preceding vehicle does not exceed the own vehicle speed (S13) and the relative speed (approaching speed) is not zero (S15), the surrounding vehicle information processing unit 28 determines that the own vehicle is a leading vehicle waiting for a right turn. It is determined that there is not (S16).

Further, when the relative speed of the preceding vehicle does not exceed the own vehicle speed (S13) and the relative speed (approach speed) is 0 (S15), the surrounding vehicle information processing unit 28 acquires the front obtained from the inter-vehicle communication device 14. The traveling direction of the vehicle is compared with the traveling direction of the host vehicle acquired from the current state calculation unit 26 (S17). If the difference between the traveling direction of the preceding vehicle and the traveling direction of the host vehicle is 180 ° ± α, and the difference between the traveling direction of the preceding vehicle and the traveling direction of the host vehicle is large, as shown in FIG. It can be considered that the vehicle A that is the host vehicle and the vehicle E that is present as the preceding vehicle are stopped while facing each other at the host vehicle speed V _A = 0 and the vehicle speed V _E = 0.

  Therefore, when the difference between the traveling direction of the preceding vehicle and the traveling direction of the host vehicle is 180 ° ± α (S17), the surrounding vehicle information processing unit 28 determines that the host vehicle is the first vehicle waiting for a right turn ( S18). In this case, the value α is, for example, α = 90, and when the difference between the traveling direction of the preceding vehicle and the traveling direction of the host vehicle is 90 ° to 270 °, the host vehicle is assumed to be the leading vehicle waiting for a right turn. Can be determined. Alternatively, the value α can be α = 60, 45, 30, 20 depending on the road conditions at the intersection.

On the other hand, when the difference between the traveling direction of the preceding vehicle and the traveling direction of the host vehicle is not 180 ° ± α, and the difference between the traveling direction of the preceding vehicle and the traveling direction of the host vehicle is small, as shown in FIG. The vehicle A, which is the host vehicle, and the vehicle E, which is present as the preceding vehicle, are traveling in the same direction at the same vehicle speed V _A = V _E , or are substantially the same as each other as shown in FIG. This is considered to be when the vehicle stops in the direction.

  Therefore, when the difference between the traveling direction of the preceding vehicle and the traveling direction of the host vehicle is not 180 ° ± α (S17), the surrounding vehicle information processing unit 28 determines that the host vehicle is not the first vehicle waiting for a right turn (S19). ).

  As shown in FIG. 9, when the surrounding vehicle information processing unit 28 determines that the host vehicle is a leading vehicle waiting for a right turn (S21), the inter-vehicle information generating unit turns on the leading vehicle flag waiting for a right turn in the inter-vehicle communication data. (S22). On the other hand, when the surrounding vehicle information processing unit 28 determines that the host vehicle is not the first vehicle waiting for a right turn (S21), the vehicle-to-vehicle information generating unit turns the right vehicle waiting vehicle flag in the inter-vehicle communication data OFF (S23). . The inter-vehicle communication device 14 transmits vehicle-to-vehicle communication data with such a right turn waiting top vehicle flag to vehicles around the vehicle A, and the vehicles around the vehicle A receive the right turn waiting top vehicle in the inter-vehicle communication data. Whether the vehicle A is a leading vehicle waiting for a right turn can be recognized based on whether the flag is ON or OFF.

  In this embodiment, when the vehicle state sensor 22 detects that the host vehicle is waiting for a right turn, the surrounding vehicle information processing unit 28 determines that the vehicle state sensor 22, the GPS receiver 24, and the current state calculation unit 26 Based on the acquired vehicle speed of the host vehicle and the approach speed of the preceding vehicle acquired by the radar device 20, it is determined whether the host vehicle is the leading vehicle among the vehicles waiting for the right turn. It is possible to improve the accuracy of determining whether or not the host vehicle is the leading vehicle among the vehicles waiting for a right turn without being affected by the number of vehicles in the vehicle or the position error detected by GPS or the like.

  In this case, when the approach speed is equal to or lower than the own vehicle speed, the preceding vehicle is a preceding vehicle and the own vehicle is not the leading vehicle. On the other hand, when the approach speed exceeds the own vehicle speed, the preceding vehicle is the oncoming vehicle and the own vehicle is the leading vehicle. Therefore, in this embodiment, the surrounding vehicle information processing unit 28 determines that the own vehicle is the leading vehicle when the approach speed exceeds the own vehicle speed, so that the own vehicle can turn right with a simple method. It is possible to determine whether or not the vehicle is the leading vehicle among the vehicles on standby.

  In addition, when the approach speed does not exceed the own vehicle speed, when the preceding vehicle is a preceding vehicle and the own vehicle is following the preceding vehicle instead of the leading vehicle, the approach speed is 0 and the preceding vehicle is When the vehicle is traveling at the same speed in the same direction as the vehicle (including the case where the preceding vehicle and the host vehicle are stopped and each speed is 0), the approach speed is 0 and the preceding vehicle is the host vehicle. It is conceivable that the vehicle is stopped almost opposite. Therefore, in this embodiment, when the approach speed does not exceed the own vehicle speed and the approach speed is not 0, the surrounding vehicle information processing unit 28 determines that the own vehicle is not the leading vehicle, thereby simplifying the method. Thus, it is possible to reliably determine whether or not the host vehicle is the leading vehicle among the vehicles waiting for a right turn.

  Further, when the approach speed is 0, the preceding vehicle is traveling at the same speed in the same direction as the own vehicle (including the case where the preceding vehicle and the own vehicle are stopped and each speed is 0). It is conceivable that the vehicle ahead is stopped substantially opposite to the host vehicle. Therefore, in the present embodiment, when the approach speed is 0, the neighboring vehicle information processing unit 28 determines the traveling direction of the own vehicle acquired by the current state calculating unit 26 and the traveling of the preceding vehicle acquired by the inter-vehicle communication device 14. By determining whether or not the host vehicle is a leading vehicle in a vehicle waiting for a right turn based on the direction, the host vehicle is surely a leading vehicle in a vehicle waiting for a right turn by a simple method. It is possible to determine whether or not.

  In addition, when the difference between the traveling direction of the host vehicle and the traveling direction of the preceding vehicle is 90 ° to 270 °, the preceding vehicle and the host vehicle are not in the same lane and are on different lanes. Conceivable. Therefore, in the present embodiment, when the approach speed is 0, the surrounding vehicle information processing unit 28 determines that the own vehicle has a difference between 90 ° to 270 ° between the traveling direction of the own vehicle and the traveling direction of the preceding vehicle. By determining that the vehicle is the leading vehicle, it is possible to reliably determine whether or not the host vehicle is the leading vehicle among the vehicles waiting for a right turn by a simple method.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made.

It is a block diagram which shows the structure of the right turn waiting leading vehicle determination apparatus which concerns on embodiment. It is a top view which shows the condition which determines whether the own vehicle is the head vehicle in the vehicle waiting for a right turn. It is a flowchart which shows the operation | movement which determines whether the own vehicle of the right turn waiting leading vehicle determination apparatus which concerns on embodiment is a leading vehicle in a right turn waiting vehicle. It is a top view which shows the state in which the approach speed of a front vehicle exceeds the own vehicle speed of the own vehicle. It is a top view which shows the state in which the approach speed of a front vehicle is less than the own vehicle speed of the own vehicle. It is a top view which shows the state which the approach speed of a front vehicle is 0 and is facing the own vehicle. It is a top view which shows the state which the approach speed of a front vehicle is 0 and is drive | working the same direction as the own vehicle at the same speed. It is a top view which shows the state which the approach speed of a front vehicle is 0 and both the own vehicle and the front vehicle have stopped. It is a flowchart which shows the operation | movement which produces the inter-vehicle communication data of the right turn waiting leading vehicle determination apparatus which concerns on embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Lead vehicle determination apparatus waiting for right turn, 12 ... Antenna, 14 ... Inter-vehicle communication apparatus, 20 ... Radar apparatus, 22 ... Vehicle state sensor, 24 ... GPS receiver, 26 ... Current state calculation part, 28 ... Surrounding vehicle information processing Part, 36 ... inter-vehicle information generation part.

Claims (5)

A right turn standby state detecting means for detecting that the host vehicle is waiting for a right turn;
Forward vehicle detection means for detecting a forward vehicle located in front of the host vehicle;
Own vehicle speed acquisition means for acquiring the own vehicle speed of the own vehicle;
An approach speed acquisition means for acquiring an approach speed of the preceding vehicle to the host vehicle detected by the forward vehicle detection means;
When the right turn standby state detection unit detects that the host vehicle is waiting for a right turn, the host vehicle speed of the host vehicle acquired by the host vehicle speed acquisition unit and the approach speed acquisition unit are acquired. Leading vehicle determination means for determining whether or not the host vehicle is a leading vehicle among vehicles waiting for a right turn based on the approach speed of the preceding vehicle
A leading vehicle determination device.   The leading vehicle determination device according to claim 1, wherein the leading vehicle determination unit determines that the own vehicle is the leading vehicle when the approach speed exceeds the own vehicle speed.   3. The head according to claim 1, wherein the leading vehicle determination means determines that the own vehicle is not the leading vehicle when the approach speed does not exceed the own vehicle speed and the approach speed is not zero. Vehicle determination device. Own vehicle traveling direction acquisition means for acquiring the traveling direction of the host vehicle;
Forward vehicle traveling direction acquisition means for acquiring the traveling direction of the preceding vehicle;
Further comprising
The leading vehicle determination means includes a traveling direction of the own vehicle acquired by the own vehicle traveling direction acquisition means when the approach speed is 0, and a traveling direction of the forward vehicle acquired by the forward vehicle traveling direction acquisition means. The leading vehicle determination device according to any one of claims 1 to 3, wherein it is determined whether or not the host vehicle is a leading vehicle in a vehicle waiting for a right turn.   The head vehicle determination means determines that the host vehicle is the head vehicle when a difference between a traveling direction of the host vehicle and a traveling direction of the preceding vehicle is 90 ° to 270 °. The leading vehicle determination device described.

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