JP2010097269A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device for supporting driving of a vehicle which needs to stop due to existence of a preceding vehicle. <P>SOLUTION: When a traveling route of an own vehicle and a route direction shown by an arrow lamp are the same, and the traveling lane of the own vehicle is not an exclusive lane corresponding to the route direction shown by the arrow lamp, and a front vehicle traveling ahead the own vehicle exists, and the traveling route of the front vehicle and the route direction shown by the arrow lamp are not the same, a driving support device determines that the lighting time of the arrow lamp is a red signal with respect to the own vehicle (that the own vehicle is not able to pass a traffic light with the arrow lamp), and generates a warning sound so that the own vehicle is prevented from entering the traffic signal with the arrow lamp. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a driving support apparatus that performs driving support using traffic signal information related to traffic signals.

As a driving support device that performs driving support using traffic signal information related to traffic signals, for example, as described in Patent Document 1, a vehicle travels in a course direction indicated by an arrow lamp of a traffic signal with an arrow lamp. It is proposed that driving assistance is not performed while the arrow lamp is on.
Japanese Patent Application No. 2007-204283

  When the vehicle travels in the direction indicated by the arrow lamp, the vehicle may have to stop due to the presence of the preceding vehicle even when the arrow lamp is lit. However, in the case described in Patent Document 1, even in such a case, driving assistance is not performed for a vehicle that needs to be stopped.

  An object of the present invention is to provide a driving support device that can perform driving support even for a vehicle that needs to be stopped due to the presence of a preceding vehicle.

  The present invention determines whether or not the own vehicle can pass through the traffic signal using the traffic signal information related to the traffic signal, and determines that the own vehicle cannot pass through the traffic signal. In a driving support device that performs driving support, an arrow lamp determination unit that determines whether or not the traffic signal has an arrow lamp based on the traffic signal information, and a vehicle direction detection that detects the traveling direction of the host vehicle Means, the front vehicle detecting means for detecting the presence / absence of a forward vehicle traveling in front of the host vehicle and the traveling direction thereof, the traveling direction of the host vehicle and the course direction indicated by the arrow lamp device are the same, and the arrow lamp device indicates When there is a forward vehicle that travels in a direction different from the course direction, the vehicle is provided with a passage permission / non-permission determining means that determines that the lighting time of the arrow lamp device is not allowed to pass with respect to the own vehicle.

  For example, if the traffic signal has an arrow lamp indicating the right turn direction, and the forward vehicle traveling in the straight direction is stopped, even if the host vehicle tries to proceed in the right turn direction when the arrow lamp is lit, Due to the presence of the preceding vehicle, the host vehicle cannot proceed and must stop. In such a situation, it is desirable to determine that the host vehicle is unable to pass the traffic signal intersection and provide driving support to the host vehicle. Therefore, in the driving support device of the present invention, the arrow lamp determining means determines whether the traffic signal has an arrow lamp based on the traffic signal information, and the own vehicle direction detecting means detects the traveling direction of the own vehicle. Then, the presence / absence of the forward vehicle traveling in front of the host vehicle and the traveling direction are detected by the front vehicle detection means. When there is a forward vehicle that travels in a direction different from the course direction indicated by the arrow lamp device, the traveling direction of the own vehicle and the course direction indicated by the arrow lamp device are the same. The lighting time of the instrument is determined to be impassable. In this way, driving assistance is also provided to the host vehicle that needs to stop due to the presence of the preceding vehicle by determining whether or not the vehicle can pass when the arrow lamp is turned on in consideration of the traveling direction of the preceding vehicle. Can do.

  Preferably, the vehicle further includes traveling lane detecting means for detecting whether or not the host vehicle is traveling in a dedicated lane in a direction corresponding to the course direction indicated by the arrow lamp device, and the passability determining means includes There is a forward vehicle that travels in a direction different from the direction indicated by the arrow light device, and the direction corresponding to the direction indicated by the arrow light device by the traveling lane detection means. When it is detected that the host vehicle is not traveling in the dedicated lane, it is determined that the lighting time of the arrow lamp device cannot pass through the host vehicle.

  For example, in a situation where the host vehicle travels in a dedicated lane among a plurality of travel lanes, the traveling direction of the front vehicle coincides with the traveling direction of the host vehicle, but in a situation where the host vehicle travels in a travel lane that is not a dedicated lane, the front vehicle May be different from the traveling direction of the host vehicle. Therefore, it is detected whether or not the host vehicle is traveling in a dedicated lane in the direction corresponding to the direction indicated by the arrow lamp, and in addition to the above-described conditions, when the host vehicle is not traveling in the dedicated lane, It is preferable to determine that the lighting time of the arrow lamp device cannot pass through the vehicle.

  Preferably, the vehicle further includes front vehicle passage detection means for detecting whether or not a forward vehicle traveling in a direction different from the course direction indicated by the arrow lamp can pass through the traffic signal, Even when there is a forward vehicle that travels in a direction different from the course direction indicated by the arrow lamp device when the traveling direction of the vehicle is the same as the course direction indicated by the arrow lamp device, When it is detected that the vehicle can pass through the traffic light, it is determined that the lighting time of the arrow lamp device can pass through the vehicle.

  When a forward vehicle traveling in a direction different from the direction indicated by the arrow lamp can pass through the traffic signal, the forward vehicle disappears in front of the host vehicle after the forward vehicle passes the traffic signal. . For this reason, in the state where the arrow lamp indicating the course direction corresponding to the traveling direction of the host vehicle is lit, the host vehicle can enter the traffic signal intersection. Therefore, even when there is a forward vehicle in which the traveling direction of the host vehicle is the same as the course direction indicated by the arrow lamp and the forward direction is different from the course direction indicated by the arrow lamp, When it is possible to pass, it is preferable to determine that the lighting time of the arrow lamp device is allowed to pass with respect to the host vehicle. In this case, it is not necessary to perform unnecessary driving support for the host vehicle.

  Further, preferably, when the traffic light is determined to have a plurality of arrow lights by the arrow lamp determination means, based on the traffic signal information, the arrow lamp indicating the course direction in which the host vehicle travels. Further includes lighting order determining means for determining whether or not the arrow lamp indicating the direction of travel of the preceding vehicle is lit first or simultaneously, and the passability determining means includes the traveling direction of the own vehicle and the arrow lamp Even when there is a forward vehicle that travels in a direction different from the course direction indicated by the arrow lamp device, the lighting direction determination means means the arrow lamp device that indicates the course direction in which the host vehicle travels. When it is determined that the arrow lamp indicating the direction of travel in which the preceding vehicle travels is turned on first or simultaneously, it is determined that the lighting time of the arrow lamp can be passed with respect to the own vehicle.

  When the arrow lamp indicating the direction of travel of the forward vehicle is lit first or simultaneously with respect to the arrow lamp indicating the direction of travel of the host vehicle, the host vehicle passes through the traffic signal intersection when the front lamp passes through the traffic signal intersection. There is a high possibility that the vehicle ahead will not be in front of the vehicle. When there is no preceding vehicle, the own vehicle can enter the traffic signal intersection with the arrow lamp indicating the course direction corresponding to the traveling direction of the own vehicle lit. Accordingly, even when there is a forward vehicle in which the traveling direction of the host vehicle is the same as the traveling direction indicated by the arrow lamp and the traveling direction is different from the traveling direction indicated by the arrow lighting device, the traveling path of the traveling vehicle is present. When the arrow lamp indicating the direction of travel in which the vehicle ahead advances with respect to the arrow lamp indicating the direction lights up first or at the same time, it is possible to determine that the lighting time of the arrow lamp can pass through the own vehicle. Is preferred. In this case, it is not necessary to perform unnecessary driving support for the host vehicle.

  Preferably, the vehicle further includes lane change detection means for detecting whether or not the host vehicle is about to change lanes in the lane on the route direction side indicated by the arrow lamp device, and the passability determination means includes the traveling direction of the host vehicle and the arrow lamp. Even when there is a forward vehicle that travels in a direction different from the direction indicated by the arrow lamp device, the lane change detection means automatically detects the direction of the lane on the route direction side indicated by the arrow light device. When it is detected that the vehicle is about to change lanes, it is determined that the lighting time of the arrow lamp can pass through the own vehicle.

  Even if another vehicle traveling in a direction different from the course direction indicated by the arrow lamp is traveling in front of the host vehicle, if the host vehicle changes to the lane on the path direction side indicated by the arrow lamp, There is a high possibility that there is no other vehicle (front vehicle) traveling on the road. If there is no preceding vehicle, the own vehicle can enter the traffic signal intersection while the arrow lamp indicating the course direction corresponding to the traveling direction of the own vehicle is lit. Therefore, even when there is a forward vehicle in which the traveling direction of the host vehicle is the same as the traveling direction indicated by the arrow lamp and the traveling direction is different from the traveling direction indicated by the arrow lighting apparatus, the traveling path indicated by the arrow lighting apparatus When the host vehicle is about to change the lane to the lane on the direction side, it is preferable to determine that the lighting time of the arrow lamp can pass through the host vehicle. In this case, it is not necessary to perform unnecessary driving support for the host vehicle.

  ADVANTAGE OF THE INVENTION According to this invention, a driving assistance can be performed also to the vehicle which needs to stop by presence of a front vehicle. As a result, more optimal driving assistance can be realized.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a preferred embodiment of a driving support apparatus according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a schematic configuration of an embodiment of a driving support apparatus according to the present invention. In the figure, a driving support apparatus 1 of the present embodiment is an apparatus that is mounted on a vehicle and that supports driving of the vehicle at an intersection (traffic signal intersection) where a traffic signal is installed. Specifically, the driving support device 1 warns a vehicle that is about to enter a traffic light intersection with a red light.

  The driving support device 1 includes an infrastructure information receiver 2, a navigation 3, an inter-vehicle communication device 4, an own vehicle state monitoring sensor 5, a radar 6, a camera 7, an alarm device 8, an ECU (Electronic Control Unit). 9).

  The infrastructure information receiver 2 is a device that receives infrastructure information transmitted from an infrastructure device (for example, an optical beacon) installed on a road. Infrastructure information includes, for example, traffic signal information (traffic signal type, signal cycle, display time, etc.), road information (lane configuration, road width, road curvature, distance to stop line, node information, etc.), traffic information, etc. It is.

  The navigation 3 detects the current position of the host vehicle using GPS (Global Positioning System) or the road information on which the host vehicle is traveling from the road map information stored in the built-in memory (same as above). It is a device that acquires various types of information.

  The inter-vehicle communication device 4 is a device that performs wireless communication between the host vehicle and the other vehicle, and transmits the state of the host vehicle to the other vehicle and receives the state of the other vehicle.

  The own vehicle state monitoring sensor 5 is a sensor that monitors the state of the own vehicle. Specifically, the vehicle state monitoring sensor 5 includes a winker sensor that detects the operating state of the winker switch, a steering angle sensor that detects the steering angle of the steering, and the like.

  The radar 6 detects an object such as another vehicle existing around the host vehicle using a millimeter wave band radio wave or the like, and measures the position and direction of the object. The camera 7 images a peripheral area (front area or side area) of the host vehicle and acquires the captured image.

  The ECU 9 includes a CPU, a memory such as a ROM and a RAM, an input / output circuit, and the like. The ECU 9 inputs the traffic signal information received by the infrastructure information receiver 2, the information of the navigation 3, the information of other vehicles received by the inter-vehicle communication device 4, the measurement result of the radar 6, and the captured image of the camera 7, and performs predetermined processing. Is performed to determine whether or not the traffic signal with the arrow lamp can be passed, and if it is determined that the vehicle cannot pass the traffic signal with the arrow lamp, the alarm device 8 generates a warning sound.

  FIG. 2 is a flowchart showing details of a processing procedure executed by the ECU 9. This process is executed when the service of the traffic light information utilization system is available.

  In the figure, first, the traffic signal information received by the infrastructure information receiver 2 is acquired (step S51). Then, based on the traffic signal information, it is determined whether or not a traffic signal with an arrow lamp (see FIG. 3) is installed at the target traffic signal intersection (step S52). When no traffic signal with an arrow lamp is installed at the target traffic signal intersection, this processing is terminated.

  When a traffic signal with an arrow lamp is installed at the target traffic signal intersection, the detected value of the vehicle state monitoring sensor 5 (blinker sensor or steering angle sensor), route guidance direction information of the navigation 3, and recorded in the navigation 3 Based on the past travel history data and the like, it is determined whether or not the travel route of the host vehicle is the same as the course direction indicated by the arrow lamp (step S53).

  When the traveling route of the host vehicle and the course direction indicated by the arrow lamp are not the same, the lighting time of the arrow lamp is determined to be a red signal (cannot pass a traffic signal with an arrow lamp) for the host vehicle ( Procedure S54). And the alarm device 8 is controlled and a warning sound is generated so that the own vehicle may not enter the traffic light with an arrow lamp (step S55).

  On the other hand, when the traveling route of the host vehicle and the course direction indicated by the arrow lamp device are the same, information on the navigation 3 (GPS and lane position information), captured image data in front of the host vehicle acquired by the camera 7, infrastructure Based on the road alignment information received by the information receiver 2 or the like, it is determined whether the lane in which the host vehicle is traveling (the traveling lane of the host vehicle) is not a dedicated lane corresponding to the route direction indicated by the arrow lamp (procedure) S56).

  Here, the dedicated lane refers to a right turn lane, a left turn lane, a straight lane, and the like. Therefore, not only the one lane on one side, but also the traveling lane S that can travel in two directions (straight forward direction and right turn direction) as shown in FIG. 3, for example, does not correspond to a dedicated lane.

  When the traveling lane of the host vehicle is a dedicated lane corresponding to the direction of the route indicated by the arrow lamp, the lighting time of the arrow lamp for the host vehicle is a blue signal (allows a signal with an arrow lamp) Determination is made (procedure S57). All the vehicles that travel on the dedicated lane including the host vehicle travel in the direction corresponding to the dedicated lane. For this reason, when the arrow lamp indicating the course direction corresponding to the dedicated lane is turned on, the host vehicle can enter the traffic signal intersection.

  When the traveling lane of the vehicle is not a dedicated lane corresponding to the direction indicated by the arrow lamp, the traffic information received by the infrastructure information receiver 2, the other vehicle information received by the inter-vehicle communication device 4, the radar 6 Based on the measured value, captured image data in front of the host vehicle acquired by the camera 7, and the like, it is determined whether there is another vehicle (a front vehicle) traveling in front of the host vehicle before the target traffic signal intersection. (Procedure S58).

  When there is no forward vehicle traveling ahead of the host vehicle, the lighting time of the arrow lamp is determined to be a green signal for the host vehicle (step S57). Even when the host vehicle is traveling in a driving lane that is not a dedicated lane, if there is no forward vehicle traveling in front of the host vehicle, when the arrow lamp indicating the course direction corresponding to the traveling route of the host vehicle is lit, The host vehicle can enter the traffic signal intersection.

  When there is a forward vehicle traveling in front of the host vehicle, it is determined whether the traveling route of the forward vehicle is not the same as the course direction indicated by the arrow lamp (step S59). The traveling route of the preceding vehicle is, for example, received by the inter-vehicle communicator 4 information on the route guidance direction and traveling history of the navigation of the preceding vehicle, the steering and blinker switch operation status by the driver of the preceding vehicle, The lighting state or the like can be detected by imaging with the camera 7.

  When the traveling route of the preceding vehicle and the course direction indicated by the arrow lamp are the same, the lighting time of the arrow lamp is determined to be a green signal for the host vehicle (step S57). Even when there is a forward vehicle traveling in front of the host vehicle, if the traveling route of the preceding vehicle is the same as the traveling route of the host vehicle, the arrow lamp indicating the course direction corresponding to the traveling route of the host vehicle When the light is on, the host vehicle can enter the traffic signal intersection following the preceding vehicle.

  When the driving route of the vehicle ahead and the course direction indicated by the arrow lamp are not the same, the lighting time of the arrow lamp is determined to be a red signal (cannot pass a traffic signal with an arrow lamp) for the host vehicle ( Procedure S54). And the alarm device 8 is controlled and a warning sound is generated so that the own vehicle may not enter the traffic light with an arrow lamp (step S55).

  In the above processing procedure, when the travel route of the host vehicle or the travel route of the preceding vehicle cannot be detected, the lighting time of the arrow lamp device may be regarded as a red signal for the host vehicle.

  In the above, the above steps S51 and S52 of the ECU 9 constitute an arrow lamp determination unit that determines whether or not the traffic signal has an arrow lamp based on the signal information. The navigation 3 and the own vehicle state monitoring sensor 5 constitute own vehicle direction detecting means for detecting the traveling direction of the own vehicle. The infrastructure information receiver 2, the inter-vehicle communication device 4, the radar 6, and the camera 7 constitute front vehicle detection means that detects the presence / absence of a forward vehicle traveling in front of the host vehicle and the traveling direction. In the steps S53, S54, S57 to S59 of the ECU 9, the forward direction of the host vehicle is the same as the course direction indicated by the arrow lamp, and there is a forward vehicle traveling in a direction different from the course direction indicated by the arrow lamp. When it does, the passage permission determination means which determines that the lighting time of the arrow lamp device is not allowed to pass with respect to the own vehicle is configured.

  In addition, the above-described procedure S56 of the infrastructure information receiver 2, the navigation 3, the camera 7, and the ECU 9 is a travel lane detection that detects whether or not the host vehicle is traveling in a dedicated lane in a direction corresponding to the course direction indicated by the arrow lamp. Configure the means.

  For example, as shown in FIG. 3, in a situation where the host vehicle P and the preceding vehicle Q are traveling on the same traveling lane S, the host vehicle P is about to turn right at the traffic signal intersection, and the preceding vehicle Q is going straight ahead at the traffic signal intersection. In this case, when the arrow lamp 10a indicating the right turn direction in the traffic signal 10 installed at the traffic signal intersection is lit, the forward vehicle Q stops at the traffic signal intersection because it is a red signal for the forward vehicle Q traveling straight ahead. . On the other hand, for the host vehicle P that turns right, the front vehicle Q is stopped despite the green signal, so the host vehicle P cannot stop entering the traffic signal intersection and must stop. Therefore, a warning with a warning sound is given to the host vehicle P.

  As described above, in this embodiment, the host vehicle travels in a dedicated lane corresponding to the route direction indicated by the arrow lamp device, in which the traveling route of the host vehicle and the route direction indicated by the arrow lamp device are the same. When there is a forward vehicle that travels in a direction different from the course direction indicated by the arrow lamp device in front of the own vehicle, it is determined that the lighting time of the arrow lamp device cannot pass through the own vehicle, A warning sound is generated so that the host vehicle does not enter the traffic light intersection. In other words, considering not only the travel route of the host vehicle but also the travel route of the preceding vehicle, it is determined whether the lighting time of the arrow lamp device is allowed to pass or cannot be passed to the host vehicle. A warning can be given to a vehicle that needs to stop at a traffic light intersection due to the presence of a preceding vehicle. Thereby, it becomes possible to implement appropriate driving assistance.

  FIG. 4 is a flowchart showing a modified example of details of the processing procedure executed by the ECU 9. In the figure, the same steps as those in the flowchart shown in FIG.

  In the figure, when it is determined in step S59 that the traveling route of the preceding vehicle is not the same as the course direction indicated by the arrow lamp device, it is determined whether or not the preceding vehicle cannot pass the traffic light intersection (step S60). The vehicle ahead can pass through the traffic light intersection when the traffic light is green or the arrow lamp indicating the course direction corresponding to the traveling direction of the vehicle ahead is lit. Whether the preceding vehicle can pass the traffic signal intersection is determined based on the inter-vehicle distance and relative speed between the host vehicle and the preceding vehicle measured by the radar 6 and the signal cycle information received by the infrastructure information receiver 2. Judgment is made from captured image data in front of the host vehicle acquired by the camera 7.

  When it is determined that the preceding vehicle can pass the traffic signal intersection, it is considered that there is no preceding vehicle in front of the host vehicle, and the lighting time of the arrow lamp device for the host vehicle is indicated by a blue signal (signal device with an arrow lamp device). (Procedure S57). In this case, it is not necessary to give an unnecessary warning to the own vehicle.

  On the other hand, when it is determined that the preceding vehicle cannot pass the traffic signal intersection, it is determined that the lighting time of the arrow lamp device is a red signal (cannot pass the traffic signal with the arrow lamp) for the host vehicle (step S54). .

  In the above, the above-described procedure S60 of the infrastructure information receiver 2, the radar 6, the camera 7, and the ECU 9 detects whether or not a forward vehicle traveling in a direction different from the direction indicated by the arrow lamp can pass through the traffic signal. The front vehicle passage detection means is configured.

  FIG. 5 is a flowchart showing another modified example of the details of the processing procedure executed by the ECU 9. In the figure, the same steps as those in the flowchart shown in FIG.

  In the figure, when it is determined in step S59 that the traveling route of the vehicle ahead and the course direction indicated by the arrow lamp are not the same, the traffic light with the arrow lamp has a plurality of arrow lamps based on the traffic signal information. It is determined whether or not (step S61). When the traffic signal with an arrow lamp does not have a plurality of arrow lamps, the lighting time of the arrow lamp is determined to be a red signal (impossible to pass the traffic signal with an arrow lamp) for the host vehicle (step S54). ).

  When the traffic light with an arrow lamp has multiple arrow lamps, the arrow lamp indicating the traveling route of the vehicle ahead lights up after the arrow lamp indicating the traveling route of the host vehicle based on the traffic signal information. It is determined whether or not to perform (step S62).

  When the arrow lamp indicating the driving route of the vehicle ahead lights up before the arrow lamp indicating the driving route of the host vehicle, or when both arrow lamps are lit at the same time, the front vehicle is in front of the host vehicle. Considering that the vehicle does not exist, the lighting time of the arrow lamp device is determined to be a blue signal (passage through a traffic signal with an arrow lamp device) for the host vehicle (step S57). In this case, it is not necessary to give an unnecessary warning to the own vehicle.

  On the other hand, when the arrow lamp indicating the travel route of the preceding vehicle lights after the arrow lamp indicating the travel route of the host vehicle, the lighting time of the arrow lamp is determined to be a red signal for the host vehicle. (Procedure S54).

  In the above, the steps S51, S52, 61 of the ECU 9 constitute an arrow lamp determination unit that determines whether the traffic signal has an arrow lamp based on the signal information. The procedure S62 is based on the traffic light information when the traffic light is determined to have a plurality of traffic lights by the arrow light device determination means. The lighting order determination means for determining whether or not the arrow lamp indicating the direction of travel in which the vehicle ahead travels lights up first or simultaneously.

  An example when the traffic signal intersection has a plurality of arrow lamps is shown in FIG. In this example, the traffic light 11 has an arrow lamp 11a indicating a right turn direction and an arrow lamp 11b indicating a straight direction. It is assumed that the host vehicle P and the preceding vehicle Q are traveling in the same travel lane S toward the traffic signal intersection where the traffic signal 11 is installed.

  In addition, as shown in Fig. 7, the traffic light signal cycle obtained from the traffic signal information is as follows: blue signal lighting → yellow signal lighting → red signal temporary lighting → red signal and arrow lamp (straight direction) lighting → yellow signal lighting → red It is assumed that the signal is temporarily turned on → the red signal and the arrow lamp (right turn direction) are turned on → the yellow signal is turned on → the red signal is turned on. That is, the arrow lamp 11b indicating the straight direction is turned on before the arrow lamp 11a indicating the right turn direction.

  At this time, if the own vehicle P is going to turn right at the traffic signal intersection and the preceding vehicle Q is going straight ahead at the traffic signal intersection, when the own vehicle P reaches the traffic signal intersection, the preceding vehicle Q has already passed the traffic signal intersection. There is a high possibility of being. Therefore, under such circumstances, it can be considered that the forward vehicle Q does not exist in front of the host vehicle P.

  FIG. 8 is a flowchart showing still another modification of the details of the processing procedure executed by the ECU 9. In the figure, the same steps as those in the flowchart shown in FIG.

  In the figure, if it is determined in step S59 that the traveling route of the preceding vehicle and the course direction indicated by the arrow lamp are not the same, whether or not the own vehicle is about to change the lane on the traveling route side of the own vehicle Is determined (step S63). At this time, first, for example, based on the captured image data of the side of the host vehicle by the camera 7, whether or not there is a lane on the traveling route side of the host vehicle and there is a space for changing the lane without other vehicles in the lane. Further, based on the detection value of the vehicle state monitoring sensor 5, it is determined whether or not an operation for changing the lane is performed by the driver.

  When the host vehicle is about to change lanes to the lane on the route of the host vehicle, it is considered that there is no forward vehicle ahead of the host vehicle, and the lighting time of the arrow lamp for the host vehicle is blue ( It is determined that it is possible to pass through a traffic light with an arrow lamp (step S57). In this case, it is not necessary to give an unnecessary warning to the own vehicle.

  On the other hand, when the host vehicle is not changing the lane to the lane on the traveling route side of the host vehicle, the lighting time of the arrow lamp device is determined as a red signal (cannot pass the traffic signal with the arrow lamp device) for the host vehicle. (Procedure S54).

  In the above, the procedure S63 of the own vehicle state monitoring sensor 5, the camera 7, and the ECU 9 constitutes a lane change detecting means for detecting whether or not the own vehicle is changing the lane to the lane on the route direction side indicated by the arrow lamp. .

  For example, in a road having a plurality of traveling lanes as shown in FIG. 6, when the own vehicle P tries to turn right at the traffic signal intersection and the preceding vehicle Q tries to go straight at the traffic signal intersection, there is no other vehicle in the right lane. When the host vehicle P can change the lane to the right lane and the driver's driving operation is likely to change the lane to the right lane, the forward vehicle Q exists in front of the host vehicle P. It can be regarded as not. This is because if the host vehicle P changes its lane to the right lane, there is a high possibility that there is no other vehicle traveling ahead of the host vehicle P.

  The present invention is not limited to the above embodiment. For example, in the above embodiment, when it is determined that the host vehicle is unable to pass the traffic light with an arrow lamp, the driver assists the vehicle according to the present invention. The present invention can also be applied to a system that supports driving such as notifying a signal waiting time when it is determined that a signal with an arrow lamp cannot pass.

It is a block diagram which shows schematic structure of one Embodiment of the driving assistance device concerning this invention. It is a flowchart which shows the detail of the process sequence performed by ECU shown in FIG. It is a figure which shows the example which the own vehicle drive | works the driving | running | working lane which can advance to two directions toward the traffic signal intersection with which the traffic signal with an arrow lamp is installed. It is a flowchart which shows the modified example of the detail of the process sequence performed by ECU shown in FIG. 10 is a flowchart showing another modification example of details of the processing procedure executed by the ECU shown in FIG. 1. It is a figure which shows the example which the own vehicle drive | works toward the traffic signal intersection in which the traffic signal with the arrow lamp device which has a some arrow lamp device was installed in the road which has a some traveling lane. It is a figure which shows an example of the signal cycle of the traffic light with an arrow lamp shown in FIG. 12 is a flowchart showing still another modification example of details of a processing procedure executed by the ECU shown in FIG. 1.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 2 ... Infrastructure information receiver (signal information acquisition means, front vehicle detection means, travel lane detection means, front vehicle passage detection means), 3 ... navigation (own vehicle direction detection means, travel lane detection means) 4, vehicle-to-vehicle communication device (front vehicle detection means), 5 ... own vehicle state monitoring sensor (own vehicle direction detection means, lane change detection means), 6 ... radar (front vehicle detection means, front vehicle passage detection means), 7 ... Front camera (front vehicle detection means, travel lane detection means, front vehicle passage detection means, lane change detection means), 8 ... alarm, 9 ... ECU (arrow lamp judgment means, pass / fail judgment means, travel lane detection) Means, front vehicle passage detection means, lighting order judgment means, lane change detection means), 10 ... traffic signal, 10a ... arrow lamp, 11 ... traffic signal, 11a, 11b ... arrow lamp, P ... own vehicle, Q ... Vehicle ahead, S ... running lane.

Claims (5)

It is determined whether or not the own vehicle can pass through the traffic signal using traffic signal information related to the traffic signal, and when it is determined that the own vehicle cannot pass through the traffic signal, In the driving assistance device that performs driving assistance,
An arrow lamp determining means for determining whether or not the traffic signal has an arrow lamp based on the signal information;
Own vehicle direction detecting means for detecting the traveling direction of the own vehicle;
Front vehicle detecting means for detecting the presence and direction of a forward vehicle traveling in front of the host vehicle; and
When the traveling direction of the own vehicle and the course direction indicated by the arrow lamp are the same, and there is a forward vehicle traveling in a direction different from the course direction indicated by the arrow lamp, A driving support device, comprising: a passability determination unit that determines that the lighting time of the arrow lamp device is not allowed to pass. A travel lane detecting means for detecting whether or not the host vehicle is traveling in a dedicated lane in a direction corresponding to the direction of the route indicated by the arrow lamp;
The passage propriety determining means includes a forward vehicle in which the traveling direction of the host vehicle is the same as the course direction indicated by the arrow lamp, and the vehicle travels in a direction different from the course direction indicated by the arrow lamp, When the traveling lane detecting means detects that the host vehicle is not traveling in a dedicated lane in a direction corresponding to the direction of the path indicated by the arrow lamp device, the arrow lamp device is turned on with respect to the host vehicle. The driving support device according to claim 1, wherein it is determined that the time cannot pass. It further comprises front vehicle passage detection means for detecting whether or not a forward vehicle traveling in a direction different from the course direction indicated by the arrow lamp device can pass through the traffic signal,
The passage permission / inhibition determining means has the same traveling direction of the host vehicle and the course direction indicated by the arrow lamp device, even when there is a forward vehicle traveling in a direction different from the course direction indicated by the arrow lamp device. When the front vehicle passage detecting means detects that the preceding vehicle can pass through the traffic signal, it determines that the lighting time of the arrow lamp is allowed to pass with respect to the own vehicle. The driving support device according to claim 1 or 2. When it is determined by the arrow lamp determination means that the traffic signal has a plurality of the arrow lamps, based on the signal information, the arrow lamp indicating the direction of travel of the host vehicle Further comprising lighting order judgment means for judging whether or not the arrow lamp indicating the course direction in which the preceding vehicle travels lights up first or simultaneously,
The passage permission / inhibition determining means has the same traveling direction of the host vehicle and the course direction indicated by the arrow lamp device, even when there is a forward vehicle traveling in a direction different from the course direction indicated by the arrow lamp device. When the lighting order determination means determines that the arrow lamp indicating the direction of travel of the preceding vehicle is turned on first or simultaneously with respect to the arrow lamp indicating the direction of travel of the host vehicle, The driving support device according to any one of claims 1 to 3, wherein the lighting time of the arrow lamp device is determined to be passable with respect to the host vehicle. Further comprising lane change detection means for detecting whether or not the host vehicle is about to change lanes in the lane on the route direction side indicated by the arrow lamp;
The passage permission / inhibition determining means has the same traveling direction of the host vehicle and the course direction indicated by the arrow lamp device, even when there is a forward vehicle traveling in a direction different from the course direction indicated by the arrow lamp device. When it is detected by the lane change detection means that the host vehicle is about to change the lane to the lane on the track direction side indicated by the arrow lamp device, the lighting time of the arrow lamp device is set for the host vehicle. The driving support device according to any one of claims 1 to 4, wherein it is determined that the vehicle can pass.

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