JP2010225075A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device acquiring time when a traffic signal becomes yellow display by a device loaded in a vehicle, and allowing coping with a dilemma zone problem by using information thereof. <P>SOLUTION: This driving support device photographs an image in front of the vehicle by a camera equipped in the vehicle (S30), executes image recognition processing (S40), calculates expected time when a traffic light for the vehicle changes to a yellow light (S80) when it is detected that a traffic signal for a pedestrian inside the image has changed to a red light (S70: YES), calculates expected time when the vehicle arrives at a stop line of an intersection (S100), and decides whether or not the vehicle can arrive at the stop line while the traffic signal for the vehicle is a blue light from comparison between the expected time of the traffic light for the vehicle and the expected time of the vehicle arrival (S110). When the vehicle cannot arrive at the stop line while the traffic signal for the vehicle is the blue light, the driving support device notifies a driver about information thereof (S120). <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a driving support device.

  When a car approaches a blue intersection, there may be a dilemma zone where the driver has trouble deciding whether to stop before the intersection if the signal changes to yellow or to accelerate and cross the intersection. Are known. If the driver does not cope well with the dilemma zone, problems such as a rear-end collision from a following vehicle at a sudden stop, or crossing an intersection in red are generated.

  For example, in the following Patent Document 1, in order to deal with the dilemma zone problem, an apparatus that predicts entering the dilemma zone in advance and informs the driver of the fact before the traffic light is displayed in yellow is disclosed. .

JP 2000-357293 A

  However, in the technique of the above-mentioned Patent Document 1, information on the time when the traffic signal is switched to yellow display is obtained from the control device of the traffic signal by communication. However, there is currently no situation in which all domestic (or overseas) traffic lights are equipped with such equipment, and it is uncertain whether such a situation will be realized in the future. Furthermore, even if such a situation becomes a reality in the future, it is necessary to consider dealing with the dilemma zone problem for the period up to that point because there is no such equipment.

  Therefore, in view of the above problems, the problem to be solved by the present invention is to obtain the time when the traffic light is displayed in yellow by the device mounted on the vehicle, and use that information to drive the dilemma zone problem. It is to provide a support device.

Means for Solving the Problems and Effects of the Invention

  In order to achieve the above object, a driving support apparatus according to the present invention is equipped with a photographing unit that is mounted on a vehicle and photographs a front image of the vehicle, and a captured image captured by the photographing unit in the traveling direction of the vehicle. A first calculating means for detecting a color change of a signal light of a traffic light for a pedestrian at an existing intersection and calculating a first expected time at which the traffic signal for the vehicle at the intersection changes to a yellow display; and the vehicle reaches the intersection The second predicted time for calculating the second predicted time, the first predicted time calculated by the first calculated means, and the second predicted time calculated by the second calculated means. Determination means for determining whether or not the vehicle reaches the intersection while the vehicle traffic signal is displayed in blue.

  As a result, in the driving support device according to the present invention, the traffic light for the pedestrian in front of the vehicle is photographed, and the first expected time when the traffic signal for the vehicle changes to yellow display from the change to the red display is calculated. The second predicted time to reach is calculated, and it is determined from the comparison between the two predicted times whether or not the intersection can be reached while the vehicle traffic signal is displayed in blue. Therefore, it is possible to obtain the expected time for the vehicle traffic signal to change to yellow display by effectively using the image taken by the imaging means mounted on the vehicle. Therefore, it is possible to obtain important information related to the dilemma zone problem, such as whether or not the traffic signal for vehicles can reach the intersection while it is displayed in blue, without obtaining information from the traffic signal. And a driving support device that contributes to safe driving can be realized.

  In addition, the first calculation means executes a matching process between a storage unit that stores a pattern image that is a line image of a pedestrian traffic light and the captured image and the pattern image, and walks within the captured image. Matching means for determining whether or not the traffic light for a person is photographed may be provided.

  As a result, the pattern image of the pedestrian traffic light is stored in advance, and the matching process is executed between the pattern image and the captured image. Therefore, the image of the pedestrian traffic signal is acquired from the captured image in front of the vehicle. Thus, the color change of the signal light of the pedestrian traffic light can be detected with high accuracy from this image. And since the expected time for the vehicle traffic signal to display yellow is calculated from the color change detected with high accuracy, it is important to relate to the dilemma zone problem of whether or not the intersection can be reached while the vehicle traffic signal is displayed in blue. Information can be acquired with high accuracy.

  Further, the first calculating means determines from the image of the pedestrian traffic light in the image when the matching means determines that the pedestrian traffic light is photographed in the image photographed by the photographing means. The color information detecting means for detecting the color information of the signal light of the pedestrian traffic light may be provided.

  Thereby, matching processing is executed between the pattern image and the captured image, and when it is determined that the pedestrian traffic light is being captured, the color information of the signal lamp is detected from the image of the pedestrian traffic light. Therefore, since the color information of the signal light is detected after executing the matching process, the color information of the signal light of the pedestrian traffic light can be detected with high accuracy. Therefore, important information related to the dilemma zone problem can be obtained with high accuracy, such as whether or not the intersection can be reached while the vehicle traffic signal is displayed in blue.

  The color information detected by the color information detection means includes a change time detection means for detecting a change time when the pedestrian traffic light has changed to a red display, and the first calculation means includes the change time detection means. The first expected time may be calculated according to the detected change time.

  As a result, the time when the pedestrian traffic light changed to red display is detected from the color information of the signal lights of the pedestrian traffic light detected after executing the matching process, and the vehicle traffic light changes to yellow display from the information. Since the expected time is calculated, it is possible to predict the time when the vehicle traffic light changes to yellow display from the change time of the pedestrian traffic light acquired with high accuracy. Therefore, important information related to the dilemma zone problem can be obtained with high accuracy, such as whether or not the intersection can be reached while the vehicle traffic signal is displayed in blue.

  In addition, the image processing apparatus includes a direction calculation unit that calculates a direction of the intersection with respect to a traveling direction of the vehicle, and the matching unit includes the direction of the intersection calculated by the direction calculation unit in the captured image. If the pedestrian traffic light is installed at the intersection, a region where the pedestrian traffic light is present is extracted as a partial image, and a partial image is executed between the partial image and the pattern image Matching means may be provided.

  As a result, the direction of the intersection with respect to the traveling direction of the vehicle is calculated, and based on this information, the matching process is executed only in the area where the pedestrian traffic light may be present in the captured image. The matching process to the region can be omitted, and the efficiency of the matching process is improved. Therefore, through efficient processing, it is possible to quickly acquire important information related to the dilemma zone problem, such as whether the intersection can be reached while the vehicle traffic signal is displayed in blue.

  In addition, the first calculation means calculates the distance according to the distance calculation means for calculating the distance between the vehicle and the intersection, and the distance between the vehicle and the intersection calculated by the distance calculation means. Correction means for correcting the relative size of the image photographed by the means may be provided.

  This calculates the distance between the vehicle and the intersection, and corrects the relative size of the captured image according to this information, so that the captured image is different depending on whether the distance between the vehicle and the intersection is far, It can suppress that the precision of the detection of the color change of the signal light for pedestrians falls. Therefore, important information related to the dilemma zone problem of whether or not the traffic signal can be reached while the vehicle traffic signal is displayed in blue is calculated with high accuracy the expected time when the vehicle signal will change to yellow display. Can be obtained with high accuracy.

  The second calculation means includes vehicle position acquisition means for acquiring vehicle position information, intersection position acquisition means for acquiring intersection position information, and speed acquisition means for acquiring vehicle speed information. Calculates the second expected time from the vehicle position acquired by the vehicle position acquisition means, the signal position acquired by the signal position acquisition means, and the vehicle speed acquired by the speed acquisition means. Also good.

  As a result, information on the vehicle position, the intersection position, and the vehicle speed is acquired, and the estimated time for the vehicle to reach the intersection is calculated from the information. Therefore, the estimated time for reaching the intersection can be calculated with high accuracy. Therefore, it is possible to acquire, with high accuracy, important information related to the dilemma zone problem, such as whether or not the traffic signal for vehicles can reach the intersection while the vehicle traffic signal is displayed in blue, using the estimated time for reaching the intersection with high accuracy.

  In addition, when the determination unit determines that the vehicle does not reach the intersection while the traffic signal for the vehicle at the intersection is displayed in blue, a notification unit that notifies the driver of information that prompts the vehicle to stop at the intersection. It may be provided.

  As a result, the information on whether or not the intersection can be reached while the vehicle traffic signal is displayed in blue is obtained with high accuracy, and if the intersection cannot be reached while displayed in blue, the information is notified to the driver. Therefore, a driving support device that supports the driver so as to cope with the dilemma zone problem can be realized.

The block diagram in the Example of the driving assistance device in this invention. The flowchart of the control processing in an Example. The flowchart of an image recognition process. The figure which shows the vehicle which heads for an intersection.

  Embodiments of the present invention will be described below with reference to the drawings. First, FIG. 1 is a schematic diagram of an apparatus configuration in an embodiment of a driving support apparatus 1 according to the present invention. It is assumed that the driving assistance device 1 is mounted on an automobile vehicle, and includes an electronic control device 10 (ECU: Electronic Control Unit) and various devices.

  The ECU 10 has a computer structure, a CPU 11 for information processing such as various operations, a RAM 12 as a temporary storage place for the work area of the CPU 11, a ROM 13 for storing various programs, and the like, writable A memory 14 which is a non-volatile storage unit and an interface unit 15 (I / F) for connection with various devices are provided, and these are connected by a bus so that information can be exchanged. Note that the ECU 10 in this embodiment may be a navigation ECU for car navigation to which devices and functions related to the present invention are added. The memory 14 stores a pattern image 14a, which is a line image of a pedestrian traffic light, as will be described later.

  Various devices connected to the I / F 15 include a GPS receiver 21, a gyro sensor 22, a vehicle speed sensor 23, a map information database 24 (map information DB, DB), a camera 25, a display 26, and a speaker 27.

  The GPS receiver 21 receives a GPS signal from a GPS (Global Positioning System) satellite. The gyro sensor 22 is a sensor having a function of detecting an angular velocity in the roll, pitch, and yaw direction of the vehicle. By integrating the detected angular velocity, it becomes possible to detect a change in the direction of the vehicle.

  The vehicle speed sensor 23 is a sensor that detects the speed of the vehicle. The vehicle speed sensor 23 generates a pulse signal for each predetermined rotation angle of the wheel by a known configuration such as a rotary encoder, and calculates the vehicle speed based on the pulse signal. Assume that the vehicle travel distance of the vehicle can be calculated by integrating the vehicle speed obtained by the vehicle speed sensor 23 in the ECU 10. The map information DB 24 is a database of various map information used in car navigation. The map information may include intersection position information and information on the presence or absence of traffic lights at each intersection.

  The camera 25 is equipped to take an image in front of the vehicle. The camera 25 is a CCD camera, for example, and takes a full color image. For example, the camera 25 may be disposed at a position where the front of the vehicle can be satisfactorily viewed in the passenger compartment. The display 26 is disposed at a position that is visible to the driver of the vehicle and displays various types of information. The speaker 27 notifies the driver of various information by voice.

  As described above, the ECU 10 has the function of a navigation ECU, and uses the GPS receiver 21, gyro sensor 22, vehicle speed sensor 23, and map information DB 24 to process car navigation (hereinafter abbreviated as “navigation”) as follows. Execute.

  The position calculation method in the navigation by the ECU 10 mainly includes GPS navigation, autonomous navigation, and map matching method. Among these, the GPS navigation is to calculate the position (latitude, longitude) of the vehicle on the earth by receiving a GPS signal from a GPS satellite by the GPS receiver 21.

  In the autonomous navigation, in the case of the above configuration, the vehicle position is calculated by obtaining the vehicle direction by a gyro sensor and integrating the vehicle speed detected by the vehicle speed sensor to obtain the travel distance. The CPU 11 may calculate the vehicle position by hybrid navigation combining the GPS navigation and the autonomous navigation.

  In hybrid navigation, for example, GPS navigation is used for occasional numerical corrections, including initial position determination. In other cases, the traveling direction and mileage of the vehicle are calculated momentarily by autonomous navigation, and then integrated. By doing so, the vehicle position may be calculated sequentially. By using hybrid navigation, GPS navigation is difficult to calculate the vehicle position in situations where it is difficult to receive radio waves from GPS satellites in tunnels or behind buildings, and in autonomous navigation, the distance traveled is integrated. Since errors can accumulate over time and the problem of reduced vehicle position accuracy can be compensated for each other, the vehicle position can be calculated with high accuracy.

  Then, the vehicle position obtained by the hybrid navigation may be corrected by the map matching method. In the map matching method, when the vehicle position obtained by the hybrid navigation is considered to be an inappropriate position in comparison with the map included in the map information DB 24, the map matching method is matched with the map included in the map information DB 24 and more appropriate. Correct the vehicle position.

  In the present embodiment, driving assistance processing procedures using the above-described configuration are shown in FIGS. The flowcharts of FIGS. 2 and 3 may be programmed and stored in the ROM 13 or the memory 14, and may be automatically and sequentially processed by the CPU 11. The processing shown in FIGS. 2 and 3 may be continuously executed while the driver is driving the vehicle.

  FIG. 4 shows a vehicle 30 heading for an intersection. There is an intersection in the traveling direction of the vehicle 30, and a traffic signal 32 for vehicles, a traffic signal 31 for pedestrians, and a pedestrian crossing are installed at the intersection. A stop line 33 on which the vehicle 30 should stop when the vehicle traffic signal 32 is displayed in red is marked in front of the pedestrian crossing. The pedestrian traffic light 31 has a signal lamp 31a for blue display and a signal light 31b for red display. The vehicle traffic light 32 has a signal light 32a for blue display, a signal light 32b for yellow display, and a red display. A signal lamp 32c is provided.

  In the process of FIG. 2, first, in S10, the current position and the traveling direction of the vehicle 30 are calculated. As described above, the present invention may execute the driving support process according to the present invention in parallel with the car navigation process performed by the ECU 10 at the same time. Therefore, in S10, the GPS receiver 21, the gyro sensor 22, the vehicle speed sensor 23, and the DB 24, which are performed every moment in the navigation, are used to calculate by executing a combination of GPS navigation, autonomous navigation, and map matching method. What is necessary is just to acquire the information of a vehicle position and the advancing direction.

  Next, in S20, information on the intersection position is acquired. The position of the intersection here may be the position of the center of the intersection, for example. In the present invention, the DB 24 stores the location information of intersections and the presence or absence of traffic lights 32 at each intersection. In S20, from the information in the DB 24 and the current position and traveling direction of the vehicle 30 obtained in S10, the intersection where the vehicle 30 is currently approaching and there is a traffic light 32 (hereinafter referred to as the next intersection). And the position information of the intersection is obtained.

  In step S30, the camera 25 captures an image ahead of the vehicle. As a result, a full-color image in which the next intersection is photographed is taken. The shooting by the camera 25 may be taken every time step S30 is executed, or may be taken at a predetermined cycle regardless of S30, and the latest image may be acquired in S30.

  Next, in S40, an image recognition process is performed on the image photographed in S30. The original full-color image before the image recognition process is performed is stored in the memory 14, for example.

  Details of the image recognition processing in S40 are shown in FIG. In the image recognition processing of FIG. 3, first, in S200, from the information on the traveling direction of the vehicle 30 acquired in S10, the direction of the intersection based on the traveling direction of the vehicle 30 (or based on the shooting direction of the camera 25) is determined. If the pedestrian signal 31 is installed at the intersection, the CPU 11 calculates in which area in the photographed image the pedestrian signal 31 should exist, and uses that area as a partial image. Take out. As a result, unnecessary portions of the captured image are excluded from the analysis target, so that the efficiency of the pattern matching process is improved.

  At that time, as shown in FIG. 4, when the pedestrian traffic lights 31 are installed, they are on the left and right sides in front of the vehicle 30, so that the pedestrians on the left and right sides are improved in order to improve the accuracy of the image recognition processing. The two regions that should have the traffic signal 31 may be extracted as partial images.

  In step S210, for example, a full color image is converted into a gray scale image (grayscale image), and then edge enhancement processing is executed. For this purpose, for example, an edge enhancement filter such as a Sobel filter may be applied to the gray scale image.

  Next, in S220, each point of the image in which the edge is emphasized is binarized with a predetermined threshold value or more and less, and a line image from which only the edge is extracted is acquired. Pattern matching is performed on the line image obtained in S220 in S240, which will be described later. At that time, the distance between the vehicle 30 and the pedestrian traffic light 31 is not constant. Size mismatch can be a problem.

  Accordingly, in S230, the relative image size is corrected with respect to the line image obtained in S210. Specifically, the distance between the vehicle 30 and the intersection is calculated from the position of the vehicle 30 obtained in S10 and the position of the intersection obtained in S20. Then, the larger the distance, the larger the relative size of the line image obtained in S220.

  Here, relative image size correction means that the size of the line image obtained in S220 and the pattern image 14 are relatively corrected. That is, enlarging (reducing) the relative size of the line image may be enlarging (reducing) the size of the line image, or reducing (enlarging) the size of the pattern image 14. Combinations are also possible. By correcting the relative size of the images in this way, the sizes of both images are made uniform, so that the accuracy of pattern matching is improved.

  Next, in S240, pattern matching is executed between the line image whose size has been corrected in S230 and the line image (pattern image) 14a of the pedestrian traffic light previously stored in the memory 14 (or ROM 13). . As a pattern matching method, a normalized correlation method or the like may be used. When the normalized correlation method is used, a normalized correlation coefficient is calculated from the line image obtained in S220 and the pattern image 14a, and when the numerical value is larger than a predetermined threshold, the line obtained in S220 is used. The image and the pattern image 14a are highly similar, and the line image obtained in S220 may be determined to be a pedestrian traffic light.

  Returning to FIG. 2, next, in S50, it is determined whether or not the image of the pedestrian signal at the next intersection existing in the traveling direction has been detected as a result of the image recognition in S40. As described above, when the image of the pedestrian signal can be detected in S230 (S50: YES), the process proceeds to S60, and when it cannot be detected (S50: NO), the process returns to S10 to detect the vehicle position or the intersection position. Repeat image capture.

  When the process proceeds to S60, since the image of the pedestrian signal at the next intersection can be detected, the color of the signal lamp in the detected image of the pedestrian signal is detected at S60. In this process, in the original full color image of the line image determined to be an image of the pedestrian traffic light 31 by pattern matching, there should be a red display lamp 31b and a blue display lamp 31a. The color information of one point or a plurality of points in the area is acquired. In the case of a plurality of points, the color may be determined by a determination method such as majority vote.

  From this color information, it is determined whether the pedestrian traffic light 31 is currently lit in blue display, lit in red display, or flashing in blue display. When the blue display is blinking, there is a possibility that the shooting moment is included in the period during which the blue display is off. Therefore, when neither blue nor red is detected, it may be set to determine that the blue display is blinking.

  If blue is detected by detecting color information, it cannot be determined from only one image at the present time whether the blue display is currently lit or blinking. Therefore, for the image taken in S30, a predetermined number of past images from the present time may be stored in the memory 14, for example. Then, in combination with the past image, it may be set to determine whether the blue display is currently lit or blinking.

  In S70, it is determined whether or not the color of the signal lamp detected in S60 is red. If the display is red (S70: YES), the process proceeds to S50. If the display is not red (S70: NO), the process returns to S10 again, and the above procedure is repeated until the pedestrian signal is displayed in red.

  In S80, an expected time when the vehicle traffic signal 32 is displayed in yellow is calculated. As described above, in the process of FIG. 2, since the process from S10 to S70 is repeated unless an affirmative determination is made in S70, when the process proceeds to S80, it is considered that the pedestrian traffic light 31 has changed to a red display. Can do.

  In S80, by adding the expected time from the time when the pedestrian traffic light 31 is changed to red display to the time when the vehicle traffic light 32 is changed to yellow display at the time when the pedestrian traffic light 31 is changed to red display, The expected time when the traffic light 32 changes to yellow display is calculated. Here, the estimated time from the time when the pedestrian traffic light 31 changes to red display to the time when the vehicle traffic light 32 changes to yellow display is obtained, for example, by calculating a statistical average value of the expected time in advance. A numerical value may be used.

  In S90, the vehicle speed is detected. This may be measured by the vehicle speed sensor 23. In S100, an expected time for the vehicle 30 to reach the stop line 33 is calculated. Specifically, the position of the stop line 33 is calculated from the intersection position obtained in S20, and the distance from the current position of the vehicle 30 obtained in S10 and the position of the stop line 33 to the stop line 33 is calculated. Further, the distance to the stop line 33 is divided by the vehicle speed obtained in S90.

  Thereby, the expected time to reach the stop line 33 is calculated. In the procedure for calculating the position of the stop line 33 from the intersection position obtained in S20, for example, an average positional relationship between the intersection position (intersection center position) and the stop line position is obtained in advance and stored. 14 and use this information.

  In S110, it is determined whether or not the vehicle can reach the stop line 33 while the vehicle signal is displayed in blue. Specifically, if the expected yellow display start time obtained in S80 is later than the expected stop line arrival time obtained in S100, the vehicle may reach the stop line 33 while it is displayed in blue. Judge that you can.

  Conversely, if the expected yellow display start time determined in S80 is earlier than the expected stop line arrival time determined in S100, it is determined that the vehicle does not reach the stop line 33 while it is displayed in blue. When it is determined that the vehicle reaches the stop line 33 while it is displayed in blue (S110: YES), the process of FIG. 2 is terminated, and when it is determined that the vehicle does not reach (S110: NO), the process proceeds to S120.

  In S120, the driver is notified of a message prompting the stop at the next signal. The message prompting you to stop at the next traffic light is, for example, “If you continue, it will turn into a yellow traffic light before you reach the next intersection.” Or more directly, “Please stop at the next traffic light.” The content may be a request for stopping. The notification method may be a display by characters on the display 26, a notification by sound from the speaker 27, or a combination thereof.

  In the above embodiment, the procedure of S30 constitutes the photographing means. The procedure of S80 constitutes the first calculation means. The procedure of S100 constitutes the second calculation means. The procedure of S110 constitutes a determination unit. The memory 14 constitutes a storage unit. The procedure of S240 constitutes a matching means. The procedure of S60 constitutes color information detection means. The procedure of S70 constitutes a change time detecting means. The procedure of S10 constitutes direction calculation means.

  The procedures of S200 and S240 constitute a partial image matching unit. The procedures of S10 and S20 constitute distance calculation means. The procedure of S230 constitutes correction means. The procedure of S10 constitutes vehicle position acquisition means. The procedure of S20 constitutes an intersection position acquisition unit. The procedure of S40 constitutes speed acquisition means. The procedure of S120 constitutes notification means.

1 Driving support device 10 ECU
21 GPS receiver 22 Gyro sensor 23 Vehicle speed sensor 24 Map information database 25 Camera 26 Display 27 Speaker

Claims (8)

Photographing means mounted on the vehicle for photographing an image in front of the vehicle;
A color change of a signal light of a traffic light for a pedestrian at an intersection existing in the traveling direction of the vehicle is detected from a captured image photographed by the photographing means, and a first prediction that the traffic signal for the vehicle at the intersection changes to a yellow display First calculating means for calculating time;
Second calculating means for calculating a second expected time for the vehicle to reach the intersection;
While the vehicle traffic signal at the intersection is blue, the vehicle is Determination means for determining whether or not to reach an intersection;
A driving support apparatus comprising: The first calculation means includes
A storage unit for storing a pattern image that is a line image of a traffic light for a pedestrian;
A matching unit that performs a matching process between the captured image and the pattern image, and determines whether or not a pedestrian traffic light is captured in the captured image;
The driving support device according to claim 1, comprising:   When it is determined by the matching unit that the pedestrian traffic signal is captured in the image captured by the capturing unit, the first calculation unit determines from the image of the pedestrian traffic signal in the image, The driving support device according to claim 2, further comprising color information detection means for detecting color information of a signal light of the pedestrian traffic light. According to the color information detected by the color information detection means, comprising a change time detection means for detecting a change time when the pedestrian traffic light has changed to a red display,
The driving support device according to claim 3, wherein the first calculation means calculates the first expected time according to the change time detected by the change time detection means. Direction calculating means for calculating the direction of the intersection based on the traveling direction of the vehicle;
The matching means includes the pedestrian traffic light if the pedestrian traffic light is installed at the intersection in the captured image in accordance with the direction of the intersection calculated by the direction calculation means. The driving support device according to claim 2, further comprising a partial image matching unit that extracts a region as a partial image and executes a matching process between the partial image and the pattern image. The first calculation means includes
A distance calculating means for calculating a distance between the vehicle and the intersection;
Correction means for correcting a relative size of an image photographed by the photographing means according to a distance between the vehicle and the intersection calculated by the distance calculating means;
The driving support device according to any one of claims 1 to 5, further comprising: Vehicle position acquisition means for acquiring vehicle position information;
An intersection position acquisition means for acquiring information of the position of the intersection;
Speed acquisition means for acquiring vehicle speed information;
With
The second calculation means is configured to calculate the second prediction from the vehicle position acquired by the vehicle position acquisition means, the signal position acquired by the signal position acquisition means, and the vehicle speed acquired by the speed acquisition means. The driving support device according to claim 1, wherein the time is calculated.   In the case where the determination means determines that the vehicle does not reach the intersection while the vehicle traffic signal at the intersection is displayed in blue, a notification means for notifying the driver of information prompting the stop at the intersection is provided. The driving support device according to any one of claims 1 to 7.

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