JP2011095929A - Driving assist apparatus for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving assist apparatus for vehicle which reduces operation load by excluding vehicles, and so on, that are unnecessary as control targets with a high degree of accuracy, even in heavily-trafficked running environment. <P>SOLUTION: A control device 10 selects a vehicle as a control target among other vehicles that are detected through a vehicle-to-vehicle communication and variably sets a selection area A of the control target other vehicle, based on road information and driving information of the own vehicle 50, for performing a matching on map data. Accordingly, even in heavily-trafficked running environment, vehicles, and so on, that are unnecessary as control targets can be excluded with a high degree of accuracy and operation load for map matching, and so on, can be reduced. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a driving support apparatus for a vehicle that performs driving support using information on the own vehicle and information acquired from another vehicle through inter-vehicle communication.

  In recent years, in order to improve the traffic situation and safety of vehicles such as automobiles, the construction of people, roads and vehicles as an integrated system using electronics technology, advanced navigation systems, automatic toll collection for toll roads, etc. Technical development of ITS (Intelligent Transport Systems) that promotes system establishment, safe driving support, traffic management optimization, and road management efficiency is underway.

  In addition, as a car that supports ITS technology, it is equipped with various sensors and information recognition devices for collecting various information such as the driving environment around the vehicle and road conditions, and the driver's safety based on the collected information and recognition results. Development of ASV (Advanced Safety Vehicle) that supports driving is also underway.

  In this ASV, various technologies are provided for driving support using wireless communication such as road-to-vehicle communication performed between a base station installed on the road and a mobile station mounted on a vehicle, and vehicle-to-vehicle communication performed between mobile stations. It is being considered. For example, as an information exchange type driving support utilizing inter-vehicle communication, vehicles with high possibility of collision are extracted from the received other vehicle information, and information is provided to the driver of the vehicle and alerts are given to prevent accidents. Many techniques have been proposed.

  In this type of driving support, for example, as disclosed in Patent Document 1, in order to determine the possibility of a collision with another vehicle, position information of the own vehicle and the other vehicle (for example, latitude / longitude Map matching (mapping) to the road network data is performed using the azimuth and the like, and the relative positional relationship between each other on the road is derived. At that time, in the technique of Patent Document 1, in order to reduce a calculation load or the like particularly in a place with a large amount of traffic, the degree of risk is low based on the distance from the own vehicle to another vehicle, a preset priority order, or the like. By eliminating the vehicles in advance, the number of vehicles actually performing the matching process is reduced.

JP 2008-65480 A

  However, since the technique disclosed in Patent Document 1 described above simply reduces the number of vehicles based solely on the distance from the host vehicle to another vehicle, a preset priority order, and the like, it is always optimal. Vehicle reduction is not always done, especially in a driving environment where there are many vehicles (communication vehicles) in the vicinity of the host vehicle, such as a city road with two or more lanes on one side. It may be difficult to reduce the number of vehicles to a sufficient number. As a result, the load of matching processing or the like is not sufficiently reduced, and accordingly, there is a possibility that processing such as information provision or alerting will be delayed, leading to driver distrust or the like.

  The present invention has been made in view of the above circumstances, and provides a driving support device for a vehicle that can accurately eliminate unnecessary vehicles and the like as a control target even in a traveling environment with a large amount of traffic, thereby reducing a calculation load. The purpose is to do.

  The present invention selects inter-vehicle communication means for transmitting / receiving information to / from other vehicles using inter-vehicle communication, and other vehicles to be controlled from other vehicles detected through the inter-vehicle communication, and map data It is characterized by comprising matching means for matching above, and selection area setting means for variably setting the selection area of the other vehicle to be controlled based on road information and driving information of the own vehicle.

  According to the vehicle driving support device of the present invention, it is possible to accurately eliminate unnecessary vehicles and the like as control objects even in a traveling environment with a large amount of traffic, thereby reducing the calculation load.

Schematic configuration diagram of a vehicle driving support device Flow chart showing driving support control routine Flow chart showing selection area setting subroutine Flow chart showing a driving environment information setting subroutine Explanatory drawing which shows the small area | region set in each traveling path

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The drawings relate to an embodiment of the present invention, FIG. 1 is a schematic configuration diagram of a vehicle driving support device, FIG. 2 is a flowchart showing a driving support control routine, FIG. 3 is a flowchart showing a selection area setting subroutine, and FIG. A flow chart showing the environment information setting subroutine, and FIG. 5 are explanatory diagrams showing small areas set in each travel path.

  A driving support device 1 shown in FIG. 1 has a communication function with a surrounding vehicle (another vehicle), a communication device installed on a shoulder of a road, a communication center, or the like, and is mounted on a vehicle (own vehicle) 50 such as an automobile. Yes. In the present embodiment, the communication in the driving support device 1 is mainly constructed by inter-vehicle communication for exchanging various information through communication between the host vehicle 50 and other vehicles, and the driving support device 1 acquires the information acquired by the inter-vehicle communication. And driving assistance such as collision prevention assistance based on the information acquired by the vehicle 50 itself.

  The driving support device 1 is configured with a control device 10 as a center. More specifically, the control device 10 includes a navigation device 11, a communication device 12, a vehicle control device 13, an alarm device 14, and the like. The main part is configured so as to be capable of bidirectional communication via an in-vehicle communication system 15 such as (Controller Area Network).

  The navigation device 11 performs various operations for route guidance of the driver, such as searching for an optimum route from the current position of the host vehicle 50 to the destination and outputting route guidance for the set route. The position of the vehicle 50 is measured, and the position of the own vehicle and the map data are calculated and synthesized, and in response to operation inputs such as changing the scale of the map, detailed display of place names, and switching display of area information, the own vehicle 50 Is displayed on the display, and various information such as road / traffic information received via the communication device 12 is displayed.

  In this case, specifically, the position of the host vehicle 50 is determined from the position of the host vehicle 50 based on radio waves from a positioning satellite such as GPS (Global Positioning System), a geomagnetic sensor, and a wheel speed sensor. Positioning is performed based on the position of the host vehicle 50 by dead reckoning navigation based on this signal. The map data is mainly composed of road network information in which a plurality of nodes having various road information are connected by links, and the position of the measured vehicle 50 is determined by map matching on the map data. Synthesized. The information such as the position information generated in this way is also transmitted to other devices in the host vehicle 50 via the in-vehicle communication system 15, and further, other information is transmitted by inter-vehicle communication via the communication device 12. Also sent to the vehicle.

  For example, the communication device 12 is a device compatible with ITS (Intelligent Transport Systems), receives light and radio wave beacons from road incidental facilities, and receives traffic congestion information, weather information, and traffic regulation information for a specific area. The vehicle functions as vehicle-to-vehicle communication means for acquiring vehicle information and performing vehicle-to-vehicle communication with other vehicles traveling around the host vehicle 50. In the inter-vehicle communication in the present embodiment, communication with a vehicle existing in a communicable area is performed using a carrier signal in a predetermined frequency band, and positioning information, vehicle type, vehicle position, vehicle speed, acceleration / deceleration, brake Exchanges information such as operating status and turn signal status.

  The vehicle control device 13 is composed of control controllers such as engine control, transmission control, VDC (Vehicle Dynamics Control), and the like. Control functions such as follow-up control for a traveling vehicle and deceleration by automatic braking are provided. Driving information such as the engine speed, speed (vehicle speed), gear position, and brake operating state of the host vehicle 50 in the vehicle control device 13 is sent to the in-vehicle communication system 15.

  The control device 10 derives the relative positional relationship between the host vehicle 50 and the other vehicle on the road by map-matching another vehicle detected by the inter-vehicle communication using the communication device 12 on the map data. . In this embodiment, for example, digital map data supplied from the navigation device 11 via the in-vehicle communication system 15 is used as the map data.

  In order to reduce such calculation processing in map matching, the control device 10 performs selection processing for narrowing down other vehicles to be controlled from other vehicles detected through inter-vehicle communication. In the present embodiment, in this selection process, the selection is performed mainly with respect to a partner vehicle (another vehicle) in a collision accident in which the host vehicle 50 can be the first party. In the present embodiment, this selection process is performed by extracting other vehicles in the selection area A set on the map data. In this selection process, the control device 10 determines the road information (road Type, road shape, road width, presence / absence of intersections, presence / absence of traffic lights, and the like, and driving information (vehicle speed, turn signal state, etc.) associated with the driver's driving behavior, etc. are variably set. The blinker state of the host vehicle 50 is input to the control device 10 directly from a blinker switch (not shown) or via the in-vehicle communication system 15, for example.

  Here, for example, the control device 10 variably sets individual small areas a in front of the own vehicle 50 or in a plurality of directions with the own vehicle 50 as a reference, and 1 or 2 selected from the set small areas a The selected area A is set by combining the small areas a in the above directions. More specifically, for example, when the own vehicle 50 is located on a single road where there is no nearest intersection, the control device 10 variably sets the small region af in the forward direction of the own vehicle 50, and sets the small region af. It is set as the selection area A (see FIG. 5A). On the other hand, for example, when the host vehicle 50 is located immediately before the intersection, the control device 10 variably sets the individual small areas af, ab, al, ar in the front-rear and left-right directions of the host vehicle 50, and these small areas a A selected area A is set by a combination of small areas a in one or more directions selected from (see FIGS. 5B and 5C). In FIG. 5 (b), for example, a selection area A configured by a combination of small areas af, al, and ar in the front, left, and right directions is indicated by a thick frame, and FIG. 5 (c). For example, the selection area A constituted by a combination of the rear and left small areas ab and al is indicated by a thick frame.

  Thus, in this embodiment, the control apparatus 10 implement | achieves each function as a matching means and a selection area | region setting means. These functions can also be realized by the navigation device 11 or the like, for example.

  And the control apparatus 10 determines the collision of the own vehicle 50 based on the relative relationship between the own vehicle 50 map-matched on the map data and the other vehicle, and determines that the possibility of the collision with the other vehicle is high. In this case, alarm control through the alarm device 14 and deceleration by automatic braking through the vehicle control device 13 are appropriately performed.

  Next, the driving support control executed by the control device 10 will be described according to the flowchart of the driving support control routine shown in FIG. This routine is repeatedly executed every set time. When the routine starts, the control device 10 firstly controls the control target from other vehicles detected through the inter-vehicle communication in the communication device 12 in step S101. A selection area A for selecting the other vehicle is set. The setting of the selection area A is executed, for example, according to the flowchart of the selection area setting subroutine shown in FIG. 3. When the subroutine starts, the control device 10 first determines whether the current vehicle travel path is in step S201. Then, it is checked whether or not the road is a single road having no intersection within a set distance in front of the host vehicle 50.

  If it is determined in step S201 that the current host vehicle traveling path is a single road, the control device 10 proceeds to step S203.

  On the other hand, if it is determined in step S201 that the current vehicle traveling path is not a single road but an intersection exists ahead of the vehicle traveling path, the control device 10 proceeds to step S202, where the current vehicle position is immediately before the intersection. It is examined whether or not. If it is determined in step S202 that the current vehicle position is not immediately before the intersection, the control device 10 proceeds to step S203.

  When the process proceeds from step S201 or step S202 to step S203, the control device 10 sets a small area af (see FIG. 5A) only in the front direction of the host vehicle 50 as a small area for configuring the selection area A. Then, the process proceeds to step S210.

  On the other hand, if it is determined in step S202 that the current host vehicle position is immediately before the intersection, the control device 10 proceeds to step S204, and the host vehicle 50 is set as a small region for configuring the selection region A for the other vehicle. Small regions af, ab, al, and ar (see FIGS. 5B and 5C) are set in each of the front, rear, left and right directions (each direction according to the branching state of the intersection).

  In this case, each small region a set in step S203 or step S204 has a length along the road extending direction, for example, the link length of the number of links set on the map data, or the set distance on the map data The number of links to be set or the set distance is variably set according to the vehicle speed of the host vehicle 50, for example. Further, the width of the small area is variably set according to various types of information such as road type, road shape, road width, etc. attached to the nodes on the map data.

  If it progresses to step S205 from step S204, the control apparatus 10 will investigate whether the turn signal of the own vehicle 50 is in an ON state.

  In step S205, when it is determined that the turn signal is in an OFF state and the driver intends to go straight in the intersection just before the own vehicle 50, the control device 10 proceeds to step S206, and based on the map data and the like, It is checked whether there is a traffic light at the intersection just before the car 50. As a result, the control device 10 proceeds to step S210 when it is determined that there is a traffic signal at the intersection immediately before the host vehicle 50, and proceeds to step S211 when it is determined that there is no traffic signal at the intersection immediately before the host vehicle 50.

  When the process proceeds from step S203 or step S206 to step S210, the control device 10 sets the selection area A having only the small area af in front of the host vehicle 50 as a component, and then exits the subroutine. In other words, when the host vehicle 50 is traveling on a single road or the like where there is no nearest intersection, other vehicles with which the host vehicle 50 may collide as the first party are unlikely to be other than the preceding vehicle or the oncoming vehicle. Therefore, the control device 10 configures the selection area A using only the small area af in front of the host vehicle 50. In addition, when the own vehicle 50 enters the intersection with a traffic signal, it is expected that other vehicles existing on the road in the direction of the left or right turn of the own vehicle 50 are stopped. When the vehicle goes straight, it is difficult to consider other vehicles that may collide with the host vehicle 50 as the first party other than the preceding vehicle or the oncoming vehicle (particularly, the oncoming vehicle that goes straight or turns right in the intersection). Therefore, the control device 10 configures the selection area A using only the small area af in the forward direction of the host vehicle 50.

  On the other hand, when the process proceeds from step S206 to step S211, the control device 10 selects the selection area A including the front small area af, the left small area al, and the right small area ar of the host vehicle 50 as constituent elements. After setting, exit the subroutine. That is, when the own vehicle 50 enters the intersection where there is no traffic signal, the other vehicle having the possibility of collision with the own vehicle 50 as the first party is a preceding vehicle or an oncoming vehicle (particularly, go straight or turn right in the intersection) In addition to the oncoming vehicle, other vehicles existing on the road in the direction of turning left and right of the host vehicle 50 are conceivable. Therefore, the control device 10 configures the selection area A using the small areas al and ar in the left-right direction of the host vehicle 50 in addition to the small area af in the front direction of the host vehicle 50.

  If it is determined in step S205 that the winker is in an ON state and the driver does not intend to go straight through the intersection, the control device 10 proceeds to step S207 and determines whether or not the left turn winker is ON. Investigate.

  In step S207, when it is determined that the turn signal for the left turn is in the ON state and the driver intends to turn left in the intersection immediately before the host vehicle 50, the control device 10 proceeds to step S208, and stores the map data and the like. Based on this, it is checked whether there is a traffic light at the intersection just before the host vehicle 50. As a result, the control device 10 proceeds to step S212 when it is determined that there is a traffic signal at the intersection immediately before the host vehicle 50, and proceeds to step S213 when it is determined that there is no traffic signal at the intersection immediately before the host vehicle.

  When the process proceeds from step S208 to step S212, the control device 10 sets the selection area A including the small area ab in the rear direction of the host vehicle 50 and the small area al in the left direction as components, and then exits the subroutine. That is, when the own vehicle 50 enters the intersection with a traffic light, it is expected that other vehicles existing on the road in the direction of the left or right turn of the own vehicle 50 are stopped, and the own vehicle 50 passes through such an intersection. When the vehicle makes a left turn, it becomes possible to exclude other vehicles existing on the road in the right turn direction of the own vehicle 50 from other vehicles with which the own vehicle 50 may collide as the first party. Further, when the own vehicle 50 turns left, the own vehicle 50 enters the left turn road without crossing the traveling roads of the preceding vehicle and the oncoming vehicle, so that the front direction of the own vehicle 50 can be excluded as a monitoring target. On the other hand, when the own vehicle 50 makes a left turn, it is necessary to pay attention to a following vehicle (another vehicle) such as a motorcycle that makes a left turn while interrupting the inside of the turning direction of the own vehicle 50. Therefore, the control device 10 configures the selection area A by using the rear small area ab and the left small area al of the own vehicle 50.

  On the other hand, when the process proceeds from step S208 to step S213, the control device 10 selects the selection area A including the rear small area ab, the left small area al, and the right small area ar as the components. After setting, exit the subroutine. That is, when the own vehicle 50 enters the intersection where there is no traffic signal, other vehicles that the vehicle 50 may collide with as the first party include other vehicles in the rear direction of the own vehicle 50 and in the left direction of the own vehicle 50. In addition to this, other vehicles existing on the road in the right turn direction of the host vehicle 50 are conceivable. Therefore, the control device 10 configures the selection region A using the small area ar in the right direction of the own vehicle 50 in addition to the small area ab in the backward direction of the own vehicle 50 and the small area al in the left direction of the own vehicle 50. .

  Further, when it is determined in step S207 that the left turn turn signal is not in the ON state (the right turn turn signal is in the ON state) and the driver determines that he / she intends to turn right inside the intersection immediately before the own vehicle 50, the control device 10 The process proceeds to step S209, and it is checked whether there is a traffic light at the intersection just before the host vehicle 50 based on the map data or the like. As a result, the control device 10 proceeds to step S214 when determining that there is a traffic light at the intersection immediately before the host vehicle 50, and proceeds to step S215 when determining that there is no traffic signal at the intersection immediately before the host vehicle.

  When the process proceeds from step S209 to step S214, the control device 10 sets the selection area A including the small area af in the front direction of the host vehicle 50 and the small area ar in the right direction as constituent elements, and then exits the subroutine. That is, when the own vehicle 50 enters the intersection with a traffic light, it is expected that other vehicles existing on the road in the direction of the left or right turn of the own vehicle 50 are stopped. When the vehicle makes a right turn, it is possible to exclude other vehicles existing on the road in the left turn direction of the own vehicle 50 from other vehicles in which the own vehicle 50 may collide as the first party. In addition, when the host vehicle 50 makes a right turn, it is unlikely that the host vehicle 50 will involve a succeeding vehicle, so the backward direction of the host vehicle 50 can be excluded as a monitoring target. On the other hand, when the own vehicle 50 makes a right turn, it is necessary to pay attention to an oncoming vehicle that goes straight or turns right in the intersection. Therefore, the control device 10 configures the selection area A using the front small area af and the right small area ar of the host vehicle 50.

  On the other hand, when the process proceeds from step S209 to step S215, the control device 10 selects the selection area A including the front small area af, the left small area al, and the right small area ar of the host vehicle 50 as constituent elements. After setting, exit the subroutine. In other words, when the host vehicle 50 enters an intersection where there is no traffic signal, other vehicles that may collide with the host vehicle 50 as the first party include the other vehicles in the forward and right directions of the host vehicle 50, Other vehicles existing on the road in the direction in which the car 50 is to be considered are conceivable. Therefore, the control device 10 configures the selection area A using the small area al in the left direction of the host vehicle 50 in addition to the small area af in the front direction and the small area ar in the right direction of the own vehicle 50.

  In the main routine of FIG. 2, when the process proceeds from step S101 to step S102, the control device 10 extracts other cars existing in the selected area A set in step S101 from other cars detected through inter-vehicle communication or the like. (Selection) and the travel environment information in which the selected other vehicle information is reflected on the map data by map matching is calculated. Specifically, this arithmetic processing is executed, for example, according to the flowchart of the travel environment information extension subroutine shown in FIG. 4. When the subroutine starts, the control device 10 first selects the selected area A in step S301. Other vehicles existing inside are selected as control targets.

  Then, when the process proceeds from step S301 to step S302, the control device 10 checks whether or not the matching on the map data has been completed for all the selected other vehicles. Proceed to step S303.

  When the process proceeds from step S302 to step S303, the control device 10 extracts other vehicles that have not been map-matched yet, and in subsequent step S304, checks whether or not the extracted other vehicles are stopped.

  If it is determined in step S304 that the other vehicle is stopped, the control device 10 proceeds to step S305 and checks whether or not previous matching data exists for the other vehicle.

  If it is determined in step S305 that there is matching data calculated last time for the other vehicle that is stopped, the control device 10 proceeds to step S306, stores the previous data as it is as the current matching data, and then step S302. Return to. That is, when there is matching data extended last time for the other vehicle that is stopped, the other vehicle exists in the same position as the previous time on the map data, so the control device 10 diverts the previous matching data as it is. Simplify calculations with

  On the other hand, if it is determined in step S305 that there is no matching data previously calculated for the other vehicle that is stopped, the control device 10 proceeds to step S307.

  When the process proceeds from step S304 or step S305 to step S307, the control device 10 performs matching processing on the map data for the other vehicle currently being extracted, and in step S308, after saving the calculation result, the process proceeds to step S302. Return.

  If it is determined in step S302 that the matching on the map data has been completed for all selected other vehicles, the control device 10 exits the subroutine.

  In the main routine of FIG. 2, when the process proceeds from step S102 to step S103, the control device 10 exits from the routine after performing collision prevention support with another vehicle based on the travel environment information calculated in step S102. That is, in step S103, the control device 10 performs a collision determination with another vehicle based on the recognized traveling environment information, and determines that there is a high possibility of a collision, Brake control or the like through the vehicle control device 13 is performed.

  According to such an embodiment, when selecting another vehicle to be controlled from other vehicles detected through inter-vehicle communication and matching on the map data, the selection area A of the other vehicle to be controlled is By variably setting the vehicle 50 based on the road information and driving information, even in a driving environment with a large amount of traffic, it is possible to accurately eliminate unnecessary vehicles and the like as control objects and reduce the computational load such as map matching. be able to.

  In this case, when the own vehicle 50 is located immediately before the intersection, individual small areas a are variably set in a plurality of directions based on the own vehicle 50, and one or two or more selected from these small areas a are selected. By configuring the selection area A by the combination of the small areas a in the direction, a suitable selection area A can be set. In particular, individual small areas af, ab, al, and ar are variably set in the front-rear and left-right directions of the vehicle, and the small ones in one or more directions are selected from these small areas a based on the driving information of the vehicle 50 and the like. By configuring the selection area A by combining the areas a, a suitable selection area A can be set.

In the above-described embodiment, the case where the intersection is a cross road has been described as an example. However, the present invention is not limited to this, and can be applied to a case where the intersection is a T-junction, for example. is there. In this case, for example, the present invention can be applied by omitting the small areas af, al, or ar in the direction in which there is no road on which the host vehicle 50 can travel in the processing in step S204 described above. It is. The present invention can also be applied when, for example, the intersection is five or more roads. In this case, for example, when there are two roads where the own vehicle 50 can travel in the right direction, two small areas al (for example, small areas al1 and al2) are displayed in the right direction in the above-described processing in step S204 and the like. By setting, it is possible to apply the present invention.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance device 10 ... Control device (matching means, selection area setting means)
11 ... Navigation device 12 ... Communication device (vehicle-to-vehicle communication means)
DESCRIPTION OF SYMBOLS 13 ... Vehicle control apparatus 14 ... Alarm apparatus 15 ... In-vehicle communication system 50 ... Own vehicle (own vehicle)
a ... Small area A ... Selected area

Claims (12)

Vehicle-to-vehicle communication means for transmitting and receiving information to and from other vehicles using vehicle-to-vehicle communication;
Matching means for selecting other vehicles to be controlled from other vehicles detected through the inter-vehicle communication and matching on map data;
A driving support apparatus for a vehicle, comprising: a selection area setting unit that variably sets a selection area of another vehicle to be controlled based on road information and driving information of the host vehicle.   The selection area setting means variably sets individual small areas in a plurality of directions based on the own vehicle when the own vehicle is located immediately before the intersection, and one or more directions selected from these small areas The vehicle driving support apparatus according to claim 1, wherein the selection area is configured by a combination of the small areas.   The vehicle driving support apparatus according to claim 2, wherein the selection area setting means variably sets the combination of the small areas to be selected based on turn signal information of the own vehicle.   4. The vehicle driving support device according to claim 3, wherein the selection area setting means variably sets the combination of the small areas to be selected based on the presence / absence of a traffic signal on the intersection.   The selection area setting means variably sets individual small areas in the front-rear and left-right directions of the own vehicle when the own vehicle is located immediately before the intersection, and the small area in one or more directions selected from these small areas is selected. The vehicle driving support apparatus according to claim 1, wherein the selected area is configured by a combination of areas.   The selection area setting means determines the selection area by combining the small areas in front, left, and right directions of the own vehicle when it is determined that the own vehicle goes straight in the intersection based on turn signal information of the own vehicle. The vehicle driving support device according to claim 5, wherein the vehicle driving support device is configured.   7. The vehicle driving support apparatus according to claim 6, wherein the selection area setting means excludes the left and right small areas from the selection area when there is a traffic light at the intersection. .   When the selection area setting means determines that the vehicle turns left inside the intersection based on turn signal information of the vehicle, the selection area is determined by a combination of the small areas in the left and right directions after the vehicle. The vehicle driving support device according to claim 5, wherein the vehicle driving support device is configured.   9. The vehicle driving support apparatus according to claim 8, wherein the selection area setting means excludes the small area in the right direction from the selection area when there is a traffic light on the intersection.   When the selection area setting means determines that the vehicle turns right inside the intersection based on the turn signal information of the vehicle, the selection area setting means determines the selection area by combining the two areas in front, left, and right directions of the vehicle. The vehicle driving support device according to claim 5, wherein the vehicle driving support device is configured.   11. The vehicle driving support apparatus according to claim 10, wherein the selection area setting means excludes the small area in the left direction from the selection area when there is a traffic light on the intersection.   The vehicular driving according to any one of claims 1 to 11, wherein the matching means holds previous matching information when the vehicle speed of the other vehicle is zero. Support device.

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