JP2012048655A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device that prevents such a driving operation as vehicles not responding to vehicle-to-vehicle communication have to take an action of avoiding by a sudden driving operation, and prevents such a driving support as a collision has to be avoided by the sudden driving operation.SOLUTION: In a driving support device, driving support-performing notification means preliminarily notifies, through communication means, peripheral vehicles of the content performed as a driving support before the driving support of a driver's vehicle is performed on the basis of peripheral information of the driver's vehicle. Then, when non-response vehicles exist, it is determined that the non-response vehicles do not respond to the communication and do not know the content of a driving support control of the driver's vehicle. When the non-response vehicles exist in the periphery, driving support control means appropriately adjusts the content of the driving support so that the non-response vehicles can respond to the communication.

Description

  The present invention relates to a driving support device that changes driving support contents based on a result of inter-vehicle communication with surrounding vehicles.

  Conventionally, safety is improved by cooperatively controlling the host vehicle and other vehicles based on road information providing devices such as roadside devices and infrastructure information (for example, road conditions and control information) acquired by information communication from other vehicles. Infrastructure coordination systems are known. For example, in Patent Document 1, traveling information of a vehicle traveling before and after the own vehicle is acquired by inter-vehicle communication, and the own vehicle and the preceding and following vehicles collide from behavior predicted from the traveling information of the own vehicle and surrounding road conditions. A technique for performing collision avoidance control by transmitting a traveling state of a host vehicle and a warning to another vehicle when it is determined that there is a high risk of the collision is disclosed.

JP 2009-3766

  In the invention described in Patent Document 1 above, it is assumed that the front and rear vehicles are equipped with inter-vehicle communication devices. However, since the penetration rate of inter-vehicle communication and road-to-vehicle communication is not so high, there are many vehicles that cannot perform cooperative control on an actual road. A vehicle that does not support vehicle-to-vehicle communication or road-to-vehicle communication as described above cannot know what control is performed by the surrounding vehicle by driving support. When the control is performed, there is a problem that the non-compliant vehicle may have to avoid a collision with the control vehicle by an abrupt driving operation.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a driving support device that prevents driving support in which another vehicle that does not know the content of the driving support control of the host vehicle must avoid a collision by an abrupt driving operation. .

  In order to solve the above-described problem, in the driving support device according to the present invention, the content of driving support for the host vehicle is determined based on communication means for communicating between the host vehicle and another vehicle and the surrounding information of the host vehicle. Based on the presence / absence of a response to the driving support execution notification, the driving support execution means for executing driving support, the driving support execution notifying means for notifying the surrounding vehicle of the driving support by the communication means, and the driving support execution notification Driving support control means for adjusting the content of the driving support is provided.

  As described above, in the driving support device according to the present invention, the driving support execution notifying means is a driving that is performed on the surrounding vehicle in advance before the driving support of the own vehicle is performed based on the surrounding information of the own vehicle. Notify the support contents via communication means. When there is a vehicle that does not respond to the notification in the vicinity (hereinafter referred to as “non-response vehicle”), the non-response vehicle does not support communication and knows the content of the driving support control of the own vehicle. Judge that there is no. When there is a non-response vehicle in the vicinity, the driving support control means appropriately adjusts the content of the driving support so that the non-response vehicle can respond. In this way, a vehicle that cannot know the content of the driving support control of the host vehicle because it does not support road-to-vehicle communication or vehicle-to-vehicle communication must avoid collision with the host vehicle due to a sudden driving operation. Driving assistance that must be avoided can be prevented.

  Further, the content of the driving support determined by the driving support determining means includes at least acceleration / deceleration control, and the driving support control means determines that there is a vehicle that does not respond to the driving support execution notification. It is preferable to reduce the control amount of acceleration / deceleration by driving assistance.

  When the host vehicle suddenly accelerates or decelerates by driving support, the front and rear vehicles that do not know the content of the driving support control of the host vehicle may need to avoid a collision with the host vehicle by a rapid driving operation. Therefore, when there is a vehicle that does not respond to the driving support execution notification, the driving support control means reduces the amount of acceleration / deceleration control by driving support. By doing in this way, a non-response vehicle can make it easy to respond | correspond to a control vehicle.

  The communication means is preferably vehicle-to-vehicle communication.

  According to the present invention, it is possible to reliably communicate with surrounding vehicles equipped with similar devices by means of the inter-vehicle communication means, and it is possible to perform the driving support as described above more accurately.

  In addition, when there is a vehicle that does not respond to the driving support execution notification, the driving support control means notifies the driver of the own vehicle of information regarding the vehicle that does not respond to the driving support execution notification. It is preferable to adopt an embodiment.

  In performing driving support in the driving support device, the non-response vehicle cannot perform control in cooperation with the own vehicle. Therefore, when there is a non-response vehicle in the vicinity of the host vehicle, the driver of the host vehicle is notified of the vehicle that moves in cooperation with the host vehicle and the vehicle that does not, and the safety is further enhanced by calling attention. be able to.

  Further, when receiving a response to the driving support execution notification, the driving support control means preferably adjusts the content of the driving support based on the accuracy of the predicted distance between the other vehicle that made the response and the host vehicle. It is.

  It is desirable that the content of the driving assistance is corrected based on the distance between the host vehicle and the surrounding vehicle. However, when the measurement accuracy of the distance between the host vehicle and the surrounding vehicle is poor, determining the driving support content based on the distance information may reduce the appropriateness of the support content. For this reason, when it is determined that the distance measurement accuracy is poor, it is possible to provide driving assistance that can be more appropriately handled by surrounding vehicles by adjusting the content of driving assistance.

  ADVANTAGE OF THE INVENTION According to this invention, the driving assistance apparatus which prevents the driving assistance from which the other vehicle which does not know the content of the driving assistance control of the own vehicle must avoid a collision by a rapid driving operation can be provided.

It is a top view which shows the condition where the driving assistance device of the 1st Embodiment of this invention is applied. It is a block block diagram of the driving assistance device of the present invention. It is a flowchart about operation | movement of the driving assistance apparatus which concerns on the 1st Embodiment of this invention. It is a graph showing the deceleration control before adjusting the control amount of driving assistance, and the deceleration control after adjustment. It is an example in which the information regarding a non-response vehicle is displayed on the display device. It is a top view which shows the condition where the driving assistance device of the 2nd Embodiment of this invention is applied. It is a flowchart about operation | movement of the driving assistance device which concerns on the 2nd Embodiment of this invention.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same or equivalent elements will be denoted by the same reference numerals, and redundant description will be omitted.

(First embodiment)
FIG. 1 is a plan view showing a situation where the driving support apparatus according to the first embodiment of the present invention is applied. In the following description, as shown in FIG. 1, it is assumed that the control vehicle V0 on which the driving support device 1 is mounted is traveling toward an intersection where the traffic light S is provided. Further, it is assumed that a front vehicle V1 traveling in front of the control vehicle V0 and a rear vehicle V2 traveling behind the control vehicle V0 are traveling toward the intersection on the same lane. Furthermore, the roadside apparatus 2 which detects and transmits the lighting state of the traffic light S and the traveling state of a vehicle traveling around the intersection is assumed to be provided on the roadside near the intersection.

  FIG. 2 is a block diagram showing the configuration of the driving support apparatus of the present invention. The driving support device 1 according to the present embodiment is mounted on a vehicle such as a control vehicle V0. The driving support device 1 includes a driving support ECU (Electronic Control Unit) 3, a road-vehicle communication device 11, an inter-vehicle communication device 12, a display device 13, a speaker 14, a brake ECU 15, an engine ECU 16, a steering wheel. ECU17.

  The driving assistance device 1 communicates with the roadside device 2 by wireless communication performed between the road-vehicle communication device 11 and the road-vehicle communication device 21. The roadside device 2 includes a traffic information acquisition unit 22 that collects signal information and control information of intersections with the road-to-vehicle communication device 21. The roadside device 2 transmits the collected various information to the surrounding vehicles by the road-to-vehicle communication device 21.

  The driving support ECU 3 is connected to a road-to-vehicle communication device 11 and a vehicle-to-vehicle communication device 12 which are in-vehicle communication devices for communicating with the outside of the control vehicle V0.

  The road-vehicle communication device 11 includes a communication antenna and the like, and is a wireless communication device for communicating with a road information providing device such as the roadside device 2. The road-to-vehicle communication device 11 transmits a road-to-vehicle signal from the control vehicle V 0 to the road-side device 2 and receives a road-to-vehicle signal from the road-side device 2. The road-vehicle communication device 11 modulates various information input from the driving support ECU 3, and transmits the modulated road-vehicle signal from the communication antenna. Further, the road-to-vehicle signal from the roadside device 2 received by the communication antenna is demodulated, and the demodulated road information is output to the driving support ECU 3.

  The inter-vehicle communication device 12 includes a communication antenna and the like, and is a wireless communication device for communicating between the control vehicle V0 and surrounding vehicles such as the front vehicle V1 and the rear vehicle V2. The inter-vehicle communication device 12 transmits an inter-vehicle signal from the control vehicle V0 to surrounding vehicles such as the front vehicle V1 and the rear vehicle V2 existing within a predetermined distance, and from surrounding vehicles existing within a predetermined distance. Receive the inter-vehicle signal. The inter-vehicle communication device 12 modulates various information input from the driving support ECU 3 and transmits the modulated inter-vehicle signal from the communication antenna. Further, the inter-vehicle communication device 12 demodulates the inter-vehicle signal from the surrounding vehicle received by the communication antenna, and outputs the demodulated information on the surrounding vehicle to the driving support ECU 3.

  Further, a display device 13, a speaker 14, a brake ECU 15, an engine ECU 16, and a steering ECU 17 are connected to the driving support ECU 3.

  The display device 13 is, for example, a general display installed in the vehicle, displays various information output from the driving support ECU 3, and notifies the driver. The display device 13 is not limited to a general display, and may be a head-up display or the like. The speaker 14 is also installed in the vehicle and notifies the driver of various information output from the driving support ECU 3 by voice.

  The brake ECU 15 controls a brake that is an actuator in accordance with an output signal from the driving support ECU 3. Similarly, the engine ECU 16 and the steering ECU 17 control the throttle opening and the steering, respectively, according to the output signal from the driving support ECU 3.

  The driving support ECU 3 includes, for example, a CPU, a ROM, a RAM, and the like, and includes a driving support determination unit 31, a driving support execution notification unit 32, and a driving support control unit 33. The driving support determination unit 31 comprehensively determines the traveling state of the control vehicle V0 and the infrastructure information acquired from the road-to-vehicle communication device 11 and the vehicle-to-vehicle communication device 12, and determines appropriate driving support. The content of the determined driving support is transmitted to the driving support execution notification unit 32. The driving support execution notification unit 32 sends the content of the driving support determined by the driving support determination unit 31 to the inter-vehicle communication device 12, and the inter-vehicle communication device 12 notifies the front vehicle V1 and the rear vehicle V2 of the content of the driving support. To do. The content of the driving support notified by the driving support execution notification unit 32 is also sent to the driving support control unit 33.

  The driving support control unit 33 is determined by the driving support determination unit 31 based on the content of the driving support notified by the driving support execution notification unit 32 and the responses from the front vehicle V1 and the rear vehicle V2 to the driving support execution notification. Adjust the details of driving assistance.

  When there is a response to the execution permission of the driving support content from the front vehicle V1 and the rear vehicle V2, the driving support control unit 33 determines to execute the driving support determined by the driving support determination unit 31. On the other hand, when the front vehicle V1 and the rear vehicle V2 make a response that the execution of the driving assistance is not permitted, the driving assistance control unit 33 determines not to perform the driving assistance control. When there is no response to the driving support execution notification from the front vehicle V1 or the rear vehicle V2, the content of the driving support is appropriate so that it is not necessary for the unanswered vehicle to avoid a collision with the control vehicle V0 due to a sudden driving operation. Adjust to. The driving support control unit 33 outputs control information regarding the determined driving support to the display device 13, the speaker 14, the brake ECU 15, the engine ECU 16, and the steering ECU 17.

  Next, operation | movement of the driving assistance apparatus 1 which concerns on this embodiment is demonstrated. FIG. 3 is a flowchart showing a driving support operation by the driving support device 1. Here, in the present embodiment, a procedure for adjusting driving assistance when driving assistance including acceleration / deceleration control is performed in a road situation as shown in FIG. 1 will be described.

  The driving support device 1 mounted on the control vehicle V0 periodically monitors whether infrastructure information is transmitted by road-to-vehicle communication or vehicle-to-vehicle communication. When the driving support device 1 receives the infrastructure information, a series of processes shown in FIG. 3 is started.

  When the control vehicle V0 receives the infrastructure information, the driving support determination unit 31 determines whether or not the control vehicle V0 performs driving support by the infrastructure cooperation system (S1). If it is determined that driving assistance is not to be performed, a series of driving assistance processing is terminated.

  If it is determined that driving assistance is to be implemented, the content of driving assistance is determined. Subsequently, it is determined whether acceleration / deceleration control is included in the determined driving support (S2). When acceleration / deceleration control is not included in the driving support, it is determined whether or not control for inducing acceleration / deceleration is included in the driver (S3). If it is determined that the acceleration / deceleration guidance is not included in the driving support, even if the driving support determined by the driving support determination unit 31 is executed, the driving vehicle V1 and the rear vehicle V2 are not affected. Migrate processing.

  If it is determined that the acceleration / deceleration guidance is included in the driving support, or if it is determined that the acceleration / deceleration control is included in step S2, then whether or not the signal display of the traffic light S at the target intersection is blue. Is determined (S4). Here, the signal indication of the traffic light S is acquired from the roadside device 2 by road-to-vehicle communication. When the signal display of the traffic light S is blue, it is determined whether the acceleration / deceleration control or acceleration / deceleration of acceleration / deceleration guidance performed by driving support is a certain value α or more (S5). When the acceleration / deceleration is smaller than the fixed value α, even if the acceleration / deceleration control is performed by the control vehicle V0, the collision can be avoided even if the front vehicle V1 or the rear vehicle V2 does not perform an abrupt driving operation. The process proceeds to step S8 because it is considered possible.

  If the acceleration / deceleration of the driving assistance is equal to or greater than a certain value α, if the contents of the driving assistance are executed as they are, the front vehicle V1 and the rear vehicle V2 may have to respond to the control vehicle V0 with an abrupt driving operation. Since it is considered that there is, a driving support execution notification is made (S6). Also, when the signal display of the traffic light S is other than blue, the process proceeds to step S6.

  In the driving support execution notification, the control vehicle V0 notifies the front vehicle V1 and the rear vehicle V2 of the content of driving support to be performed by the inter-vehicle communication device 12. Thereafter, it is determined whether there is a response from the front vehicle V1 and the rear vehicle V2 within a predetermined time (S7). If there is a response within a certain time, it is considered that the front vehicle V1 or the rear vehicle V2 is compatible with vehicle-to-vehicle communication, and thus driving assistance by the infrastructure cooperation system is performed as usual (S8).

  More specifically, when there is a response to the execution permission of the driving support content from the front vehicle V1 and the rear vehicle V2, the driving support control unit 33 executes the driving support determined by the driving support determination unit 31 as it is. Decide that. On the other hand, when either of the front vehicle V1 and the rear vehicle V2 makes a response that the execution of the driving assistance is not permitted, the driving assistance control unit 33 determines not to perform the driving assistance control. .

  If there is no response within a certain time despite the fact that the front vehicle V1 and the rear vehicle V2 exist before and after the control vehicle V0 by road-to-vehicle communication, the front vehicle V1 or the rear vehicle V2 is considered to be in a vehicle-to-vehicle communication disabled state. Therefore, it is determined whether or not it is possible to review the driving support execution timing based on the traveling state of the vehicle and the infrastructure information (S9).

  When it is determined that the driving support execution timing can be changed, the driving support execution notification is made again (S6). On the other hand, when the execution timing of driving support cannot be reviewed, the control amount of driving support by the infrastructure cooperation system is adjusted, or the control content is changed (S10). In this way, a series of driving support processing is completed.

  Next, an example of adjustment of the control amount for driving assistance will be described with reference to FIG. FIG. 4 is a graph showing an example of the deceleration control before adjusting the control amount for driving assistance and the deceleration control after adjustment. This graph represents the relationship between the speed and distance of the controlled vehicle in deceleration control. Suppose that the driving support determination unit 31 determines driving support for starting brake control at a point at a distance T1 in order to stop the vehicle at a point at a distance T0 from the local point as in the graph G1.

  Here, when there is no response from the rear vehicle V2 with respect to the driving support notification, the driving support control unit 33 changes the start of the brake control to a point of the distance T2, for example, as in the graph G2. Since the deceleration is reduced by changing the starting point of the brake control to T2 before the conventional T1, the rear vehicle V2 is controlled without sudden braking compared to the brake control as shown in the graph G1. The vehicle V0 can be avoided. As described above, by appropriately adjusting the control amount of the driving assistance in step S10, it is possible to avoid a collision even if the front vehicle V1 and the rear vehicle V2 do not perform a rapid driving operation.

  Next, an example of changing the content of driving assistance will be described. FIG. 5 is an example in which information regarding a non-response vehicle is displayed on the display device 13. The underlined portion in FIG. 5 is not displayed in the normal state before the driving assistance is adjusted. FIG. 5 (a) shows that the traffic light S is displayed on the display device 13 as a red signal and is informing the driver of the control vehicle V0. Here, when the rear vehicle V2 does not respond to the driving support execution notification, in addition to the conventional display, a display “Please pay attention to the rear vehicle” is added as indicated by the underline. The driver is alerted by adding this display.

  FIG. 5B shows a state in which the display device 13 displays that eco control, which is driving assistance for improving fuel efficiency, is being performed and notifies the driver. Here, if the surrounding vehicle is not responding to the driving assistance implementation notification, in addition to the conventional display, add a notice that "Please check the distance between the surroundings" as shown by the underline To alert the driver. In this way, it is possible to prevent a collision with a vehicle that does not support vehicle-to-vehicle communication by notifying the driver of the presence of a vehicle that does not respond and alerting the driver. The change of the content of the driving support is not limited to the mode of changing the display content, and the following vehicle may be notified that the deceleration control is performed by performing the control of blinking the hazard lamp.

  In the driving support device according to the present embodiment, the contents of driving support executed for the preceding and following vehicles are notified in advance by inter-vehicle communication before driving support including acceleration / deceleration control is performed. When there is a vehicle that does not respond to the notification, it is determined that the vehicle does not support inter-vehicle communication. When there is a non-response vehicle in the vicinity, the content of the driving assistance is appropriately adjusted so that another vehicle that has not been notified of the content of the driving assistance in advance can cope. By adopting such a mode, it is possible to prevent driving assistance in which a vehicle that does not know the content of the driving assistance control of the host vehicle must avoid a collision by an abrupt driving operation.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. FIG. 6 is a plan view showing a situation where the driving support apparatus according to the second embodiment of the present invention is applied. In the following description, as shown in FIG. 6, the control vehicle V0 on which the driving support device 1 is mounted lanes from the right lane L1 to the left lane L2 in order to avoid the right turn vehicle V3 ahead on the one-side two-lane road. Assume the situation you are trying to change. Further, it is assumed that a rear vehicle V4 traveling in the lane L1 and a rear vehicle V5 traveling in the lane L2 exist behind the control vehicle V0. Further, on the roadside, a roadside device 2 that detects and transmits various information such as the traveling state of the traveling vehicle is provided.

  Since the driving support device 1 mounted on the control vehicle V0 has the same configuration as that described in the first embodiment, the description thereof will be omitted.

  Next, operation | movement of the parking assistance apparatus which concerns on this embodiment is demonstrated. FIG. 7 is a flowchart showing a driving support operation by the driving support device 1. Here, in the present embodiment, a procedure for adjusting driving assistance in the case where driving assistance including right / left turn control is performed in a road situation as shown in FIG. 6 will be described.

  The driving support device 1 mounted on the control vehicle V0 periodically monitors whether infrastructure information is transmitted by road-to-vehicle communication or vehicle-to-vehicle communication. When the driving support device 1 receives the infrastructure information, a series of processes shown in FIG. 7 is started.

  When the control vehicle V0 receives the infrastructure information, the driving support determination unit 31 determines whether or not the control vehicle V0 implements driving support by the infrastructure cooperative system (S21). If it is determined that driving assistance is not to be performed, a series of driving assistance processing is terminated.

  If it is determined that driving assistance is to be implemented, the content of driving assistance is determined. Subsequently, it is determined whether or not the determined driving assistance includes right / left turn control (S22). When the left / right turn control is not included in the driving support, it is determined whether or not the control for guiding the driver to make a right / left turn is included (S23). If it is determined that the left / right turn guidance is not included in the driving support, even if the driving support determined by the driving support determination unit 31 is executed, it will not affect the surrounding vehicles V3, V4, V5. The process proceeds to S28.

  When it is determined that the left / right turn guidance is included in the driving support, or when it is determined in step S22 that the right / left turn control is included, the driving support execution notifying unit 32 causes the inter-vehicle communication device 12 to use the surrounding vehicles V3, V4. The contents of driving support to be executed are notified to V5 (S24). Subsequently, it is determined whether there is a response to the driving support execution notification from the surrounding vehicles V3, V4, V5 within a predetermined time (S25). If there is no response from the surrounding vehicles V3, V4, V5 within a certain time, the process proceeds to step S29.

  As a result, when there is a response to the driving support execution notification from the surrounding vehicles V3, V4, V5, the inter-vehicle distance is calculated (S26). The inter-vehicle distance is obtained from the time difference between the transmission time and the reception time obtained by inter-vehicle communication. That is, the inter-vehicle distance is large when the time difference between the transmission time and the reception time is large, and the inter-vehicle distance is small when the time difference between the transmission time and the reception time is small. Further, the direction in which the surrounding vehicles V3, V4, V5 exist is calculated from the traveling azimuth and position information of the control vehicle V0 and the surrounding vehicles V3, V4, V5.

  Subsequently, it is determined whether or not the radio field intensity of the vehicle-to-vehicle communication is equal to or greater than a predetermined value I (S27). When the radio field intensity is equal to or greater than the predetermined value I, the calculated inter-vehicle distance is considered to be accurate, and thus driving assistance by the infrastructure cooperation system is performed as usual (S28). On the other hand, here, driving assistance is performed based on the inter-vehicle distance between the control vehicle V0 and the surrounding vehicles V3, V4, V5 in addition to the infrastructure information acquired by road-to-vehicle communication. When the radio wave intensity of the inter-vehicle communication is smaller than the predetermined value I, the radio wave state of the inter-vehicle communication is bad and the calculated inter-vehicle distance is considered to be low in reliability, and the process proceeds to step S30.

  No response if there is no response from the surrounding vehicles V3, V4, V5 within a certain period of time despite the presence of the surrounding vehicles V3, V4, V5 in the vicinity of the control vehicle V0 by road-to-vehicle communication The vehicle is considered to be in a state where vehicle-to-vehicle communication is disabled. In this case, it is determined whether or not the driving support execution timing can be reviewed from the traveling state and infrastructure information of the vehicle (S29).

  When it is determined that the driving support execution timing can be changed, the driving support execution notification is made again (S24). When the execution timing of driving support cannot be reviewed or when the radio wave intensity is smaller than the predetermined value I, the control amount of driving support is adjusted by the infrastructure cooperation system, or the control content is changed (S30).

  For example, in FIG. 6, when the driving assistance for changing the lane from the lane L1 to the lane L2 is performed in order for the control vehicle V0 to avoid the right turn vehicle V3 ahead, the control vehicle V0 changes to the surrounding vehicles V3, V4, V5. A driving support execution notification is sent to the effect that the lane is changed. On the other hand, it is assumed that there is no response from the vehicle V3 within a certain period of time, and the rear vehicles V4 and V5 make a response indicating that execution of driving assistance is permitted. Further, it is assumed that the rear vehicle V4 responds with a radio field intensity equal to or higher than the predetermined value I, but the response radio field intensity from the rear vehicle V5 is smaller than the predetermined value I. In this case, since the inter-vehicle distance with the rear vehicle V5 is unknown, the control vehicle V0 changes the execution timing of the driving assistance, and changes the lane after the rear vehicle V5 passes. Furthermore, since the preceding vehicle V3 does not support inter-vehicle communication, the control vehicle V0 notifies the driver by displaying on the display device 13 that the preceding vehicle V3 needs attention. In this way, a series of driving support processing is completed.

  The driving assistance apparatus in this embodiment notifies the content of the driving assistance implemented with respect to a surrounding vehicle previously by vehicle-to-vehicle communication, before implementing driving assistance including right / left turn control. If there is a vehicle that does not respond to the notification, the surrounding vehicle must avoid collision by abrupt driving operation by adjusting the control amount in driving assistance and changing the content of driving assistance. Driving assistance can be prevented. Furthermore, even when there is a response, if the measurement accuracy of the inter-vehicle distance between the control vehicle and the surrounding vehicle is poor, the adjustment of the control amount in the driving assistance and the content of the driving assistance are changed. By setting it as such an aspect, the collision of the control vehicle and surrounding vehicle which generate | occur | produces due to the error of the measured distance can be prevented, and more safe driving assistance can be performed.

  In addition, although preferred embodiment of this invention was described, this invention is not limited to the said embodiment. For example, in the present embodiment, the inter-vehicle distance is measured based on the transmission and reception times of inter-vehicle communication, but a measurement method with higher measurement accuracy such as a millimeter wave laser, an in-vehicle camera, or a roadside sensor may be used. . Moreover, although driving assistance is determined based on infrastructure information, it may be determined based on information determined from various sensors installed in the host vehicle. In this embodiment, the inter-vehicle communication device is used as a communication means between vehicles. Instead, communication is performed between vehicles using a relay point by a mobile phone or a road-vehicle communication device connected to the driving support device. May be performed.

  In the second embodiment, the driving support device that adjusts the content of the driving support based on the measured accuracy of the inter-vehicle distance when the driving support includes the right / left turn control has been described. It is not limited to the case where right / left turn control is included. For example, in driving assistance including acceleration / deceleration control as in the first embodiment, the distance between vehicles may be measured and the content of driving assistance may be adjusted based on the accuracy of the measured distance between vehicles.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 2 ... Roadside device, 3 ... Driving assistance ECU, 11 ... Road-to-vehicle communication device, 12 ... Inter-vehicle communication device, 13 ... Display device, 14 ... Speaker, 15 ... Brake ECU, 16 ... Engine ECU, 17 ... Steering ECU, 31 ... Driving support determination unit, 32 ... Driving support execution notification unit, 33 ... Driving support control unit.

Claims (5)

Communication means for communicating between the host vehicle and another vehicle;
Driving support determination means for determining the content of driving support for the host vehicle based on the surrounding information of the host vehicle;
Driving support execution means for executing the driving support;
Driving support execution notifying means for notifying the surrounding vehicle of the execution of the driving support by the communication means;
A driving support apparatus comprising driving support control means for adjusting the content of the driving support based on the presence or absence of a response to the driving support execution notification. The content of the driving support determined by the driving support determining means includes at least acceleration / deceleration control,
The driving support apparatus according to claim 1, wherein the driving support control unit reduces the control amount of acceleration / deceleration by the driving support when there is a vehicle that does not respond to the driving support execution notification.   The driving support apparatus according to claim 1, wherein the communication unit is vehicle-to-vehicle communication.   When there is a vehicle that is not responding to the driving support execution notification, the driving support control means notifies the driver of the host vehicle of information regarding the vehicle that is not responding to the driving support execution notification. The driving support device according to any one of claims 1 to 3.   The said driving assistance control means adjusts the content of the said driving assistance based on the precision of the measurement distance of the other vehicle which performed the said response, and the own vehicle, when the response with respect to the said driving assistance implementation notification is received. The driving support device according to any one of 4.

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