JP2012190190A - Driving support device - Google Patents

Driving support device Download PDF

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JP2012190190A
JP2012190190A JP2011052187A JP2011052187A JP2012190190A JP 2012190190 A JP2012190190 A JP 2012190190A JP 2011052187 A JP2011052187 A JP 2011052187A JP 2011052187 A JP2011052187 A JP 2011052187A JP 2012190190 A JP2012190190 A JP 2012190190A
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vehicle
information
host vehicle
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speed
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JP5617703B2 (en
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Sayaka Ono
佐弥香 小野
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Toyota Motor Corp
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PROBLEM TO BE SOLVED: To provide a driving support device which can prevent a driver from being bothered with unnecessary information provision while preventing worsening of a traffic stream around an own vehicle.SOLUTION: A system control section 142 and a notification section 152 of a driving support device 100 provide a driver of an own vehicle VM with information on the behavior of a preceding vehicle VP acquired by either detection or presumption when a speed change of the own vehicle VM is supposed to affect the speed of following vehicles VF around the own vehicle VM. When the speed change of the own vehicle VM affects the backward traffic stream of the own vehicle VM, the driver given the information on the behavior of the preceding vehicle VP, therefore, can slowly change the speed change of the own vehicle VM and prevent the driver from being bothered with the unnecessary information provision while preventing the worsening of the backward traffic stream of the own vehicle VM.

Description

本発明は、運転支援装置に関し、特に自車両のドライバーに先行車両の挙動に関する情報を提供する運転支援装置に関する。   The present invention relates to a driving support device, and more particularly to a driving support device that provides information on the behavior of a preceding vehicle to a driver of the host vehicle.

ドライバーの運転を支援する装置が提案されている。例えば、特許文献１には、先行車両からの加減速情報を適切に積算し、自車両を加減速させ、後方にリレー伝達させることにより、車間距離計測そのものを要求せずに車間距離列の安定化を図り、その結果として渋滞解消を図る装置が開示されている。   A device that supports driving of a driver has been proposed. For example, in Patent Document 1, the acceleration / deceleration information from the preceding vehicle is appropriately integrated, the own vehicle is accelerated / decelerated, and relayed to the rear to stabilize the inter-vehicle distance string without requiring inter-vehicle distance measurement itself. As a result, an apparatus for solving congestion is disclosed.

特開２００６−２３２２４０号公報JP 2006-232240 A

ところが、上記技術では、自車両を加減速させる装置が必要となる。自車両のドライバーに先行車両の加減速に関する情報を提供するだけでも良いが、このような情報の提供が常時行なわれるとドライバーに煩わしさを与えることになる。   However, the above technique requires a device for accelerating and decelerating the host vehicle. Although it is only necessary to provide the driver of the host vehicle with information on the acceleration / deceleration of the preceding vehicle, providing such information at all times may bother the driver.

本発明は、このような実情を考慮してなされたものであり、その目的は、自車両周辺の交通流の悪化を防止しつつ、不要な情報提供によりドライバーに煩わしさを与えることを防止することができる運転支援装置を提供することにある。   The present invention has been made in consideration of such circumstances, and its purpose is to prevent the driver from being bothered by providing unnecessary information while preventing the traffic flow around the host vehicle from deteriorating. It is in providing the driving assistance device which can do.

本発明は、自車両の速度の変化が自車両周辺の他車両の速度に影響を与えると推定されるときに、検出及び推定のいずれかによって得られた先行車両の挙動に関する情報を自車両のドライバーに提供する情報提供手段を備えた運転支援装置である。   In the present invention, when it is estimated that a change in the speed of the own vehicle affects the speed of other vehicles around the own vehicle, information on the behavior of the preceding vehicle obtained by either detection or estimation is obtained. It is a driving support device provided with information providing means to be provided to a driver.

この構成によれば、運転支援装置の情報提供手段は、自車両の速度の変化が自車両周辺の他車両の速度に影響を与えると推定されるときに、検出及び推定のいずれかによって得られた先行車両の挙動に関する情報を自車両のドライバーに提供する。これにより、自車両の速度の変化が自車両周辺の交通流に影響を与えるときに、先行車両の挙動に関する情報を与えられたドライバーは、自車両の速度の変化を緩やかに変化させることが可能であるため、自車両周辺の交通流の悪化を防止しつつ、不要な情報提供によりドライバーに煩わしさを与えることを防止することができる。   According to this configuration, the information providing means of the driving support device can be obtained by either detection or estimation when it is estimated that a change in the speed of the host vehicle affects the speed of other vehicles around the host vehicle. Provide information on the behavior of the preceding vehicle to the driver of the vehicle. As a result, when the change in the speed of the host vehicle affects the traffic flow around the host vehicle, the driver who is given information on the behavior of the preceding vehicle can change the change in the speed of the host vehicle slowly. Therefore, it is possible to prevent the driver from being bothered by providing unnecessary information while preventing the deterioration of the traffic flow around the host vehicle.

この場合、情報提供手段がドライバーに提供する情報は、少なくとも先行車のアクセルペダルが踏まれないことによる減速に関する情報を含むことが好適である。   In this case, it is preferable that the information provided by the information providing means to the driver includes at least information related to deceleration due to the accelerator pedal of the preceding vehicle not being depressed.

この構成によれば、情報提供手段がドライバーに提供する情報は、少なくとも先行車のアクセルペダルが踏まれないことによる減速に関する情報を含むため、ドライバーは当該情報を提供されることにより、自車両を緩やかに減速させることが可能であるため、自車両周辺の交通流が減速伝播によって悪化することを防止することができる。   According to this configuration, the information provided to the driver by the information providing means includes at least information related to deceleration due to the accelerator pedal of the preceding vehicle not being depressed. Since the vehicle can be slowly decelerated, it is possible to prevent the traffic flow around the host vehicle from being deteriorated by the deceleration propagation.

また、情報提供手段は、自車両周辺の他車両の密度によって、自車両の速度の変化が自車両周辺の他車両の速度に影響を与えるか否かを推定することが好適である。   The information providing means preferably estimates whether or not a change in the speed of the host vehicle affects the speed of the other vehicle around the host vehicle based on the density of the other vehicle around the host vehicle.

この構成によれば、情報提供手段は、自車両周辺の他車両の密度によって、自車両の速度の変化が自車両周辺の他車両の速度に影響を与えるか否かを推定するため、簡易な手法により確実に自車両の速度の変化が自車両周辺の他車両の速度に影響を与えるか否かを推定することができる。   According to this configuration, since the information providing unit estimates whether or not the change in the speed of the own vehicle affects the speed of the other vehicle around the own vehicle according to the density of the other vehicle around the own vehicle, The method can reliably estimate whether a change in the speed of the host vehicle affects the speeds of other vehicles around the host vehicle.

また、情報提供手段は、自車両の減速が後続車両の速度を低下させると推定されるときに、先行車両の挙動に関する情報をドライバーに提供することが好適である。   In addition, it is preferable that the information providing means provides the driver with information on the behavior of the preceding vehicle when it is estimated that the deceleration of the host vehicle decreases the speed of the following vehicle.

この構成によれば、情報提供手段は、自車両の減速が後続車両の速度を低下させると推定されるときに、先行車両の挙動に関する情報をドライバーに提供する。このため、自車両の減速により減速伝播が生じるときに、先行車両の挙動に関する情報を与えられたドライバーが自車両を緩やかに減速させ、減速伝播が生じて自車両後方の交通流が悪化することを防止することができる。   According to this configuration, the information providing means provides the driver with information regarding the behavior of the preceding vehicle when it is estimated that the deceleration of the host vehicle decreases the speed of the following vehicle. For this reason, when deceleration propagation occurs due to deceleration of the host vehicle, the driver given information on the behavior of the preceding vehicle slowly decelerates the host vehicle, causing deceleration propagation and worsening the traffic flow behind the host vehicle. Can be prevented.

また、情報提供手段は、自車両と先行車両との距離が所定の閾値未満であるときは、先行車両の挙動に関する情報をドライバーに提供することが好適である。   Further, it is preferable that the information providing means provides the driver with information related to the behavior of the preceding vehicle when the distance between the host vehicle and the preceding vehicle is less than a predetermined threshold.

この構成によれば、情報提供手段は、自車両と先行車両との距離が所定の閾値未満であるときは、先行車両の挙動に関する情報をドライバーに提供する。このため、ドライバーは、自車両と先行車両との距離が所定の閾値未満と近いときに余裕を持って自車両の速度の変化を緩やかに変化させることが可能であり、自車両と先行車両との距離が長く情報提供が不要なときに不要な情報提供によりドライバーに煩わしさを与えることを防止することができる。   According to this configuration, when the distance between the host vehicle and the preceding vehicle is less than the predetermined threshold, the information providing unit provides the driver with information related to the behavior of the preceding vehicle. For this reason, when the distance between the host vehicle and the preceding vehicle is close to a predetermined threshold value, the driver can change the speed of the host vehicle slowly with a margin. It is possible to prevent the driver from being bothered by providing unnecessary information when the distance is long and information provision is unnecessary.

本発明の運転支援装置によれば、自車両周辺の交通流の悪化を防止しつつ、不要な情報提供によりドライバーに煩わしさを与えることを防止することができる。   According to the driving support device of the present invention, it is possible to prevent the driver from being bothered by providing unnecessary information while preventing the deterioration of the traffic flow around the host vehicle.

本発明の実施形態に係る運転支援装置の構成を示すブロック図である。It is a block diagram which shows the structure of the driving assistance device which concerns on embodiment of this invention. 本発明の実施形態に係る運転支援装置動作を示すフローチャートである。It is a flowchart which shows the driving assistance device operation | movement which concerns on embodiment of this invention. 実施形態に係る運転支援装置が適用される状況を示す平面図である。It is a top view which shows the condition where the driving assistance device which concerns on embodiment is applied. 直前車との車間距離の限界値Ｌの算出方法について示す平面図である。It is a top view shown about the calculation method of the limit value L of the inter-vehicle distance with the vehicle immediately before.

以下、図面を参照して本発明の実施形態に係る運転支援装置について説明する。本実施形態の運転支援装置１００は、車両に搭載され、自車両のドライバーに先行車両の挙動に関する情報を提供する。図１に示すように、本実施形態の運転支援装置１００は、ＩＴＳ情報受信機１１０、前方レーダー１３０、ＩＴＳ ＥＣＵ１４０及び情報提供装置１５０を備えている。   Hereinafter, a driving support apparatus according to an embodiment of the present invention will be described with reference to the drawings. The driving support device 100 of the present embodiment is mounted on a vehicle and provides information related to the behavior of the preceding vehicle to the driver of the host vehicle. As shown in FIG. 1, the driving support apparatus 100 of this embodiment includes an ITS information receiver 110, a forward radar 130, an ITS ECU 140, and an information providing apparatus 150.

ＩＴＳ情報受信機１１０は、車車間通信や路車間通信や情報処理センターにより、ＩＴＳ（高度道路交通システム：Intelligent Transport Systems）等の自車両外部の交通状況に関する情報を受信する。ＩＴＳ情報受信機１１０は、後方交通流情報取得部１１２を有している。後方交通流情報取得部１１２は、自車両後方の交通流に関する情報を取得する。なお、ＩＴＳ情報受信機１１０は、必要に応じて、自車両前方の交通流に関する情報を取得しても良い。   The ITS information receiver 110 receives information related to traffic conditions outside the host vehicle, such as ITS (Intelligent Transport Systems), by vehicle-to-vehicle communication, road-to-vehicle communication, or an information processing center. The ITS information receiver 110 includes a rear traffic flow information acquisition unit 112. The rear traffic flow information acquisition unit 112 acquires information regarding the traffic flow behind the host vehicle. Note that the ITS information receiver 110 may acquire information regarding the traffic flow ahead of the host vehicle as necessary.

前方レーダー１３０は、直前車情報取得部１３２及び相対関係取得部１３４を有している。直前車情報取得部１３２は、自車両の直前車両の位置、距離、速度、加減速度並びに加速、減速及び旋回等の挙動についての情報を取得する。特に直前車情報取得部１３２は、直前車両のアクセルペダルが踏まれないことによる減速を検出あるいは推定する。相対関係取得部１３４は、自車両と直前車両との相対速度、直前車両と自車両との接触までの時間であるＴＴＣ（Time To Collision）等の相対関係についての情報を取得する。   The front radar 130 has a preceding vehicle information acquisition unit 132 and a relative relationship acquisition unit 134. The immediately preceding vehicle information acquisition unit 132 acquires information on the position, distance, speed, acceleration / deceleration, and behavior such as acceleration, deceleration, and turning of the vehicle immediately before the host vehicle. In particular, the immediately preceding vehicle information acquisition unit 132 detects or estimates deceleration due to the accelerator pedal of the immediately preceding vehicle not being depressed. The relative relationship acquisition unit 134 acquires information about a relative relationship such as a relative speed between the host vehicle and the immediately preceding vehicle, and a time to collision (TTC) that is a time until the contact between the immediately preceding vehicle and the host vehicle.

ＩＴＳ ＥＣＵ１４０は、システム制御部１４２を有する。システム制御部１４２は、後述するように、ＩＴＳ情報受信機１１０及び前方レーダー１３０により取得した情報に基づいて、自車両の速度の変化が自車両後方の後続車両の速度に影響を与えると推定されるときに、先行車両の挙動に関する情報を自車両のドライバーに情報提供装置１５０により提供する。   The ITS ECU 140 includes a system control unit 142. As will be described later, the system control unit 142 is estimated based on the information acquired by the ITS information receiver 110 and the front radar 130 to affect the speed of the subsequent vehicle behind the host vehicle. The information providing device 150 provides information related to the behavior of the preceding vehicle to the driver of the host vehicle.

情報提供装置１５０は、具体的には映像を表示するディスプレイや、光を発するランプや、音声を発生するブザーやスピーカから構成される。情報提供装置１５０は、通知部１５２を有する。通知部１５２は、直前車両の挙動に関する情報を自車両のドライバーに通知する。特に通知部１５２は、直前車両のアクセルペダルが踏まれないことによる減速についての情報を自車両のドライバーに通知する。   Specifically, the information providing apparatus 150 includes a display that displays an image, a lamp that emits light, a buzzer that generates sound, and a speaker. The information providing apparatus 150 includes a notification unit 152. The notification unit 152 notifies the driver of the host vehicle of information related to the behavior of the immediately preceding vehicle. In particular, the notification unit 152 notifies the driver of the host vehicle of information about deceleration due to the fact that the accelerator pedal of the immediately preceding vehicle is not depressed.

以下、本実施形態の運転支援装置の動作について説明する。以下の説明では、図３に示すように、直前車両ＶＰの後方を自車両ＶＭが走行している状況を想定する。自車両ＶＭの後方には複数の後続車両ＶＦからなる後続車両群ＧＶＦが走行している。後続車両群ＧＶＦには、自車両ＶＭと車車間通信が可能な後方通信車ＶＦＣが含まれている。 Hereinafter, the operation of the driving support apparatus of the present embodiment will be described. In the following description, as shown in FIG. 3, it is assumed that the host vehicle VM is traveling behind the immediately preceding vehicle VP. A succeeding vehicle group GVF including a plurality of succeeding vehicles VF is running behind the host vehicle VM. The following vehicle group G VF, contains the host vehicle VM and the inter-vehicle communication is possible backward communication car VFC.

図２に示すように、運転支援装置１００のシステム制御部１４２は、前方レーダー１３０の直前車情報取得部１３２により、直前車両ＶＰの挙動を観測する（Ｓ１１）。システム制御部１４２は、直前車両ＶＰの観測と並行して、ＩＴＳ情報受信機１１０の後方交通流情報取得部１１２による後方通信車ＶＦＣとの車車間通信により、自車両ＶＭ後方の交通流に関する情報を取得する（Ｓ１２）。自車両ＶＭ後方の交通流に関する情報には、自車両ＶＭ後方の後続車両群ＧＶＦの密度に関する情報が含まれる。後方交通流情報取得部１１２は、自車両ＶＭ後方の交通流に関する情報を路車間通信や情報処理センターとの通信により取得しても良い。 As shown in FIG. 2, the system control unit 142 of the driving support device 100 observes the behavior of the immediately preceding vehicle VP by the immediately preceding vehicle information acquiring unit 132 of the front radar 130 (S11). In parallel with the observation of the immediately preceding vehicle VP, the system control unit 142 performs information on traffic flow behind the host vehicle VM by inter-vehicle communication with the rear communication vehicle VFC by the rear traffic flow information acquisition unit 112 of the ITS information receiver 110. Is acquired (S12). The information on the own vehicle VM behind the traffic flow is, information on density of the following vehicle group G VF of the host vehicle VM rear are included. The rear traffic flow information acquisition unit 112 may acquire information regarding the traffic flow behind the host vehicle VM by road-to-vehicle communication or communication with an information processing center.

前方レーダー１３０の相対関係取得部１３４は、自車両ＶＭと直前車両ＶＰとの相対関係に関する情報を取得し、システム制御部１４２は自車両ＶＭと直前車両ＶＰとの相対関係から、直前車両ＶＰとの車間距離の限界値Ｌを算出する（Ｓ１３）。限界値Ｌの算出は、例えば、以下のように算出することができる。図４に示すように、自車両のドライバーが一般的にブレーキペダルを踏みたくなる距離を車間距離最小値Ｌｂとする。また、自車両ＶＭのドライバーが直前車両ＶＰの挙動変化に気付き、自車両ＶＭが挙動変化するまでの時間を反応遅れ時間Ｔとする。この場合、直前車両ＶＰの加減速度、自車両ＶＭと直前車両ＶＰとの相対速度、車間距離等から、反応遅れ時間Ｔ未満で直前車両ＶＰと自車両ＶＭとの車間距離がＬｂ以下となると判断されるような車間距離を車間距離の限界値Ｌとすることができる。   The relative relationship acquisition unit 134 of the front radar 130 acquires information on the relative relationship between the host vehicle VM and the immediately preceding vehicle VP, and the system control unit 142 determines the previous vehicle VP and the relative relationship between the host vehicle VM and the immediately preceding vehicle VP. The limit value L of the inter-vehicle distance is calculated (S13). For example, the limit value L can be calculated as follows. As shown in FIG. 4, the distance at which the driver of the host vehicle generally wants to step on the brake pedal is defined as the minimum inter-vehicle distance Lb. Also, the time until the driver of the host vehicle VM notices a change in the behavior of the immediately preceding vehicle VP and the host vehicle VM changes its behavior is defined as a reaction delay time T. In this case, from the acceleration / deceleration of the immediately preceding vehicle VP, the relative speed between the own vehicle VM and the immediately preceding vehicle VP, the inter-vehicle distance, etc., it is determined that the inter-vehicle distance between the immediately preceding vehicle VP and the own vehicle VM is less than Lb within the reaction delay time T. The inter-vehicle distance can be set as the limit value L of the inter-vehicle distance.

システム制御部１４２は、後方通信車ＶＦＣから得られた後続車両群ＧＶＦの密度が所定の閾値を越えているか否かにより、自車両ＶＭの減速により減速伝播が生じるか否かを判定する（Ｓ１４）。システム制御部１４２は、直前車両ＶＰと自車両ＶＭとの車間距離が限界値Ｌより小さいか否かを判定する（Ｓ１５）。システム制御部１４２は、前方レーダー１３０が取得した情報により、直前車両ＶＰがアクセルペダルが踏まれないことにより減速するか否かを判定する（Ｓ１６）。 The system control unit 142, depending on whether the density of the following vehicle group G VF obtained from the rear communication vehicles VFC exceeds a predetermined threshold value, determines whether the deceleration transmitted by deceleration of the host vehicle VM is generated ( S14). The system control unit 142 determines whether the inter-vehicle distance between the immediately preceding vehicle VP and the host vehicle VM is smaller than the limit value L (S15). Based on the information acquired by the front radar 130, the system control unit 142 determines whether or not the immediately preceding vehicle VP is decelerated when the accelerator pedal is not depressed (S16).

減速伝播が生じると判定され（Ｓ１４）、直前車両ＶＰと自車両ＶＭとの車間距離が限界値Ｌより小さいと判定され（Ｓ１５）、且つ直前車両ＶＰがアクセルペダルが踏まれないことにより減速すると判定されたときは（Ｓ１６）、システム制御部１４２は通知部１５２に直前車両ＶＰがアクセルペダルが踏まれないことにより減速することを自車両ＶＭのドライバーに通知する。   When it is determined that deceleration propagation occurs (S14), it is determined that the inter-vehicle distance between the immediately preceding vehicle VP and the host vehicle VM is smaller than the limit value L (S15), and when the immediately preceding vehicle VP decelerates because the accelerator pedal is not depressed. When the determination is made (S16), the system control unit 142 notifies the notification unit 152 to the driver of the host vehicle VM that the immediately preceding vehicle VP is decelerated because the accelerator pedal is not depressed.

本実施形態では、運転支援装置１００のシステム制御部１４２及び通知部１５２は、自車両ＶＭの速度の変化が自車両ＶＭ周辺の後続車両ＶＦの速度に影響を与えると推定されるときに、検出及び推定のいずれかによって得られた直前車両ＶＰの挙動に関する情報を自車両ＶＭのドライバーに提供する。これにより、自車両ＶＭの速度の変化が自車両ＶＭ後方の交通流に影響を与えるときに、直前車両ＶＰの挙動に関する情報を与えられたドライバーは、自車両ＶＭの速度の変化を緩やかに変化させることが可能であるため、自車両ＶＭ後方の交通流の悪化を防止しつつ、不要な情報提供によりドライバーに煩わしさを与えることを防止することができる。   In the present embodiment, the system control unit 142 and the notification unit 152 of the driving support device 100 detect when a change in the speed of the host vehicle VM is estimated to affect the speed of the subsequent vehicle VF around the host vehicle VM. And the information on the behavior of the immediately preceding vehicle VP obtained by either of the estimation or the estimation is provided to the driver of the host vehicle VM. As a result, when the change in the speed of the host vehicle VM affects the traffic flow behind the host vehicle VM, the driver who is given information on the behavior of the immediately preceding vehicle VP gradually changes the change in the speed of the host vehicle VM. Therefore, it is possible to prevent the driver from being bothered by providing unnecessary information while preventing the traffic flow behind the host vehicle VM from deteriorating.

また、本実施形態では、システム制御部１４２及び通知部１５２がドライバーに提供する情報は、少なくとも直前車両ＶＰのアクセルペダルが踏まれないことによる減速に関する情報を含むため、ドライバーは当該情報を提供されることにより、自車両ＶＭを緩やかに減速させることが可能であるため、自車両ＶＭ後方の交通流が減速伝播によって悪化することを防止することができる。   Further, in the present embodiment, the information provided to the driver by the system control unit 142 and the notification unit 152 includes at least information related to deceleration due to the fact that the accelerator pedal of the immediately preceding vehicle VP is not depressed, so the driver is provided with the information. Thus, since the host vehicle VM can be slowly decelerated, the traffic flow behind the host vehicle VM can be prevented from deteriorating due to the deceleration propagation.

また、本実施形態では、システム制御部１４２及び通知部１５２は、自車両ＶＭ後方のの後続車両ＶＦの密度によって、自車両ＶＭの速度の変化が自車両ＶＭ後方の後続車両ＶＦの速度に影響を与えるか否かを推定するため、簡易な手法により確実に自車両ＶＭの速度の変化が自車両ＶＭ後方の後続車両ＶＦの速度に影響を与えるか否かを推定することができる。   In the present embodiment, the system control unit 142 and the notification unit 152 determine that the change in the speed of the host vehicle VM affects the speed of the subsequent vehicle VF behind the host vehicle VM depending on the density of the subsequent vehicle VF behind the host vehicle VM. Therefore, it is possible to reliably estimate whether a change in the speed of the host vehicle VM affects the speed of the subsequent vehicle VF behind the host vehicle VM by a simple method.

また、本実施形態によれば、システム制御部１４２及び通知部１５２は、自車両ＶＭと直前車両ＶＰとの距離が所定の限界値Ｌ未満であるときは、直前車両ＶＰの挙動に関する情報をドライバーに提供する。このため、ドライバーは、自車両ＶＭと直前車両ＶＰとの距離が所定の限界値Ｌ未満と近いときに余裕を持って自車両ＶＭの速度の変化を緩やかに変化させることが可能であり、自車両ＶＭと直前車両ＶＰとの距離が長く情報提供が不要なときに不要な情報提供によりドライバーに煩わしさを与えることを防止することができる。   Further, according to the present embodiment, the system control unit 142 and the notification unit 152 provide the driver with information on the behavior of the immediately preceding vehicle VP when the distance between the host vehicle VM and the immediately preceding vehicle VP is less than the predetermined limit value L. To provide. Therefore, the driver can gradually change the speed change of the host vehicle VM with a margin when the distance between the host vehicle VM and the immediately preceding vehicle VP is less than the predetermined limit value L. When the distance between the vehicle VM and the immediately preceding vehicle VP is long and providing information is unnecessary, it is possible to prevent the driver from being bothered by providing unnecessary information.

尚、本発明は、上記した実施の形態に限定されるものではなく、本発明の要旨を逸脱しない範囲内において種々変更を加え得ることは勿論である。   It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the gist of the present invention.

１００…運転支援装置、１１０…ＩＴＳ情報受信機、１１２…後方交通流情報取得部１１２、１３０…前方レーダー、１３２…直前車情報取得部、１３４…相対関係取得部、１４０…ＩＴＳ ＥＣＵ、１４２…システム制御部、１５０…情報提供装置、１５２…通知部。 DESCRIPTION OF SYMBOLS 100 ... Driving assistance device, 110 ... ITS information receiver, 112 ... Back traffic flow information acquisition part 112, 130 ... Front radar, 132 ... Immediately preceding vehicle information acquisition part, 134 ... Relative relation acquisition part, 140 ... ITS ECU, 142 ... System control unit, 150... Information providing device, 152.

Claims (5)

自車両の速度の変化が前記自車両周辺の他車両の速度に影響を与えると推定されるときに、検出及び推定のいずれかによって得られた先行車両の挙動に関する情報を前記自車両のドライバーに提供する情報提供手段を備えた運転支援装置。   When it is estimated that a change in the speed of the host vehicle affects the speed of other vehicles around the host vehicle, information on the behavior of the preceding vehicle obtained by either detection or estimation is sent to the driver of the host vehicle. A driving support device comprising information providing means for providing. 前記情報提供手段が前記ドライバーに提供する情報は、少なくとも前記先行車のアクセルペダルが踏まれないことによる減速に関する情報を含む、請求項１に記載の運転支援装置。   The driving support device according to claim 1, wherein the information provided by the information providing unit to the driver includes at least information related to deceleration due to the accelerator pedal of the preceding vehicle not being depressed. 前記情報提供手段は、前記自車両周辺の前記他車両の密度によって、前記自車両の速度の変化が前記自車両周辺の前記他車両の速度に影響を与えるか否かを推定する、請求項１又は２に記載の運転支援装置。   The information providing means estimates whether or not a change in speed of the host vehicle affects the speed of the other vehicle around the host vehicle based on a density of the other vehicle around the host vehicle. Or the driving assistance apparatus of 2 description. 前記情報提供手段は、前記自車両の減速が後続車両の速度を低下させると推定されるときに、前記先行車両の挙動に関する情報を前記ドライバーに提供する、請求項１〜３のいずれか１項に記載の運転支援装置。   The said information provision means provides the information regarding the behavior of the said preceding vehicle to the said driver, when it is estimated that deceleration of the said own vehicle will reduce the speed of a following vehicle. The driving support device according to 1. 前記情報提供手段は、前記自車両と前記先行車両との距離が所定の閾値未満であるときは、前記先行車両の挙動に関する情報を前記ドライバーに提供する、請求項１〜４のいずれか１項に記載の運転支援装置。   The said information provision means provides the said driver with the information regarding the behavior of the said preceding vehicle, when the distance of the said own vehicle and the said preceding vehicle is less than a predetermined threshold value. The driving support device according to 1.
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