JP2013097688A - Drive support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive support device capable of appropriately supporting driving while reducing a labor on a driver.SOLUTION: The drive support device for supporting the drive of a vehicle includes: an infrastructure communication part for, as for a traffic light installed on a traffic light spot in the driving direction of a vehicle, acquiring signal cycle information as a cycle in which the display of the traffic light is switched; a target vehicle speed control part for calculating target vehicle speed information including a vehicle speed range in which the vehicle is able to pass the traffic light spot without stopping on the basis of signal cycle information; and a target vehicle speed display part for displaying the target vehicle speed information determined by the target vehicle speed control part. The target vehicle speed display part displays an image in which the highest speed and lowest speed in the vehicle speed range are more unclear than the other speeds as the target vehicle speed information.

Description

  The present invention relates to a driving support device.

  In recent years, some vehicles such as automobiles are equipped with a driving assistance device that assists driving by a driver. For example, Patent Literature 1 discloses a vehicle-mounted device mounted on a vehicle, a signal switching time receiving unit that wirelessly receives a switching time of the traffic signal from a traffic light, and a position of the vehicle-mounted device and a position of the traffic signal by GPS. The recommended speed of the vehicle is calculated based on the GPS means to be acquired, the switching time of the traffic signal received by the signal switching time receiving means, and the position of the vehicle-mounted device and the position of the traffic light acquired by the GPS means. And an output means for outputting the recommended speed calculated by the calculation means. Patent Document 1 also describes that a recommended speed that can pass through a plurality of traffic lights is calculated.

JP 2009-9288 A

  The device described in Patent Literature 1 calculates a recommended speed based on traffic light switching and the current position, and outputs (displays) the calculated recommended speed to notify the driver of a traveling condition that allows the signal to pass. Can do. However, the driver may not be able to pass through the traffic signal even when traveling according to the recommended speed displayed on the device described in Patent Document 1. For example, when the speed range of the recommended speed displayed on the device described in Patent Document 1 is narrow, the driver has a speed that is out of the recommended speed even though the driver intends to travel at the recommended speed, and the traffic light May not pass through. If the driver cannot pass the traffic light, the reliability of the driving support device is lowered.

  An object of the present invention is to provide a driving support apparatus that can appropriately support driving while obtaining high reliability of the driver.

  The present invention relates to a driving support device that supports driving of a vehicle, and obtains signal cycle information that is a cycle in which the display of the traffic signal is switched with respect to the traffic signal arranged at the traffic signal point in the traveling direction of the vehicle. And, based on the signal cycle information, a target vehicle speed control unit that calculates target vehicle speed information including a vehicle speed range that can be passed without stopping the traffic light point, and the target vehicle speed information determined by the target vehicle speed control unit. A target vehicle speed display unit for displaying, wherein the target vehicle speed display unit displays, as the target vehicle speed information, an image in which the maximum speed and the minimum speed in the vehicle speed range are less clear than other speeds. To do.

  The present invention is a driving support device that supports driving of a vehicle, and is signal cycle information that is a cycle in which the display of the traffic signal is switched for traffic signals arranged at two or more traffic signal points in the traveling direction of the vehicle. Based on the signal cycle information and the infrastructure communication unit that acquires the traffic signal, it is determined whether or not the traffic lights arranged at each of two or more traffic signal points in the traveling direction of the vehicle can pass, and passes through the plurality of traffic lights A target vehicle speed control unit that calculates target vehicle speed information including a vehicle speed range that can pass through a plurality of the traffic lights, and a target that displays the target vehicle speed information for a plurality of traffic signal points determined by the target vehicle speed control unit, A vehicle speed display unit, and the target vehicle speed display unit sets a vehicle speed range in which the target vehicle speed information can pass through the plurality of traffic lights as a maximum speed and a maximum speed. Speed is equal to or intended for display in blurred images than other speeds.

  Here, the target vehicle speed information includes a first vehicle speed range in which the position of the vehicle in the traveling direction can pass through the traffic signal on the near side and a second vehicle speed range in which the traffic signal on the back side can pass through the traffic signal on the near side. And the target vehicle speed display unit preferably displays the entire first vehicle speed range in a clear image, and displays the second vehicle speed range in an image in which the maximum speed and the minimum speed are less clear than other speeds. .

  Moreover, when the said target vehicle speed control part determines that the said vehicle cannot pass the said traffic signal point, it is preferable to make the said target vehicle speed information of the said traffic signal point into the vehicle speed range containing 0 km / h.

  Further, when the target vehicle speed control unit determines that the vehicle cannot pass through the traffic signal point, the target vehicle speed control unit may display an image in which the maximum speed and the minimum speed in the vehicle speed range including 0 km / h are unclearer than other speeds. preferable.

  Further, it is preferable that the image in which the maximum speed and the minimum speed are unclear compared with other speeds is an image in which the color is lightened or the outer edge is blurred as it goes to the maximum speed or the minimum speed.

  The traffic light point further includes a position calculation unit that calculates relative position information between the current vehicle and the traffic light point, and the target vehicle speed control unit calculates the traffic light point with the position calculation unit. Based on the relative position information between the vehicle and the traffic signal point and the signal cycle information of the traffic signal at the traffic signal point acquired by the infrastructure communication unit, the traffic signal point is determined while the traffic signal is in a passable display state. It is preferable that a speed range in which the vehicle can pass is calculated as a reference target vehicle speed range, and target vehicle speed information is determined based on the reference target vehicle speed range.

  The driving support device according to the present invention has an effect that driving can be appropriately supported while obtaining high reliability of the driver.

FIG. 1 is an explanatory diagram illustrating an example of a driving support system according to the present embodiment. FIG. 2 is a block diagram illustrating a schematic configuration of a vehicle on which the driving support device according to the embodiment is mounted. FIG. 3 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 4 is a flowchart illustrating an example of processing of the driving support device. FIG. 5 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 6 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 7 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 8 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 9 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 10 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 11 is a flowchart illustrating another example of processing of the driving support device. FIG. 12 is a flowchart illustrating another example of the process of the driving support device. FIG. 13 is a schematic diagram illustrating another example of the speed display area of the display device.

  Hereinafter, a driving assistance apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art or those that are substantially the same.

(Embodiment)
The embodiment will be described with reference to FIGS. 1 to 13. The present embodiment relates to a driving support system having a vehicle on which a driving support device is mounted. First, the configuration of a driving support system having a vehicle equipped with a driving support device will be described with reference to FIGS. 1 to 3. FIG. 1 is an explanatory diagram illustrating an example of a driving support system according to the present embodiment. FIG. 2 is a block diagram illustrating a schematic configuration of a vehicle on which the driving support device according to the embodiment is mounted. FIG. 3 is a schematic diagram illustrating an example of a speed display area of the display device.

  The driving support system 1 shown in FIG. 1 includes a plurality of vehicles 10, a plurality of traffic lights 12, 12a, a plurality of infrastructure information transmitting devices 14, and a GPS satellite 16. In the driving support system 1, a vehicle 10 equipped with a driving support device 19, which will be described later, out of a plurality of vehicles 10 detects a relationship with another vehicle 10 or acquires from the infrastructure information transmission device 14 or the GPS satellite 16. It is a system that supports the driving of the driver based on the information obtained by doing.

  The vehicle 10 is a vehicle capable of traveling on a road, such as an automobile or a truck. The vehicle 10 can travel on the road where the traffic lights 12 and 12a are arranged. The configuration of the vehicle 10 will be described later.

  The traffic lights 12, 12a are lighting devices arranged at intersections. The traffic light 12 includes a lighting section of three colors of green, yellow, and red. The traffic light 12a includes a lighting part (arrow lamp) that displays an arrow in addition to the lighting parts of three colors of green, yellow, and red. The traffic lights 12, 12a are arranged in each of the traveling directions of the vehicles on the road. The traffic light 12 is in a state in which the vehicle 10 may pass through the traveling direction of the vehicle 10 on the road by switching the lighting portion to emit light among the lighting portions of green, yellow, and red. Indicates a state in which it cannot pass, that is, a state to be stopped. In addition, although the driving assistance system 1 shown in FIG. 1 has shown the case where the traffic lights 12 and 12a are arrange | positioned at an intersection, the arrangement position of the traffic lights 12 and 12a is not limited to an intersection. The traffic lights 12, 12a may be arranged with respect to a pedestrian crossing, for example. In addition, in FIG. 1, although the traffic lights 12 and 12a are shown in a state where all the indications of the lighting parts are visible, the traffic lights 12 and 12a are vehicles 10 in which the lighting parts are traveling (vehicles passing through the traffic lights 12 and 12a). It is arranged in the direction that can be seen.

  The infrastructure information transmitting device 14 transmits infrastructure information such as road information of a road on which the vehicle 10 travels and signal information related to traffic lights 12 and 12a ahead of the vehicle 10 in the traveling direction. The infrastructure information transmission device 14 according to the present embodiment is arranged at each intersection and transmits infrastructure information to the vehicle 10 traveling in a certain range around by wireless communication. Here, the road information typically includes speed limit information of a road on which the vehicle 10 travels, stop line position information of an intersection, and the like. The signal information typically includes signal cycle information such as lighting cycles and signal change timings of the blue, yellow, and red signals of the traffic lights 12 and 12a. The infrastructure information transmitting device 14 may be provided for each of the traffic lights 12 and 12a, or may be provided at a plurality of intersections.

  The GPS satellite 16 is a satellite that outputs a GPS signal necessary for position detection by GPS (GPS: Global Positioning System, Global Positioning System). Although only one GPS satellite 16 is shown in FIG. 1, the driving support system 1 includes at least three GPS satellites 16. The device that detects the position by GPS receives GPS signals output from at least three GPS satellites 16 and compares the received GPS signals to detect the position of the device itself.

  Next, the vehicle 10 equipped with the driving support device 19 will be described with reference to FIG. In the driving support system 1 illustrated in FIG. 1, all the vehicles are the vehicles 10 on which the driving support device 19 is mounted. However, at least one vehicle 10 may be mounted on the driving support device 19. That is, in the driving support system 1, a vehicle that does not include the driving support device 19 may travel before and after the vehicle 10 that includes the driving support device 19.

  The vehicle 10 includes an ECU 20, a storage unit 22, an accelerator actuator 24, a brake actuator 26, a car navigation device 28, a speaker 30, a GPS communication unit 32, an in-vehicle camera 34, an infrastructure communication unit 38, a vehicle speed. The sensor 40 and the display device 42 are included. The ECU 20 of the vehicle 10, the storage unit 22, the accelerator actuator 24, the brake actuator 26, the car navigation device 28, the speaker 30, the GPS communication unit 32, the in-vehicle camera 34, the infrastructure communication unit 38, The vehicle speed sensor 40 and the display device 42 also serve as the driving support device 19 for the vehicle 10. In addition to the above-described parts, the vehicle 10 includes various parts generally provided in the vehicle, a vehicle body, a drive source, a brake device, an operation part (for example, a handle, an accelerator pedal, and a brake pedal).

  The ECU 20 is an electronic control unit, each part of the vehicle 10, an accelerator actuator 24, a brake actuator 26, a car navigation device 28, a speaker 30, a GPS communication unit 32, an in-vehicle camera 34, an infrastructure communication unit 38, a vehicle speed sensor 40, and a display device. 42 and the like are controlled. The ECU 20 receives information acquired by the GPS communication unit 32, the in-vehicle camera 34, the infrastructure communication unit 38, and the vehicle speed sensor 40, and is operated by a driver or the like input from various operation units such as an accelerator pedal and a brake pedal (not shown). Based on this, the operation of each unit is controlled. The ECU 20 has a target vehicle speed control unit 20a. The target vehicle speed control unit 20a will be described later.

  The storage unit 22 is a storage device such as a memory, and stores conditions and data necessary for various processes in the ECU 20 and various programs executed by the ECU 20. The storage unit 22 stores a map information database 22a. The map information database 22a stores information (map, straight road, curve, uphill / downhill, highway, sag, tunnel, etc.) necessary for vehicle travel. The map information database 22a includes a map data file, an intersection data file, a node data file, and a road data file. The ECU 20 reads out necessary information with reference to the map information database 22a.

  The accelerator actuator 24 controls the output of the power source of the vehicle 10 such as an engine and a motor. The accelerator actuator 24 can control, for example, the intake amount to the engine, the intake timing and the ignition timing, the voltage value supplied by the motor, the frequency, and the like. The accelerator actuator 24 is electrically connected to the ECU 20 and its operation is controlled by the ECU 20. The ECU 20 operates the accelerator actuator 24 according to the accelerator control signal, and adjusts the intake amount to the engine, the intake timing and the ignition timing, the voltage value and the frequency supplied by the motor. In other words, the accelerator actuator 24 is a device for automatically controlling the driving force by the power source, receives the accelerator control signal output from the ECU 20, and drives each part to control the driving conditions and drive as desired. Generate power. Thus, the accelerator actuator 24 adjusts the acceleration by controlling the driving force acting on the vehicle 10.

  The brake actuator 26 controls driving of a brake device mounted on the vehicle 10. The brake actuator 26 controls the hydraulic pressure of a wheel cylinder provided in the brake device, for example. The brake actuator 26 is electrically connected to the ECU 20 and its operation is controlled by the ECU 20. The ECU 20 operates the brake actuator 26 according to the brake control signal to adjust the brake hydraulic pressure of the wheel cylinder. In other words, the brake actuator 26 is a device for automatically controlling the braking force by the brake, and drives a solenoid or a motor of a mechanism that receives a brake control signal output from the ECU 20 and supplies hydraulic oil to the wheel cylinder. As a result, the brake hydraulic pressure is controlled to generate a desired braking force. In this way, the brake actuator 26 adjusts the deceleration by controlling the braking force acting on the vehicle 10.

  The car navigation device 28 is a device that guides the vehicle 10 to a predetermined destination. The car navigation device 28 is capable of bidirectional communication with the ECU 20. The car navigation device 28 includes a display unit, and based on the information stored in the map information database 22a and the current position information acquired by the GPS communication unit 32 described later, the surrounding map information is displayed on the display unit. indicate. In addition, the car navigation device 28 uses the information stored in the map information database 22a, the current position information acquired by the GPS communication unit 32, which will be described later, and the destination information input by the driver or the like. And the detected route information is displayed on the display unit. The car navigation device 28 includes a map information database and a GPS communication unit in its own device separately from the map information database 22a and the GPS communication unit 32, and performs route guidance and notification of current location information using each unit of the own device. You may do it.

  The speaker 30 outputs sound into the vehicle 10. The speaker 30 outputs sound corresponding to the sound signal transmitted from the ECU 20 into the vehicle.

  The GPS communication unit 32 receives GPS signals output from the plurality of GPS satellites 16. The GPS communication unit 32 sends the received GPS signal to the ECU 20. The ECU 20 detects the position information of its own device by analyzing the plurality of received GPS signals.

  The in-vehicle camera 34 is an imaging device arranged in front of the vehicle 10 and acquires an image in front of the vehicle 10 (front side in the traveling direction). The in-vehicle camera 34 sends the acquired front image of the vehicle 10 to the ECU 20. The ECU 20 analyzes the image acquired by the in-vehicle camera 34 to obtain information such as the state in front of the vehicle 10, that is, whether there is another vehicle 10 ahead, whether the traffic lights 12, 12a are close, or the intersection is close. Can be acquired.

  The infrastructure communication unit 38 communicates with the above-described infrastructure information transmission device 14 wirelessly. The infrastructure communication unit 38 acquires the infrastructure information transmitted from the infrastructure information transmission device 14 and transmits the acquired infrastructure information to the ECU 20. The infrastructure communication unit 38 may always communicate with the communicable infrastructure information transmission device 14 to acquire infrastructure information, or communicate with the infrastructure information transmission device 14 at regular time intervals to acquire infrastructure information. Alternatively, when communication with a new infrastructure information transmission apparatus 14 becomes possible, communication with the infrastructure information transmission apparatus 14 may be performed to acquire infrastructure information.

  The vehicle speed sensor 40 detects the vehicle speed of the vehicle 10. The vehicle speed sensor 40 transmits the acquired vehicle speed information to the ECU 20.

  The display device 42 is a display device that displays various types of information notified to the driver, and is, for example, an instrument panel arranged on the dashboard of the vehicle 10. The display device 42 may be a liquid crystal display device or a display device in which various instruments are arranged. The display device 42 displays information such as the remaining amount of fuel, the output of the drive source (engine speed), the door opening / closing state, the seat belt wearing state, and the like. The display device 42 includes a speed display area 48 that displays the vehicle speed.

  As shown in FIG. 3, the speed display area 48 includes a scale display unit 50 and a needle 52. The scale display unit 50 has an arc shape and has a scale from 0 km / h to 160 km / h. The needle 52 indicates the vehicle speed of the measurement result, and in FIG. 3, it indicates 40 km / h. The speed display area 48 is an analog meter, and the position of the scale display unit 50 pointed to by the needle 52 changes according to the current vehicle speed. Accordingly, the driver can recognize the current detection result of the vehicle speed by confirming the position of the hand 52 in the speed display area 48.

  Next, control executed by the target vehicle speed control unit 20a of the ECU 20 will be described. The target vehicle speed control unit 20a calculates a reference target vehicle speed range based on information acquired by each part of the vehicle 10, and processes the calculated reference target vehicle speed range based on a reference that sets the target vehicle speed range (target speed range). And the determined target vehicle speed range is displayed in the speed display area 48 of the display device 42. Specifically, the target vehicle speed control unit 20a acquires signal cycle information such as lighting cycles and signal change timings of the traffic lights 12 and 12a arranged for each of a plurality of passing objects (intersections and pedestrian crossings) acquired by the infrastructure communication unit 38. The distance between the vehicle 10 for each passing object (also referred to as a traffic light point) and the traffic lights 12 and 12a (to be exact, an intersection or a crosswalk where the traffic signals 12 and 12a are disposed (also referred to as a passing object or a traffic light point) Range of travel speed required to pass the traffic lights 12 and 12a during a green signal state (that is, while the traffic light is in a passable display state) for each traffic light point based on information such as Reference target vehicle speed range) is calculated. Further, the target vehicle speed control unit 20a determines a target vehicle speed range for each calculated reference target vehicle speed range based on the reference target vehicle speed range and a preset condition, and calculates the calculated target vehicle speed range (recommended travel speed range). ) Is displayed in the speed display area 48. In addition, when the target vehicle speed can be calculated for a plurality of traffic signal points, the target vehicle speed control unit 20a displays the target vehicle speed range corresponding to the plurality of traffic signal points in the speed display area 48. The calculation method of the target vehicle speed range and the display of the target vehicle speed range will be described later.

  As a condition set in advance, for example, there is a method in which a speed range that satisfies the relationship set for the current vehicle speed is set as the target vehicle speed range compared with the current vehicle speed. In this case, the target vehicle speed control unit 20a compares the calculated reference target vehicle speed range with the current vehicle speed, determines the target vehicle speed range based on the comparison result, and calculates the calculated target vehicle speed range (recommended travel speed range). ) Is displayed in the speed display area 48. In this way, the target vehicle speed control unit 20a performs green wave support, which is control for guiding the vehicle speed to the driver so that the number of times the vehicle 10 stops at a red signal can be further reduced. The signal indicating that the traffic signal is in a passable display state is a state in which the traffic signal is executing a display indicating that the target route can be passed. Including the state that is. Further, the state in which the yellow signal is displayed by setting can also be regarded as the display state in which the traffic light can pass.

  Hereinafter, the control executed by the target vehicle speed control unit 20a of the ECU 20 of the vehicle 10 will be described in more detail with reference to FIGS. FIG. 4 is a flowchart illustrating an example of processing of the driving support device. FIG. 5 to FIG. 9 are schematic diagrams each showing an example of a speed display area of the display device.

  The target vehicle speed control unit 20a of the ECU 20 determines whether green wave support is possible as step S12. Specifically, the target vehicle speed control unit 20a determines whether information necessary for calculating the target vehicle speed range is acquired and a condition for displaying the target vehicle speed range is satisfied. The information necessary for calculating the target vehicle speed range includes the infrastructure information such as the lighting cycle and signal change timing of the traffic signals 12 and 12a to be passed, and the distance between the vehicle 10 and the traffic signals 12 and 12a. This is map information including information on the current position necessary for calculation and position information of the traffic lights 12 and 12a. Further, as a condition for displaying the target vehicle speed range, for example, the distance between the vehicle 10 and the traffic lights 12 and 12a (the distance to the target intersection or the like) is a certain distance or more, and the current vehicle speed of the vehicle 10 Is above a certain speed. When the distance between the vehicle 10 and the traffic lights 12 and 12a (the distance to the target intersection, etc.) is less than a certain distance, the target vehicle speed control unit 20a can respond to the display even if the target vehicle speed range is displayed. Since it is difficult to drive, it is determined that green wave support will not be provided. In addition, the vehicle speed control unit 20a, when the current vehicle speed of the vehicle 10 is less than a certain speed, the traveling road is congested and the traveling speed is limited, or the vehicle speed control unit 20a is trying to stop or stop for some reason. Since it is difficult for the driver to drive corresponding to the display even if the target vehicle speed range is displayed, it is determined that the green wave support is not performed. In addition, the target vehicle speed control unit 20a acquires information on the plurality of traffic lights 12, 12a in the traveling direction of the vehicle, and determines whether green wave support is possible for the plurality of traffic lights 12, 12a. The target vehicle speed control unit 20a determines that support is possible if green wave support is possible for the next traffic light 12, 12a among the plurality of traffic lights 12, 12a. If the target vehicle speed control unit 20a determines that support is not possible (No) in step S12, that is, it cannot be supported, the process ends.

  If the target vehicle speed control unit 20a determines that the support is possible in step S12 (Yes), the target vehicle speed control unit 20a performs a pass stop determination for the next traffic signal passing in step S14. When the target vehicle speed control unit 20a travels at the current vehicle speed based on the acquired information as step S14, the target vehicle speed control unit 20a of the traffic signal when reaching the area (intersection, pedestrian crossing) where the next traffic signal is arranged is arranged. Whether the display can pass or not is determined based on whether the display is a display that can be passed, a green light, or an arrow in the traveling direction.

  In step S14, the target vehicle speed control unit 20a calculates a reference target vehicle speed range based on the acquired information, and determines whether to perform passage support or stop support from the calculated reference target vehicle speed range. Also good. Here, the reference target vehicle speed range is a range of vehicle speeds that can pass through the target intersection, pedestrian crossing, etc., that is, the target traffic light passes through the target intersection, pedestrian crossing, etc. while the traffic light is green. The range of vehicle speed that can be. Further, the target vehicle speed control unit 20a of the present embodiment, when the calculated lower limit of the reference target vehicle speed range is a speed higher than the current vehicle speed by α or more, that is, (current vehicle speed + α) <(lower limit of the reference target vehicle speed range). Speed), it is determined that stop assistance is performed.

  When the target vehicle speed control unit 20a makes the determination in step S14, the target vehicle speed control unit 20a determines whether or not the passage support is possible in step S16, that is, whether or not the result determined in step S14 is the passage support. If the target vehicle speed control unit 20a determines in step S16 that passage assistance is possible (Yes), that is, if the determination result in step S16 is passage assistance, the target vehicle speed range is determined based on the target traffic signal as step S18. To decide. That is, the target vehicle speed control unit 20a determines, as the target vehicle speed range, the vehicle speed range that can pass through the target traffic signal using at least one traffic signal determined to be allowed to pass in step S14 as the target traffic signal. For example, the target vehicle speed control unit 20a calculates the reference target vehicle speed range described above, and adjusts the target vehicle speed range displayed in the speed display area 48 based on the calculated reference target vehicle speed range, the current vehicle speed, and preset conditions. May be. For example, the target vehicle speed control unit 20a may set the upper limit value (display upper limit speed) of the target vehicle speed range to a speed equal to or less than the current vehicle speed + α.

  When the target vehicle speed range is determined in step S18, the target vehicle speed control unit 20a displays the target vehicle speed range as step S20. That is, the target vehicle speed control unit 20a displays the determined target vehicle speed range in the speed display area 48 as the passage support display. Here, when the target vehicle speed control unit 20a determines a target vehicle speed range through which a plurality of traffic signals, that is, two or more traffic signals can pass, the target vehicle speed range is set so that the maximum speed and the minimum speed are higher than other speeds. Display with unclear images. When the target vehicle speed control unit 20a performs the process shown in step S20, the process proceeds to step S24.

  If the target vehicle speed control unit 20a determines in step S16 that the passage support is not possible (No), the target vehicle speed control unit 20a executes a stop support display as step S22. Here, the stop support display indicates a speed range near 0 km / h as the target vehicle speed range. The target vehicle speed control unit 20a displays the target vehicle speed range as an unclear image (unclear image) even when the stop support display is performed. For example, the target vehicle speed range in the speed range near 0 km / h is displayed with an image in which the maximum speed and the minimum speed are unclear compared to other speeds. When the target vehicle speed control unit 20a performs the process shown in step S22, the process proceeds to step S24.

  When the target vehicle speed control unit 20a performs the process of step S20 or the process of step S22, the target vehicle speed control unit 20a determines whether the display end condition is satisfied as step S24. Here, the display end condition is a display end condition of the target vehicle speed range set in advance. For example, when the distance between the vehicle and the intersection (target traffic signal) is less than a certain range, the vehicle speed is out of the certain range. Or a certain time has elapsed since the target vehicle speed range was displayed. If the target vehicle speed control unit 20a determines in step S24 that the condition is not satisfied (No), the target vehicle speed control unit 20a proceeds to step S14 and repeats the above-described processing. That is, the target vehicle speed range is calculated again and the target vehicle speed range is displayed again. If the target vehicle speed control unit 20a determines that the condition is satisfied (Yes) in step S24, the target vehicle speed control unit 20a ends the process.

  Next, an image displayed in the speed display area at the time of passing support will be described with reference to FIGS. For example, the target vehicle speed control unit 20a calculates the target vehicle speed range 61a in the range of about 30 km / h to about 55 km / h, as shown in the calculation result 60a of FIG. In this case, the target vehicle speed control unit 20a displays the speed display area 48a. In the speed display area 48a, a mark 70a is displayed in a speed range overlapping the target vehicle speed area of the scale display unit 50. Here, in the present embodiment, since the target vehicle speed range 61a is about 30 km / h to about 55 km / h, the speed display area 48a has a clear mark 70a of 40 km / h and about 30 km / h and about 55 km / h. The vicinity of h is displayed as an unclear image. Here, the vicinity of about 30 km / h, which is a blurred image of the mark 70a, ranges from the lowest speed of the target vehicle speed range 61a to the lowest speed + α. The vicinity of about 55 km / h, which is a blurred image, is in the range from the maximum speed −α to the maximum speed of the target vehicle speed range 61a. That is, in the mark 70a, a certain range from the maximum speed of the target vehicle speed range 61a and a certain range from the minimum speed are displayed as unclear images. The mark 70a is centered on the center speed of the target vehicle speed range 61a, that is, the center value of the maximum speed and the minimum speed. A blurred image is an image in which it is difficult to recognize the maximum speed and the minimum speed of the target vehicle speed range 61a. For example, a gradation image whose display becomes lighter as the maximum speed or the minimum speed is approached or an image whose display becomes blurred as the maximum speed or the minimum speed is approached.

  In the case where the scale display unit 50 is displayed as an image on the liquid crystal display device, the speed display region 48a may be superimposed on the image of the mark 70a as an image to be displayed on the liquid crystal display device. In addition, when the scale display unit 50 is filled with ink or the like, the speed display area 48a is arranged by placing a light emitting unit on the scale display part of the scale display unit 50 and turning on the light emitting unit in the target vehicle speed range. 70 may be displayed. In this manner, the target vehicle speed control unit 20a can display the determined target vehicle speed range as a mark 70 on the scale display unit 50 so that the user can recognize the determined target vehicle speed range. Further, the speed display area 48a displays an image in which the upper limit speed and the lower limit speed are unclear as the mark 70, so that the target vehicle speed range recognized by the driver can be recognized as an ambiguous speed range.

  Here, the target vehicle speed control unit 20a can calculate the target vehicle speed range 61a shown in FIG. 5 based on various standards. In the example shown in FIG. 5, even when the target vehicle speed control unit 20a determines that a plurality of traffic signals can pass, the speed range that can pass the next traffic signal (the previous traffic signal) is calculated as the target vehicle speed region 61a. .

  The driving support device 19 (and the vehicle 10 having the same, the driving support system 1) calculates a target vehicle speed range that can pass through the traffic light, and displays a mark 70a indicating the calculated target vehicle speed range, so that it is appropriate for the driver. The vehicle speed can be notified. In addition, the driving support device 19 displays the mark 70a in a state where the maximum speed and the minimum speed are unclear, that is, displays the end of the target vehicle speed range in an ambiguous state, so that the target traffic signal is displayed. It is possible to suppress distrust to the driver when the vehicle cannot pass. In other words, the driving support device 19 displays the end of the target vehicle speed range of the mark 70a in an ambiguous state to obscure the driving condition, that is, whether the vehicle speed is within the target vehicle speed range. Can do. Thus, by obscuring whether or not the end of the target vehicle speed range is within the target vehicle speed range, the end of the target vehicle speed range that is the end of the passable speed condition can be obscured. . Thereby, it can suppress giving the driver the impression that the traffic light could not pass though it should have satisfied the handling conditions, and it can suppress giving distrust to the driver. It is also possible to tell that there is a high possibility that the end of the target vehicle speed range will not pass. Thereby, even when traveling at the speed of the end portion of the target vehicle speed range, acceleration, deceleration, or the like occurs in the middle and the signal cannot be passed, so that it is possible to suppress distrust to the driver.

  As described above, the driving support device 19 can display the target vehicle speed range that is less likely to give the driver a sense of discomfort or stress. In addition, since the driver does not drive according to the mark with a clear boundary, the driver can be prevented from worrying too much about whether the vehicle speed is within the mark range, while maintaining an easy-to-drive state. The vehicle 10 can be driven under suitable conditions (in the present embodiment, while reducing the stop at the red light).

  Further, in the example shown in FIG. 5, as a display that blurs the maximum speed and the minimum speed of the target vehicle speed range, a certain range from the maximum speed of the target vehicle speed range 61 a and a certain range from the minimum speed are unclear images. However, it is not limited to this. The target vehicle speed control unit 20a may determine the display position of the mark image based on the target vehicle speed range and the current vehicle speed. Hereinafter, a description will be given with reference to FIG.

  The target vehicle speed control unit 20a calculates the target vehicle speed range 61b in the range of about 30 km / h to about 55 km / h, as shown in the calculation result 60b of FIG. The current vehicle speed is about 35 km / h indicated by the needle 52. In this case, the target vehicle speed control unit 20a displays the speed display area 48b. The speed display area 48 b displays a mark 70 b in a speed range that overlaps the target vehicle speed area of the scale display unit 50. Here, in this embodiment, the target vehicle speed range 61b is about 30 km / h to about 55 km / h, and the current vehicle speed is about 35 km / h. Therefore, the speed display area 48b has a mark 70b of about 35 km of the current vehicle speed. / H is clear and a speed range that is more than a certain distance from about 35 km / h is displayed as an unclear image. As described above, the mark 70b displays a region that is more than a certain speed away from the current vehicle speed in the target vehicle speed region 61b as a blurred image. The unclear image is an image that is difficult to recognize in the target vehicle speed area 61b that is more than a certain speed away from the current vehicle speed. For example, a gradation image where the display becomes lighter as an area that is more than a certain speed away from the current vehicle speed becomes farther away from the current vehicle speed, or an image that becomes blurred as the distance from the current vehicle speed becomes farther away.

  The target vehicle speed control unit 20a causes the target vehicle speed range to be recognized by the driver as an ambiguous speed range even by blurring a speed range that is more than a certain speed around the current vehicle speed in the calculated target vehicle speed range. It is possible to display the target vehicle speed range that is unlikely to give the driver a sense of discomfort or stress.

  When it is determined that the target vehicle speed control unit 20a can pass a plurality of traffic lights, the target vehicle speed control unit 20a may calculate a speed range that can pass the plurality of traffic lights as a target vehicle speed range. Hereinafter, the display of the mark when calculating the speed range that can pass through the plurality of traffic lights as the target vehicle speed range will be described with reference to FIG.

  As shown in the calculation result 60c of FIG. 7, the target vehicle speed control unit 20a calculates the target vehicle speed range 61c for the front traffic light in the range of about 15 km / h to about 40 km / h. The target vehicle speed range 63 for the traffic signal passing next is calculated in the range of about 30 km / h to about 55 km / h. The current vehicle speed is about 40 km / h indicated by the needle 52. In this case, the target vehicle speed control unit 20a sets the target vehicle speed region 65 as a region where the target vehicle speed region 61c for the traffic signal in front and the target vehicle speed region 63 for the traffic signal passing next to the traffic signal in front overlap. Then, the target vehicle speed control unit 20a displays a speed display area 48c. The speed display area 48c displays a mark 70c in a target vehicle speed area 65 where the target vehicle speed area 61c and the target vehicle speed area 63 of the scale display unit 50 overlap. The mark 70c is displayed as an unclear image as the distance from the center (median value) of the target vehicle speed range 65 increases. That is, the mark 70c is an image in which the boundary between the maximum speed and the minimum speed of the target vehicle speed range 65 is unclear.

  As shown in FIG. 7, the target vehicle speed control unit 20a passes through a region where the target vehicle speed region 61c for the traffic signal in front and the target vehicle speed region 63 for the traffic signal passing next to the traffic signal in front overlap, that is, a plurality of traffic lights. By setting the speed range in which the vehicle can travel to the target vehicle speed range, the driver can appropriately grasp the vehicle speed that can pass through the plurality of traffic lights. Also in this case, the mark 70c is displayed as an unclear image as it moves away from the center (median value) of the target vehicle speed range 65, so that the target vehicle speed range 65 to be recognized by the driver is recognized as an ambiguous speed range. It is possible to display the target vehicle speed range that is unlikely to cause the driver to feel discomfort or stress.

  Also, as shown in FIG. 7, when the speed range where the target vehicle speed ranges for a plurality of traffic lights overlap is set as the target vehicle speed range, the speed range that is more than a certain speed around the current vehicle speed is blurred as in FIG. Also good.

  As described above, the target vehicle speed control unit 20a may change the size of the mark displayed in the target vehicle speed range, that is, the displayed speed range, but the mark size may be constant. Specifically, the speed display area 48 d shown in FIG. 8 displays a mark 70 d on the scale display unit 50. The mark 70d is arranged at a position where the calculated median value of the target vehicle speed range is the center. The mark 70d is displayed as an unclear image as the distance from the center (median value) of the target vehicle speed range increases. The mark 70d is an image displayed at a constant size regardless of the size of the speed range of the target vehicle speed range. Here, even if the target vehicle speed range that is the reference of the mark 70d shown in FIG. 8 is detected from the speed range that can pass through the front traffic light, the target vehicle speed range for the front traffic light and the traffic signal that passes next to the front traffic light is detected. You may detect from the speed range with which a target vehicle speed area overlaps. In addition, the display position of the mark 70d may be included in the target vehicle speed range, and may be the median value of the target vehicle speed range or the current vehicle speed.

  As shown in FIG. 8, the target vehicle speed control unit 20a sets the mark 70d to the speed range even when the size of the mark 70d for displaying the target vehicle speed range is constant regardless of the size of the target vehicle speed range. By displaying the boundary with an unclear image, it is possible to obtain the same effect as in the above embodiment.

  The driving support device 19 can calculate the target vehicle speed range based on various standards. The driving support device 19 may use the current vehicle speed + α, that is, a speed that is a constant speed higher than the current vehicle speed as the condition value for the target vehicle speed range. The driving support device 19 can suppress an increase in acceleration necessary for setting the vehicle speed to the target vehicle speed range by setting the current vehicle speed + α as the upper limit speed. Thereby, the vehicle 10 and the driving support device 19 can display a target vehicle speed range that is less likely to give the driver a sense of discomfort or stress.

  Here, the driving support device 19 may set the upper limit speed of the target vehicle speed range to the current vehicle speed + G × t. Here, G is acceleration and t is time. That is, the driving support device 19 may set the display upper limit speed to the current vehicle speed + G × t, that is, a speed that can be realized with the acceleration G in t seconds. Here, t seconds may be a value that changes based on the distance to the traffic light and the current vehicle speed. For example, t may be increased when the distance to the traffic signal is long, and t may be decreased when the distance to the traffic signal is short.

  Further, the driving support device 19 may set the upper limit speed of the target vehicle speed range as the current vehicle speed. The target vehicle speed control unit 20a can set the target vehicle speed range to a speed that does not require acceleration by setting the upper limit speed of the target vehicle speed range to the current vehicle speed. Thereby, since the driving assistance device 19 does not recommend the target vehicle speed range that needs to be accelerated to the driver, it is possible to display the target vehicle speed range that is less likely to give the driver a sense of discomfort or stress.

  Further, the driving support device 19 may use the speed limit of the road (road) on which the vehicle is traveling as the upper limit speed of the target vehicle speed range. Here, the speed limit is, for example, the legal speed of the road on which the vehicle is currently traveling. The map information database 22a is detected by detecting the current position from the infrastructure information acquired by the infrastructure communication unit 38 or the GPS signal received by the GPS communication unit 32. May be obtained from the information of the current position stored in. The driving support device 19 can use a combination of the infrastructure communication unit 38, the GPS communication unit 32, and the map information database 22a as an information acquisition unit that acquires information on the speed limit. The information acquisition unit that acquires information on the speed limit may use another function of the driving support device 19, for example, the in-vehicle camera 34. The driving support device 19 may acquire an image of a sign installed on the road on which the vehicle is traveling with the in-vehicle camera 34 and detect the legal speed displayed on the sign image as the speed limit. The driving assistance device 19 can suppress the display of the target vehicle speed range from exceeding the speed limit by using the speed limit as the upper limit speed of the target vehicle speed range. Thereby, since the driving assistance device 19 can display the target vehicle speed range at a speed equal to or lower than the speed limit, it can suppress the display of the speed that should not be actually traveled, and the driver feels uncomfortable or stressed. It is possible to display a target vehicle speed range that is less likely to give

  In addition, it is more preferable that the driving assistance device 19 of the above embodiment determines the upper limit speed of the target speed range using both the current vehicle speed and the speed limit. That is, it is preferable that the driving support device 19 prevents the target vehicle speed range from exceeding the speed limit even when the upper limit speed of the target speed range is determined using the current vehicle speed. Thereby, the driving assistance device 19 can obtain both of the above-described effects, and can display a target vehicle speed range that is less likely to give the driver a sense of discomfort or stress.

  Next, an image displayed in the speed display area of the stop assistance display will be described with reference to FIG. The target vehicle speed control unit 20a displays a speed display area 48e shown in FIG. 9 when executing the stop support display. The speed display area 48e displays a mark 70e in a speed range that overlaps the target vehicle speed range of the scale display unit 50. Here, since the stop support display is a speed range where the target vehicle speed range is near 0 km / h (speed range including 0 km / h, in this embodiment, from 0 km / h to 10 km / h), the speed display area 48e is The mark 70e is displayed in the speed range near 0 km / h. Similarly to the mark 70a, the mark 70e displays a certain range from the maximum speed in the target vehicle speed range and a certain range from the minimum speed as an unclear image. A blurred image is an image in which the maximum speed and the minimum speed in the target vehicle speed range are difficult to recognize. For example, a gradation image whose display becomes lighter as the maximum speed or the minimum speed is approached or an image whose display becomes blurred as the maximum speed or the minimum speed is approached.

  As described above, when the driving support device 19 is not capable of passing, for example, if the vehicle is traveling while maintaining the current vehicle speed, the driving target device 19 cannot pass through the traffic light spot when the traffic light spot arrives, or the reference target vehicle speed range is higher than the display upper limit speed. If the speed is too high, a stop can be recommended to the driver by displaying a mark in the target vehicle speed range for stop assistance. As a result, the driving support device 19 can recommend stopping to the driver without recommending unreasonable driving when rapid acceleration is required to pass the target traffic light, and the driver feels uncomfortable or stressed. This can reduce the risk of giving. In addition, by displaying the mark 70e unclearly, it is possible to prevent the driver from misunderstanding that the mark is displayed in the passage determination.

  In the present embodiment, when the passing support is not possible, the target vehicle speed range of the stop support is displayed, but the present invention is not limited to this. The driving assistance device 19 may not display the target vehicle speed range in place of the process of step S22 when the passage assistance is not possible.

  The driving assistance device 19 preferably uses different colors for the marks to be displayed in the target vehicle speed range displayed at the time of passing assistance and the target vehicle speed range displayed at the time of stop assistance. In addition, you may make it change a pattern, a lighting state, etc. instead of a color. Thereby, the driver can immediately grasp whether the passage assistance is displayed or the stop assistance is displayed.

  The driving support device 19 of the above embodiment calculates one target vehicle speed range from each condition and displays one mark corresponding to the target vehicle speed range. However, the present invention is not limited to this. The driving support device 19 may calculate a target vehicle speed range for each target traffic light and display a mark for each calculated target vehicle speed range. In this case, the driving support device 19 may display at least one mark corresponding to the target vehicle speed range among a plurality of target vehicle speed ranges as an image in which the maximum speed and the minimum speed are unclear.

  Here, FIG. 10 is a schematic diagram illustrating an example of a speed display area of the display device. The driving support device 19 displays a mark 70f and a mark 73 on the scale display unit 50 as shown in a speed display area 48f of FIG. The mark 70f corresponds to the target vehicle speed range for the traffic signal in front, and the mark 73 corresponds to the target vehicle speed range for the traffic signal that passes next to the traffic signal in front. The mark 70f indicates the entire region that overlaps the target vehicle speed range for the traffic signal in front. The mark 70f is an image in which the maximum speed and the minimum speed in the target vehicle speed range are clear. The mark 73 is disposed at a position where the calculated median value of the target vehicle speed range is the center. The mark 73 is displayed as an unclear image as the distance from the center (median value) of the target vehicle speed range increases. The mark 73 is an image displayed at a constant size regardless of the size of the speed range of the target vehicle speed range. Here, even if the target vehicle speed range as a reference of the mark 73 shown in FIG. 10 is detected only from the speed range in which the next traffic signal can pass, the target vehicle speed range for the previous traffic signal and the next traffic signal pass next. You may detect from the speed range with which the target vehicle speed area with respect to the traffic signal to overlap. Further, the display position of the mark 73 only needs to be included in the target vehicle speed range for the traffic signal that passes next to the previous traffic signal, and may be the median value of the target vehicle speed range or the current vehicle speed.

  As shown in FIG. 10, the driving support device 19 calculates a target vehicle speed range corresponding to each traffic light, and displays a plurality of marks corresponding to each of the plurality of target vehicle speed ranges, so that each traffic light is displayed to the driver. The target vehicle speed that can be passed can be grasped. Further, by displaying at least one of the marks corresponding to the target vehicle speed range, more preferably, the mark corresponding to the target vehicle speed range of the traffic signal on the farther side in an image in which the maximum speed and the minimum speed are unclear, the above-described example Similarly, it is possible to suppress distrust to the driver when the traffic signal cannot pass.

  Next, a method for determining the display position of the mark corresponding to the target vehicle speed range of the traffic signal on the farther side will be described with reference to FIG. FIG. 11 is a flowchart illustrating another example of processing of the driving support device. The processing shown in FIG. 11 is performed in parallel with the processing of FIG. 4 described above, and the processing result is displayed when the second mark, that is, the mark corresponding to the target vehicle speed range of the farther traffic light is displayed. It is sufficient to display the second mark by using it.

  The target vehicle speed control unit 20a of the ECU 20 determines whether green wave support is possible in step S40. If the target vehicle speed control unit 20a determines that support is not possible (No) in step S40, that is, it cannot be supported, the process ends.

  If the target vehicle speed control unit 20a determines that support is possible in step S40 (Yes), it determines in step S42 whether the traffic signal in front is allowed to pass. That is, the target vehicle speed control unit 20a determines whether it is possible to support passage for the traffic signal that passes next. If the target vehicle speed control unit 20a determines that the vehicle cannot pass (No) in step S42, it sets Center = 0 in step S43, and proceeds to step S56. Here, Center is the median value of the display area of the second mark. That is, the target vehicle speed control unit 20a determines the mark display position by setting the median value of the second mark to 0 km / h in step S43. In addition, when determination of step S43 is performed, the stop assistance with respect to the front traffic light is performed.

  If the target vehicle speed control unit 20a determines in step S42 that the vehicle can pass (Yes), it determines in step S44 whether the second traffic light can pass. That is, the target vehicle speed control unit 20a determines whether or not the traffic signal that passes next to the traffic signal in front is allowed to pass. If the target vehicle speed control unit 20a determines in step S44 that the vehicle cannot pass (No), the process proceeds to step S48.

  If the target vehicle speed control unit 20a determines that the vehicle can pass (Yes) in step S44, it is determined in step S46 that Vmin1> Vmax2, that is, the minimum value of the first target vehicle speed range is two. It is determined whether it is larger than the maximum value of the target vehicle speed range of the eyes. Here, Vmin1 is the minimum speed in the target vehicle speed range for the traffic signal in front, and Vmax2 is the maximum speed in the target vehicle speed range for the second traffic signal.

  If the target vehicle speed control unit 20a determines that Vmin1> Vmax2 is satisfied (Yes) in step S46, the process proceeds to step S48. If the target vehicle speed control unit 20a determines No in step S44 or Yes in step S46, the target vehicle speed control unit 20a sets Center = Vmin1 in step S48 and proceeds to step S56. In step S48, the target vehicle speed control unit 20a sets the median value of the second mark to the position of the lowest speed of the first mark.

  If it is determined in step S46 that Vmin1> Vmax2 is not satisfied (No), the target vehicle speed control unit 20a determines whether Vmax1 <Vmin2 is satisfied in step S50. Here, Vmax1 is the maximum speed in the target vehicle speed range for the traffic signal in front, and Vmin2 is the minimum speed in the target vehicle speed range for the second traffic signal.

  If the target vehicle speed control unit 20a determines that Vmax1 <Vmin2 (Yes) in step S50, it sets Center = Vmax1 in step S52, and proceeds to step S56. In step S52, the target vehicle speed control unit 20a sets the median value of the second mark to the position of the maximum speed of the first mark. If it is determined in step S50 that Vmax1 <Vmin2 is not satisfied (No), the target vehicle speed control unit 20a sets Center = (Vmax2 + Vmin2) / 2 in step S54, and proceeds to step S56. In step S52, the target vehicle speed control unit 20a sets the median value of the second mark to the median value of the maximum speed and the minimum vehicle speed of the second mark.

  When the target vehicle speed control unit 20a performs steps S43, S48, S52, and S54, the target vehicle speed control unit 20a determines whether the display end condition is satisfied in step S56. If the target vehicle speed control unit 20a determines in step S56 that the condition is not satisfied (No), the target vehicle speed control unit 20a proceeds to step S40 and repeats the above-described processing. If the target vehicle speed control unit 20a determines that the condition is satisfied (Yes) in step S56, the target vehicle speed control unit 20a ends this process.

  As shown in FIG. 10, the driving support device 19 determines the display position of the second mark based on the target vehicle speed range of the first traffic light and the target vehicle speed range of the second traffic light, thereby driving It is possible to display speed guidance that is easy for a person to understand and easy to realize.

  As shown in steps S44 and S48 in FIG. 11, the driving support device 19 uses the mark indicating the target vehicle speed range as the maximum speed even when the traffic light in the foreground can pass and the second traffic light, that is, the traffic light in the back cannot pass. By making an image with an unclear minimum speed, it is possible to suppress the driver from feeling distrust when the traffic signal in front is unable to pass. In addition, it is possible to make it difficult to recognize that the display of the target speed range for the traffic signal in the back for which stop assistance is being performed is a display of passage determination that can be passed if the vehicle speed is lowered. That is, the driving support device 19 displays the mark of the target vehicle speed range to be displayed at the time of at least one of driving support for a plurality of traffic lights, that is, passing support and stop support for a traffic light point, regardless of passing assistance and stopping assistance. By using an image with an unclear minimum speed, driving support can be suitably implemented while suppressing distrust to the driver.

  Further, the driving support device 19 may determine a target vehicle speed range to be displayed based on the relationship between the next traffic signal and the next traffic signal, that is, the second traffic signal. Hereinafter, an example of control will be described with reference to FIG. Here, FIG. 12 is a flowchart illustrating another example of the process of the driving support device.

  The target vehicle speed control unit 20a of the ECU 20 determines in step S112 whether green wave support is possible for the traffic signal (traffic signal point) that passes next. If the target vehicle speed control unit 20a determines that it cannot be supported in Step S112 (No), that is, it cannot calculate the target vehicle speed range for the next traffic signal point, it ends this process.

  Moreover, when it determines with the target vehicle speed control part 20a being able to support in step S112 (Yes), as step S114, it is arrange | positioned in the traffic signal which passes the 2nd (the traffic signal point which passes 2nd in a driving direction). It is determined whether the cycle of the traffic light (signal cycle) has been acquired. If the target vehicle speed control unit 20a determines in step S114 that the cycle of the second traffic signal cannot be acquired (No), that is, the target vehicle speed range for the second traffic signal point cannot be calculated, Proceed to step S120.

  When the target vehicle speed control unit 20a determines in step S114 that the cycle of the second traffic signal that has passed can be acquired (Yes), in step S116, the distance to the second traffic signal that passes is less than the threshold value. Determine whether. The distance to the traffic signal passing through the second is the distance between the current vehicle and the traffic signal point (intersection, pedestrian crossing). The threshold value is a preset value. As the threshold value, a distance within a range where the traffic light can be visually confirmed, a distance that can be reached at an average legal speed in a certain time (for example, 10 seconds), or the like can be used.

  When the target vehicle speed control unit 20a determines in step S116 that the distance to the second traffic signal passing through is less than the threshold (Yes), that is, the distance from the current vehicle to the traffic signal point is less than the threshold distance. In step S118, target vehicle speed ranges for the two traffic lights are displayed. That is, the target vehicle speed control unit 20a determines the target speed range corresponding to the two traffic signals that are the target traffic signals as described above, and displays a mark corresponding to the determined target vehicle speed range as the passage support display. When the target vehicle speed control unit 20a performs the process shown in step S118, the process proceeds to step S122.

  If the target vehicle speed control unit 20a determines No in step S114 and No in step S116, the target vehicle speed control unit 20a displays the target vehicle speed range of only the traffic signal that passes next as step S120. That is, the target vehicle speed control unit 20a calculates a reference target vehicle speed range for a traffic signal that passes next as a passing assistance display, and based on the calculated reference target vehicle speed range (hereinafter also referred to as a first target vehicle speed range). ). The target vehicle speed control unit 20a displays the determined one target vehicle speed area in the speed display area. When the target vehicle speed control unit 20a performs the process shown in step S120, the process proceeds to step S122.

  The target vehicle speed control part 20a will determine whether display end conditions are satisfied as step S122, if the process of step S118 or the process of step S120 is performed. If the target vehicle speed control unit 20a determines in step S122 that the condition is not satisfied (No), the target vehicle speed control unit 20a proceeds to step S112 and repeats the above-described processing. That is, it is determined whether the target vehicle speed range for each traffic light can be displayed and the target vehicle speed range is calculated, and the target target vehicle speed range is displayed again. If the target vehicle speed control unit 20a determines that the condition is satisfied (Yes) in step S122, the target vehicle speed control unit 20a ends the process.

  As shown in FIG. 12, the driving support device 19 calculates target vehicle speed ranges for the two traffic lights only when the distance from the second traffic light, that is, the distance from the second traffic light is less than a certain distance. By displaying a mark corresponding to the vehicle speed range, the driver can display guidance with less stress.

  When the driving support device 19 of the above embodiment can pass through a plurality of traffic light points, the mark indicating the speed range that can pass through the plurality of traffic light points is an image in which the maximum speed and the minimum speed are unclear. However, the present invention is not limited to this. Not. When the driving support device 19 displays the target vehicle speed range of only the traffic signal that passes next like the step S120 shown in FIG. 12, the mark indicating the target vehicle speed range is an image in which the maximum speed and the minimum speed are unclear. You may make it do. That is, when the driving support device 19 performs driving support for one traffic light, the mark indicating the calculated target vehicle speed range may be an image in which the maximum speed and the minimum speed are unclear. Thereby, the driving assistance device 19 can suppress giving distrust to the driver when the next traffic signal cannot pass. In addition, it is possible to make it difficult to recognize that the display of the target speed range for the traffic signal in the back for which stop assistance is being performed is a display of passage determination that can be passed if the vehicle speed is lowered. In other words, the driving support device 19 makes the mark of the target vehicle speed range to be displayed next when driving support for the traffic light is made an image in which the maximum speed and the minimum speed are unclear, regardless of passing support and stop support. The driving support can be suitably performed while suppressing distrust to the driver. In addition, the above-described various methods can be used as the method for determining the target vehicle speed range when displaying the target vehicle speed range for only one traffic light.

  Moreover, although the driving assistance apparatus 19 of the said embodiment made the maximum speed and the minimum speed indistinct by making the display area | region of the mark which shows a target vehicle speed range small gradually, it is not limited to this. As an indistinct image, an image in which the color is lightened toward the various maximum speeds and the minimum speed or an image in which the outer edge is blurred can be used. Here, FIG. 13 is a schematic diagram illustrating another example of the speed display area of the display device. A speed display area 48g shown in FIG. 13 displays a mark 70g on the scale display unit 50. The mark 70g is arranged at a position where the calculated median value of the target vehicle speed range is the center. The mark 70g is displayed as an unclear image as the distance from the center (median value) of the target vehicle speed range increases. Specifically, the mark 70g gradually becomes thinner as it goes away from the center (median value) of the target vehicle speed range, and becomes almost invisible near the maximum speed and the minimum speed. Further, the thickness of the mark 70g at each speed is constant.

  As shown in FIG. 13, the driving support device 19 is gradually thinned away from the center (median value) of the target vehicle speed range while keeping the thickness at each speed constant, and in the vicinity of the maximum speed and the minimum speed. Even if the gradation image is almost invisible, the maximum speed and the minimum speed can be obscured, and the same effect as described above can be obtained.

  In addition, the driving support device 19 of the above embodiment calculates the reference target vehicle speed range based on conditions that can pass through the intersection and pedestrian crossing where the traffic signal is arranged based on the signal cycle information of the traffic signal, but is not limited thereto. Not. The driving assistance device 19 can be used in various cases for displaying the target vehicle speed range.

DESCRIPTION OF SYMBOLS 1 Driving assistance system 10 Vehicle 12, 12a Traffic light 14 Infrastructure information transmission apparatus 16 GPS satellite 19 Driving assistance apparatus 20 ECU
20a Target vehicle speed control unit 22 Storage unit 24 Accelerator actuator 26 Brake actuator 28 Car navigation device 30 Speaker 32 GPS communication unit 34 Vehicle-mounted camera 38 Infrastructure communication unit 40 Vehicle speed sensor 42 Display device 48 Speed display area

Claims (7)

A driving support device for supporting driving of a vehicle,
For a traffic light arranged at a traffic light point in the traveling direction of the vehicle, an infrastructure communication unit that acquires signal cycle information that is a cycle in which the display of the traffic light is switched, and
Based on the signal cycle information, a target vehicle speed control unit that calculates target vehicle speed information including a vehicle speed range that can pass without stopping the traffic light point; and
A target vehicle speed display unit that displays the target vehicle speed information determined by the target vehicle speed control unit,
The target vehicle speed display unit displays, as the target vehicle speed information, an image in which the maximum speed and the minimum speed in the vehicle speed range are unclearer than other speeds. A driving support device for supporting driving of a vehicle,
An infrastructure communication unit that acquires signal cycle information, which is a cycle in which the display of the traffic signal is switched, for traffic signals arranged at two or more traffic signal points in the traveling direction of the vehicle,
Based on the signal cycle information, it is determined whether it is possible to pass through the traffic lights arranged at each of two or more traffic signal points in the traveling direction of the vehicle. A target vehicle speed control unit that calculates target vehicle speed information including a vehicle speed range that can pass through the traffic light; and
A target vehicle speed display unit that displays the target vehicle speed information for a plurality of traffic light points determined by the target vehicle speed control unit,
The target vehicle speed display unit displays a vehicle speed range in which the target vehicle speed information can pass through the plurality of traffic lights with an image in which the maximum speed and the minimum speed are less clear than other speeds. The target vehicle speed information includes a first vehicle speed range in which a position in the traveling direction of the vehicle can pass through a traffic signal on the near side, and a second vehicle speed range in which a traffic signal on the back side can pass through the traffic signal on the near side,
The target vehicle speed display unit displays the entire range of the first vehicle speed range with a clear image, and displays the second vehicle speed range with an image in which the maximum speed and the minimum speed are less clear than other speeds. The driving support device according to claim 2.   The said target vehicle speed control part makes the said target vehicle speed information of the said traffic signal point into the vehicle speed range containing 0 km / h, when it determines with the said vehicle not passing the said traffic signal point. The driving support device according to any one of the above.   When the target vehicle speed control unit determines that the vehicle cannot pass through the traffic light point, the target vehicle speed control unit displays an image in which the maximum speed and the minimum speed in the vehicle speed range including 0 km / h are unclearer than other speeds. The driving support device according to claim 4.   6. The image according to claim 1, wherein the image having the maximum speed and the minimum speed that are less sharp than the other speeds is an image in which the color is lightened or the outer edge is blurred as the speed reaches the maximum speed or the minimum speed. The driving assistance apparatus as described. For the traffic light point, further comprising a position calculation unit for calculating relative position information of the vehicle and the traffic light point at the present time,
The target vehicle speed control unit, for the traffic light point, relative position information of the vehicle and the traffic light point calculated by the position calculation unit, signal cycle information of the traffic signal of the traffic signal point acquired by the infrastructure communication unit, Based on the above, a speed range in which the vehicle can pass through the traffic signal point while the traffic signal is in the passable display state is calculated as a reference target vehicle speed range, and target vehicle speed information is determined based on the reference target vehicle speed range. The driving support device according to any one of claims 1 to 6, wherein

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