JP2014102802A - Driving support device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device for a vehicle capable of informing a driver of the fact that an oncoming vehicle is approaching in mountain roads having sites where curves with a poor view are continued by using an inter-vehicle communication without using map information.SOLUTION: A vehicle driving support device 1 includes an own vehicle location estimation part 6 and the other vehicle location information reception part 8, and informs an occupant of own vehicle about the approach of an oncoming vehicle when determined that the oncoming vehicle is approaching based the location information on own vehicle and the location information on the oncoming vehicle. The vehicle driving support device 1 further includes: a mountain road traveling determination part 7; and an oncoming vehicle approaching determination part 9 for comparing the location information on own vehicle and the location information on the other vehicle and for determining whether or not the oncoming vehicle is approaching, and informs the occupant of own vehicle about the approach of the oncoming vehicle when determined by the oncoming vehicle approaching determination part 9 that the other vehicle is approaching as the oncoming vehicle.

Description

  The present invention relates to a vehicle driving support device, and more particularly to a vehicle driving support device using inter-vehicle communication.

  In recent years, it has become possible to supply various types of information relating to a traveling road to a traveling vehicle. As an example, a technique is known such as acquiring road information such as the degree of a bend on a mountain road and notifying an oncoming vehicle of a dangerous condition by using a high beam headlight to avoid a dangerous situation. (For example, refer to Patent Document 1). However, in this prior art, in order to determine whether or not the host vehicle is traveling on a mountain road, it is necessary to previously store the position of the mountain road in the storage unit. For this reason, in this prior art, the device does not start unless the position of the mountain road is stored in advance. In addition, this prior art requires a storage unit (memory) for storing the position of the mountain road, which increases the cost. In this conventional technology, from the viewpoint of informing the opponent vehicle of the existence of an oncoming vehicle on a curve with poor visibility on a mountain road, it is not sufficient to contribute to safety simply by making the headlight a high beam. It was.

  In addition to this, there is known a device that captures an image in front of the vehicle using an imaging unit, determines the degree of danger from the image data, and notifies the driver according to the degree of approach with the oncoming vehicle (for example, Patent Document 2). In this conventional apparatus, it is necessary to process an enormous amount of image data acquired by the imaging means, and thus there is a problem that the cost of a memory, a processing apparatus and the like increases. In addition, because it is not possible to capture images of vehicles that are parked at the end of bent mountain roads, it contributes to safety from the viewpoint of knowing the existence of oncoming vehicles on curves with poor visibility on mountain roads and on opposite sides of stopped vehicles. It was not enough to do.

  Further, as a conventional technique, an apparatus that can guide an off-road route without using map data is known (for example, see Patent Document 3). In this prior art, it is possible to receive failure information from an information center or an information transmission device to avoid a failure in offload. However, this conventional technique is insufficient to contribute to safety from the viewpoint of knowing the existence of an oncoming vehicle on a curve with a poor view of a mountain road or a vehicle that is stopped.

  Furthermore, as a conventional technology, when traveling in an area where information infrastructure is not established, such as mountainous areas, even if vehicles that communicate with each other are far away from each other, they can communicate with each other through an oncoming vehicle. There is known a technique that enables this (see, for example, Patent Document 4). However, even this prior art is insufficient to contribute to safety from the viewpoint of knowing the existence of an oncoming vehicle on a curve with a poor view of a mountain road and a vehicle that is stopped.

JP 2007-320487 A JP 2007-233470 A JP 2005-345152 A JP 2005-123958 A

  The present invention has been made in view of the above problems, and an oncoming vehicle approaches on a mountain road where curves with poor visibility continue even without using the map information installed in the navigation system. An object of the present invention is to provide a vehicle driving support device that can inform the driver that the vehicle is running.

  In order to solve the above-described problems and achieve the object, an aspect of the present invention includes an own vehicle position estimating unit that estimates a traveling position of the own vehicle, an other vehicle position information receiving unit that receives position information of another vehicle, and Whether the oncoming vehicle is approaching the host vehicle based on the position information of the host vehicle estimated by the host vehicle position estimating unit and the position information of the other vehicle received by the other vehicle position information receiving unit. In the vehicle driving support device that determines whether or not the oncoming vehicle is approaching and notifies the passenger of the own vehicle that the oncoming vehicle is approaching, the position of the own vehicle at least within a preset time Based on a change in the direction of the host vehicle estimated by the estimation unit, the host vehicle includes a mountain road traveling determination unit that determines whether the host vehicle is traveling on a mountain road. Location information and other vehicle positions An oncoming vehicle approach determining unit that compares the position information of the other vehicle received by the information receiving unit and determines whether the other vehicle is approaching the host vehicle as an oncoming vehicle is provided. When it is determined that the vehicle is traveling on a mountain road and the oncoming vehicle approach determining unit determines that the oncoming vehicle is approaching, an informing unit that notifies the passenger of the own vehicle of the approaching oncoming vehicle It is characterized by comprising.

  As the above-described aspect, the mountain road travel determination unit continues the travel of the host vehicle continuously for the set time, and the calculated average vehicle speed of the host vehicle is lower than the set vehicle speed and is within a preset set travel distance. It is preferable to determine that the host vehicle is traveling on a mountainous road when the vehicle has traveled over a set number of times on a travel path having a curvature radius equal to or greater than the set curvature radius.

  As the above-described aspect, the oncoming vehicle approach determination unit includes a travel locus of the other vehicle calculated from the position information of the other vehicle received by the other vehicle position information receiving unit, and the own vehicle estimated by the own vehicle position estimation unit. The travel locus calculated from the current position of the host vehicle to the set travel distance before the set travel distance does not overlap, and the position of the other vehicle is within the set distance from the position of the host vehicle. Sometimes, it is preferable to determine that another vehicle is approaching the host vehicle as an oncoming vehicle.

  As the above-described aspect, the oncoming vehicle approach determination unit includes a travel locus of the other vehicle calculated from the position information of the other vehicle received by the other vehicle position information receiving unit, and the own vehicle estimated by the own vehicle position estimation unit. When the travel locus that has been calculated from the position and goes back to the set period before the current time of the host vehicle does not overlap, and the position of the other vehicle is within the set distance from the position of the host vehicle It is preferable to determine that another vehicle is approaching the host vehicle as an oncoming vehicle.

  According to the present invention, since the oncoming vehicle is identified using the inter-vehicle communication without using the map information on which the navigation system is mounted, the oncoming vehicle is located on a mountain road where curves with poor visibility continue. A vehicle driving support device that can inform the driver that the vehicle is approaching can be realized.

FIG. 1 is a configuration diagram illustrating a vehicle driving support apparatus according to an embodiment of the present invention. FIG. 2 is an explanatory diagram showing a determination method of the vehicle driving support apparatus according to the embodiment of the present invention. FIG. 3 is a flowchart showing an outline of functions and operations of the vehicle driving support apparatus according to the embodiment of the present invention. FIG. 4 is a flowchart showing details of functions and operations of the vehicle driving support apparatus according to the embodiment of the present invention. FIG. 5 is a flowchart showing a modified example of determination condition B of the vehicle driving support apparatus according to the embodiment of the present invention.

Below, the detail of the driving assistance device for vehicles which concerns on embodiment of this invention is demonstrated based on drawing.
(Configuration of vehicle driving support device)
As shown in FIG. 1, the vehicle driving support apparatus 1 includes a GPS module 2, a communication module 3, a determination module 4, and a notification unit 5.

  The GPS module 2 is connected to the GPS antenna 21. The GPS module 2 outputs the position, direction, and speed information of the host vehicle to the determination module 4. The communication module 3 is connected to the communication antenna 31. The communication module 3 outputs information on other vehicles acquired using inter-vehicle communication to the determination module 4 and can transmit own vehicle information to other vehicles.

  The determination module 4 includes a host vehicle position estimation unit 6, a mountain road traveling determination unit 7, an other vehicle position information reception unit 8, and an oncoming vehicle approach determination unit 9. The own vehicle position estimation unit 6 is configured to estimate the traveling position of the own vehicle based on the position information of the own vehicle output from the GPS module 2. The other vehicle position information receiving unit 8 receives other vehicle information (position information) output from the communication module 3.

The mountain road traveling determination unit 7 determines whether or not the vehicle is traveling on a mountain road based on a change in the direction of the host vehicle estimated by the host vehicle position estimation unit 6 at least within a preset set time. ing. Specifically, the mountain road travel determination unit 7 determines that the host vehicle is traveling on a mountain road when the following mountain road determination condition A is provided, and if the vehicle does not have the mountain road determination condition A, It is determined that the vehicle is not traveling on a mountain road. The case where the mountain road determination condition A is provided is a case where the following (A-1) to (A-3) are provided simultaneously.
(Mountain road judgment condition A)
(A-1) The host vehicle continues to travel continuously without stopping for a time from a preset time M minutes before to the present time.
(A-2) The calculated average vehicle speed is lower than the extremely low speed V1 (km / h) as the set vehicle speed.
(A-3) The host vehicle traveled a curve having a radius of curvature equal to or greater than the set radius of curvature within a preset travel distance L (m) that has been set in advance N times or more.

  The reason for including (A-1) in the determination condition A for determining whether or not the vehicle is traveling on a mountain road is that the target mountain road has no signal and has few opportunities to stop. Moreover, the reason for including (A-2) in the judgment condition A for determining whether or not the vehicle is traveling on a mountain road is that the vehicle speed cannot be increased on a narrow mountain road, and the average vehicle speed is extremely low V1 (km / h). This is because it is considered to be lower. Furthermore, the reason for including (A-3) in the determination condition A for determining whether or not the vehicle is traveling on a mountainous road is that the possibility of a mountainous road is high when traveling in a short traveling section on a curve having a curvature radius of a certain value or more. . In a parking lot or the like, the direction may be frequently changed in the traveling section. However, since the radius of curvature is smaller than the radius of curvature of the mountain road, the determination condition (A-3) has a condition that it is equal to or larger than the set radius of curvature. It is added.

The oncoming vehicle approach determination unit 9 determines whether or not the oncoming vehicle is approaching in consideration of the oncoming vehicle approach determination condition B described below in addition to the above condition A.
(Oncoming vehicle approach judgment condition B)
(B-1) The other vehicle position information receiving unit 8 estimates the travel locus of the other vehicle calculated from the position information received from the other vehicle with which communication is established by inter-vehicle communication and the own vehicle position estimating unit 6. The travel locus before the set travel distance X (m) from the set current position of the host vehicle calculated from the position of the host vehicle does not overlap (does not match). Here, the case where the traveling tracks overlap includes the case where they partially overlap (match), and the case where the traveling tracks do not overlap refers to the case where the tracks do not overlap (not match) partially.
(B-2) The position of the other vehicle is within a set distance from the position of the host vehicle. That is, the traveling position of the other vehicle is within a set radius Y (m) centered on the own vehicle.

  As shown in FIG. 2, generally, in a narrow mountain road R that is a target, the direction of the road may change frequently, and it is not possible to simply determine whether the vehicle is an oncoming vehicle from the traveling direction. Therefore, the determination condition (B-1) is that the traveling trajectories of the other vehicles 12, 13 are traced back to the set travel distance X (m) before the travel trajectories 12A (dashed lines) and 13A (broken lines) and the current time of the host vehicle 11. Whether or not 11A (solid line) does not overlap. That is, if the traveling track overlaps with the host vehicle 11, it can be determined that the other vehicle is the succeeding vehicle 13 that runs on the same mountain road R behind the host vehicle 11. On the other hand, if the own vehicle 11 and the travel locus do not overlap, it is determined that there is a high possibility that the vehicle 11 is another vehicle that has not traveled in the same mountainous road R region as the own vehicle 11, that is, the oncoming vehicle 12 or the stop vehicle 12. Is possible. Then, in consideration of whether or not the determination condition (B-2) is provided in addition to the determination condition (B-1), the distance set from the position of the own vehicle 11 (the center of the own vehicle 11 in FIG. It is possible to determine whether the oncoming vehicle 12 is approaching on the mountain road R or whether the stop vehicle 12 exists.

  When the determination module 4 determines that the host vehicle 11 is traveling on a mountain road by the mountain road traveling determination unit 7 and the oncoming vehicle approach determination unit 9 determines that the oncoming vehicle 12 is approaching. In this case, the notification unit 5 is made to notify a passenger (driver) of the host vehicle 11 to recognize the approach of the oncoming vehicle 12. As the notification unit 5, in addition to visual notification means such as a display and a lamp, auditory notification means such as voice can be used. In addition to these notification means, communication for the purpose of lighting the headlights and reporting vehicle approach to other vehicles may be performed so that the oncoming vehicle can also be notified.

  In the vehicle driving support device 1 having such a configuration, it is possible to know information on other vehicles that cannot be seen. Moreover, in this vehicle driving assistance device 1, it is possible to grasp the positional relationship between the host vehicle and the other vehicle, and it is possible to notify an appropriate service including a warning. Furthermore, in this vehicle driving support device 1, it is possible to determine that a vehicle such as a light vehicle or a motorcycle that is not equipped with a navigation system is traveling on a mountain road. Further, the vehicle driving support device 1 can discriminate an oncoming vehicle even in a mountain road with a steep slope in which the traveling direction frequently changes and the oncoming vehicle cannot be distinguished from the traveling direction. In the vehicle driving support device 1, it is possible to obtain the travel locus information of the oncoming vehicle, and thus it is possible to grasp the road shape ahead of the course.

  As shown in the flowchart of FIG. 3, in the vehicle driving support apparatus 1 according to the present embodiment, it is determined whether or not the mountain road determination condition A is satisfied (step S1). Next, when the mountain road determination condition A is satisfied, an oncoming vehicle approach determination B is performed (step S2). When it is determined by the oncoming vehicle approach determination B that the oncoming vehicle is approaching, the approach of the oncoming vehicle is notified to the driver of the host vehicle by the notification unit 5 (step S3). If it is determined in step S1 that the host vehicle is not traveling on a mountain road, and if it is determined in step S2 that the oncoming vehicle is not approaching, the notification by the notification unit 5 is terminated (step S4). )

  Next, details of control and operation of the vehicle driving support apparatus 1 according to the present embodiment will be described using the flowchart shown in FIG. First, when the control of the vehicle driving support device 1 is started, it is determined whether or not the mountain road determination condition A-1 is satisfied (step S1-1). That is, in this step S1-1, it is determined whether or not the host vehicle has never stopped between the present and M (minutes) before. Specifically, this determination is performed by the mountain road traveling determination unit 7 based on the position information, speed information, and the like of the host vehicle from the GPS module 2.

  In the above determination (step S1-1), if the host vehicle has never stopped before the current M (minutes), the current vehicle is between the current time and M (minutes) before. It is determined whether or not the average speed is very low V1 or less (step S1-2). Specifically, this determination is performed by the mountain road traveling determination unit 7 based on speed information from the GPS module 2 or the like.

  In the above determination (step S1-2), if the average speed is very low V1 or less between the present vehicle and M (minutes) before, the radius of curvature set within the travel distance L (m) It is determined whether or not the vehicle has traveled a curve of R or more N times or more (step S1-3). This determination is performed by the mountain road traveling determination unit 7 based on position information, direction information, and the like from the GPS module 2. In this determination, when the vehicle travels N times or more on a curve having a radius of curvature R set within the travel distance L (m), it is determined that the host vehicle is traveling on a mountain road.

  Next, in the above determination (step S1-3), when the vehicle travels N times or more over a curve having a radius of curvature R set within a preset travel distance L (m), communication is performed by inter-vehicle communication. It is determined whether or not the established travel locus of the other vehicle coincides with the travel locus from the current position of the host vehicle to X (m) before (step S2-1). The travel locus of the host vehicle can be created based on the position information, direction information, and the like of the host vehicle from the GPS module 2. Further, the travel locus of the other vehicle can be created based on the other vehicle information from the communication module 3. Then, the oncoming vehicle approach determination unit 9 determines whether or not the travel locus of the host vehicle and the travel locus of the other vehicle do not overlap (do not match).

  In the above determination (step S2-1), if the traveling locus of the host vehicle and the traveling locus of the other vehicle do not overlap, the other vehicle is determined to be an oncoming vehicle. As shown in FIG. 2, the other vehicle 13 having a travel locus 13 </ b> A that overlaps (partially overlaps) the travel locus 11 </ b> A of the host vehicle 11 is a subsequent vehicle and is not determined as an oncoming vehicle. If the travel locus 11A of the host vehicle 11 and the travel locus 12A of the other vehicle (opposing vehicle) 12 do not match in the determination (step S2-1), the next determination (step S2-2) is performed. In this determination (step S2-2), it is determined whether or not the traveling position of the other vehicle (oncoming vehicle) 12 is within the radius Y (m) with the own vehicle 11 as the center O. Here, the traveling position of the host vehicle 11 is determined based on position information from the GPS module 2. Then, the position information of the oncoming vehicle 12 is determined based on the other vehicle information from the communication module 3. The oncoming vehicle approach determination unit 9 determines whether the oncoming vehicle 12 is within the radius Y (m) with the host vehicle 11 as the center O.

  In the above determination (step S2-2), if it is determined that the distance between the oncoming vehicle 12 and the host vehicle 11 is within Y (m), an HMI (Human interface) request is sent from the determination module 4 to the notification unit 5. The instruction | command to perform is issued, the alerting | reporting part 5 is operated, and the approach of the oncoming vehicle 12 is alert | reported to the passenger | crew (driver | operator) of the own vehicle 11 (step S3).

  When the determination is “NO” in each of Steps S1-1 to S3-1, Step S2-1, and Step S2-2, notification by the notification unit 5 is not performed or notification is stopped (Step S4). ). Moreover, in step S3, it is also possible to notify toward the oncoming vehicle 12. That is, when the oncoming vehicle approach determination unit 9 determines that the oncoming vehicle is approaching, the vehicle information can be transmitted from the determination module 4 side via the communication module 3 via the communication antenna 31.

  With the above configuration and operation, when traveling on a mountain road, it is possible to prevent the oncoming vehicle or the stopped vehicle from colliding with the vehicle by notifying the approaching vehicle. In particular, in the vehicle driving support apparatus 1 according to the present embodiment, it is possible to identify the oncoming vehicle using inter-vehicle communication without using the map information mounted on the navigation system. For this reason, in the vehicle driving support device 1 according to the present embodiment, it is possible to notify the driver that the oncoming vehicle is approaching on a mountain road where curves with poor visibility continue. Thus, in the vehicle driving assistance device 1 according to the present embodiment, there is no need to mount an expensive navigation system. Therefore, in the vehicle driving support device 1 according to the present embodiment, safety when a light vehicle or small vehicle not equipped with a navigation system travels on a mountain road can be greatly improved. In addition, the vehicle driving support apparatus 1 according to the present embodiment greatly improves the safety when a rental car, a motorcycle, or the like that a driver who is not accustomed to traveling on a mountain road travels on a mountain road. Can be made.

  Moreover, in the vehicle driving assistance device 1 according to the present embodiment, it is not necessary to determine whether the road is a mountain road by comparing the position information of the mountain road itself with the vehicle position. For this reason, it is not necessary to memorize | store the positional information on a mountain road beforehand in a vehicle-mounted apparatus. Thereby, the structure of the driving assistance apparatus 1 for vehicles can be simplified.

  Furthermore, in the vehicle driving assistance device 1 according to the present embodiment, the oncoming vehicle approach determination with high accuracy can be realized even if the host vehicle side is not provided with map information. That is, the traveling locus of the oncoming vehicle is calculated from the oncoming vehicle position information received by the other vehicle position information receiving unit 8. In addition, the travel locus from the present time of the host vehicle to the set distance before is calculated from the position of the host vehicle estimated by the host vehicle position estimation unit 6. In this way, if the traveling trajectory of the other vehicle matches the traveling trajectory of the own vehicle, even if the other vehicle is approaching the own vehicle, the other vehicle that catches up with the own vehicle because the average vehicle speed is high ( It is possible to determine that the vehicle is a following vehicle, and it is not erroneously determined to be an oncoming vehicle.

(Modification)
FIG. 5 is a flowchart of a modification in which some of the determination conditions are changed in the vehicle driving support device 1 according to the present embodiment. In the vehicle driving support device 1 according to the above-described embodiment, in step S2-1, the travel locus of the other vehicle for which communication is established by inter-vehicle communication is the travel locus from the current position of the host vehicle to X (m) ahead. Judgment was made as to whether or not the same. As shown in FIG. 5, this modification differs from the determination in the above embodiment in that the traveling locus of the host vehicle is a traveling locus from the present time to the set time (T) before. The other determination conditions in this modification are the same as those in the above embodiment. Even when such a modification is applied, the same effects as those of the above embodiment can be obtained.

(Other embodiments)
Although the embodiment has been described above, it should not be understood that the description and the drawings, which form part of the disclosure in this embodiment, limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  For example, in the vehicle driving support apparatus 1 according to the above embodiment, the host vehicle position estimation unit 6 determines whether the host vehicle is traveling on a narrow mountain road based on information from the GPS module 2. It is good also as a structure which determines whether it is drive | working the mountain road from the inclination of the own vehicle using a sensor, and you may make the determination by adding the altitude information from the GPS module 2 or an atmospheric pressure sensor.

  In addition to the above-described embodiment, the oncoming vehicle approach determination unit 9 uses the G sensor to determine whether the other vehicle is capable of communicating with the front or You may make it determine whether it is an oncoming vehicle by whether it is reverse to the inclination of. Further, in addition to the above-described embodiment, it may be configured to determine whether the vehicle is an oncoming vehicle by checking which one of the host vehicle and the other vehicle comes from a higher place based on altitude information from the GPS module 2 or the atmospheric pressure sensor.

  Furthermore, in the vehicle driving support device 1 according to the above-described embodiment, the travel locus information from when the mountain road determination condition A is satisfied until it is canceled is stored, and it can mutually communicate with other vehicles during communication. You may make it deliver memory information. In this way, by passing information to each other, it is possible to improve the identification accuracy of oncoming vehicles passing each other after the second vehicle. Moreover, in this vehicle driving assistance device 1, since it is possible to obtain the travel locus information of the oncoming vehicle, it is possible to grasp the road shape ahead of the course. Further, by passing information between the vehicles in this manner, it is possible to accurately calculate the expected time until the vehicle passes the oncoming vehicle.

  Further, in the vehicle driving support device 1 according to the above-described embodiment, in the determination of whether or not the host vehicle is traveling on a mountain road in the mountain road traveling determination unit 7 (step S1-3), a set travel distance L ( m), whether or not the vehicle has traveled a curve having a radius of curvature R or more N times or more is used as a criterion. However, a detection value of a rotation sensor of the steering of the host vehicle may be used as a criterion.

DESCRIPTION OF SYMBOLS 1 Vehicle drive assistance apparatus 2 GPS module 3 Communication module 4 Judgment module 5 Notification part 6 Own vehicle position estimation part 7 Mountain road travel determination part 8 Oncoming vehicle position information reception part 9 Oncoming vehicle approach determination part 11 Own vehicle 11A Traveling trajectory ( Own vehicle)
12 Oncoming vehicle 12A Traveling track (Oncoming vehicle)
13 Other vehicles (following vehicles)
13A Traveling track (other vehicles)

Claims (4)

A host vehicle position estimating unit that estimates a traveling position of the host vehicle, and another vehicle position information receiving unit that receives position information of the other vehicle,
Whether the oncoming vehicle is approaching the host vehicle based on the position information of the host vehicle estimated by the host vehicle position estimating unit and the position information of the other vehicle received by the other vehicle position information receiving unit. In the vehicle driving support device for determining, when it is determined that the oncoming vehicle is approaching, the passenger of the own vehicle is notified of the approach of the oncoming vehicle,
A mountain road traveling determination unit that determines whether or not the host vehicle is traveling on a mountain road based on a change in the direction of the host vehicle estimated by the host vehicle position estimation unit at least within a preset time.
The position information of the host vehicle estimated by the host vehicle position estimation unit is compared with the position information of the other vehicle received by the other vehicle position information receiving unit, and the other vehicle approaches the host vehicle as an oncoming vehicle. An oncoming vehicle approach determination unit that determines whether or not
When it is determined by the mountain road traveling determination unit that the host vehicle is traveling on a mountain road, and the oncoming vehicle approach determination unit determines that the oncoming vehicle is approaching, the vehicle faces an occupant of the host vehicle. A notification unit for notifying the approach of the vehicle;
A vehicle driving support apparatus characterized by the above.   The mountain road travel determination unit continues to travel the vehicle for the set time, and the calculated average vehicle speed of the vehicle is lower than the set vehicle speed, and the radius of curvature is within a preset set travel distance. The vehicle driving support device according to claim 1, wherein when the vehicle travels a set number of times or more on a travel path having a radius of curvature greater than or equal to the set curvature radius, the vehicle is determined to travel on a mountain road.   The oncoming vehicle approach determination unit is based on a travel locus of the other vehicle calculated from the position information of the other vehicle received by the other vehicle position information receiving unit and the position of the host vehicle estimated by the host vehicle position estimation unit. When the calculated travel locus from the current position of the host vehicle to the set travel distance before is not overlapped, and the position of the other vehicle is within the set distance with the position of the host vehicle The vehicle driving support device according to claim 1, wherein it is determined that another vehicle is approaching the host vehicle as an oncoming vehicle.   The oncoming vehicle approach determination unit is based on a travel locus of the other vehicle calculated from the position information of the other vehicle received by the other vehicle position information receiving unit and the position of the host vehicle estimated by the host vehicle position estimation unit. When the calculated travel trajectory traced back from the present time to the set period before does not overlap, and the position of the other vehicle is within the set distance from the own vehicle, The vehicle driving support device according to claim 1, wherein the vehicle is determined to be approaching the host vehicle as an oncoming vehicle.

Images