JP2014191577A - Operation support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To continue a service by using position information during travel, stop and right/left turn existing in the past travel history or the estimation information of a signal presence/absence intersection even when it is not possible to acquire the information of a map information database in an operation support device.SOLUTION: A vehicle communication device (2) includes: first intersection information acquisition means (20) for acquiring information on an intersection around an own-vehicle position; intersection information recording means (21) for recording information on the intersection in an internal memory (26); second intersection information acquisition means (22) for, when it is not possible to acquire the information on the intersection, acquiring information on the intersection around the own-vehicle position from the information on the intersection recorded in the internal memory (26); other vehicle information acquisition means (23) for acquiring information on the other vehicle; collision possibility determination means (24) for determining whether or not there is possibility that the own-vehicle collides with the other vehicle; and warning means (25) for warning the driver of the own-vehicle.

Description

  The present invention relates to a driving support device, and in particular, receives information on another vehicle traveling on a road around the own vehicle by inter-vehicle / road-to-vehicle communication, and may lead to a collision with the own vehicle based on the information on the other vehicle. A driving support device that alerts the driver with a notification means (sound / display, etc.) when it is highly likely, and when it becomes impossible to obtain information in the map information database, the past driving history is displayed. The present invention relates to a driving support device that can be used to continue a service.

2. Description of the Related Art Conventionally, some vehicles include a driving support device that notifies a driver of the host vehicle when it is determined that the host vehicle and another vehicle may collide.
In general, a driving support device uses a vehicle communication device that performs vehicle-to-vehicle / road-to-vehicle communication to transmit / receive position information between the host vehicle and other vehicles to / from neighboring vehicles, and the position of the vehicle (latitude) in the vicinity. (Longitude), speed, etc. are grasped, and the necessity of the service is judged.
That is, as shown in FIG. 6, the driving support device 101 includes a vehicle communication device 102 and communicates with the vehicle communication device 102 via a GPS antenna 103 and a road-to-vehicle communication device (communication circuit) 104. Road-to-vehicle communication antenna 105, vehicle-to-vehicle communication antenna 106, notification means (speaker such as a speaker) 108 via navigation system 107 as a counterpart device, and power source / GND / vehicle signal means 109 are provided. . Further, the vehicle communication device 102 includes a GPS receiving circuit 110 and a vehicle-to-vehicle communication device (communication circuit) 111.
In this case, information such as the speed of the host vehicle is obtained from vehicle information such as the GPS receiving circuit 110 and vehicle speed pulses. On the other hand, information such as the position of the host vehicle is obtained by using the information in the map information database 107A possessed by the navigation system 107 to obtain intersection positions (latitude / longitude) and information (such as presence / absence of signals) around the host vehicle. Yes.
As such driving support devices, there are the following prior art documents.

JP 2008-180598 A

  The mobile body positioning device according to Patent Document 1 switches the input destination of GPS information to a higher reliability, and switches the mode when highly reliable position information of a predetermined level or higher is acquired. ing.

  However, conventionally, there is no problem when the information of the map information database can be obtained from the navigation system or the portable terminal, but there is a problem in the navigation system or a communication failure, or the portable terminal cannot transmit the information of the map information database. If the information in the map information database becomes unavailable (application changes, etc.), the service function must be interrupted or the service must be continued without the information in the map information database. Was desired.

That is, conventionally, in the control of the driving support device, when the information in the map information database is available, the following processing is performed.
The vehicle communication device communicates with a counterpart device such as a navigation system in which information in the map information database is available. In addition, the vehicle communication device detects the current position from the GPS receiving circuit, and requests the other side device such as the navigation system for intersection information (latitude / longitude position, presence / absence of signal, etc.) around the current position or in the vehicle traveling direction. . On the other hand, the counterpart device returns the intersection information corresponding to the request to the vehicle communication device.
The vehicle communication device then receives the received intersection information and target vehicle information through vehicle-to-vehicle / road-to-vehicle communication in a scene where the vehicle needs service (such as an encounter scene / right-handed scene, before and after pausing). It is determined from the vehicle information (vehicle speed, etc.), the GPS reception circuit / sensor information of the vehicle communication device, etc. that there is a possibility of a collision with the target vehicle, and whether an encounter scene / right-hand scene service is necessary. In addition, when it is determined that the service is necessary, the vehicle communication device transmits an on-request for alerting the driver by the notification means (voice / display) to the counterpart device such as the navigation system at an optimal timing.
On the other hand, in response to a request from the vehicle communication device, the counterpart device issues a warning / display for alerting the corresponding scene from the notification means to alert the driver. Then, when the vehicle communication device determines that the service is no longer necessary, for example, when the target vehicle passes, the vehicle communication device transmits an alert-off request to the counterpart device. On the other hand, the counterpart device stops the voice / display in response to the request.
On the other hand, in the driving support device, when the information of the map information database cannot be obtained from the counterpart device, the vehicle communication device may not have the counterpart device from which the information of the map information database is available at the time of activation. Or, when it is detected that communication has been disabled for a certain period of time or more during communication, an improvement is desired because the service is stopped by displaying an abnormality.

  Therefore, even if the information in the map information database is not available from the counterpart device, the present invention provides information such as position information at the time of running / stopping / turning left / right and estimated information of intersections with / without signal, etc. that exist in the past running history An object of the present invention is to provide a driving support device that can use and continue services.

  The present invention provides a driving support apparatus for notifying a driver of a host vehicle when the host vehicle and another vehicle have a possibility of collision, and a host vehicle position detection unit that detects the position of the host vehicle; First intersection information acquisition means for communicating with another device having a map information database to acquire information about an intersection around the own vehicle position detected by the own vehicle position detection means, and the first intersection information acquisition means The intersection information recording means for recording the information about the intersection acquired in the internal memory in the internal memory, and the intersection information recording means when the information about the intersection cannot be acquired from the map information database by the first intersection information acquisition means. Regarding intersections around the own vehicle position detected by the own vehicle position detection means from the information about the intersection recorded in the internal memory Second intersection information acquisition means for acquiring information, other vehicle information acquisition means for acquiring information relating to other vehicles including at least position information of other vehicles, and the first intersection information acquisition means or the second intersection information Collision possibility to determine whether or not the host vehicle and the other vehicle may collide based on the information on the intersection acquired by the acquisition unit and the information on the other vehicle acquired by the other vehicle information acquisition unit A determination means; and a warning means for calling attention to a driver of the host vehicle when the collision possibility determination unit determines that the host vehicle and another vehicle may collide with each other. To do.

  This invention uses the position information when traveling / stopping / turning left / right, estimated information of intersections with or without signal, etc. that exist in the past traveling history even if the information in the map information database becomes unavailable from the counterpart device. Service can be continued.

FIG. 1 is a flowchart of driving support control. (Example) FIG. 2 is a configuration diagram of the driving support device. (Example) FIG. 3 is a system configuration diagram of the vehicle communication device of the driving support device. (Example) FIG. 4 is an explanatory diagram of a traveling example (an encounter scene) of the host vehicle when turning left on a T-junction. (Example) FIG. 5 is an explanatory diagram of an example of traveling of the host vehicle (right-right scene) when turning right at an intersection. (Example) FIG. 6 is a system configuration diagram of a conventional vehicle communication apparatus. (Conventional example)

  This invention uses the position information when traveling / stopping / turning left / right, estimated information of intersections with or without signal, etc. that exist in the past traveling history even if the information in the map information database becomes unavailable from the counterpart device. Thus, the purpose of continuing the service is realized by alerting the driver of the host vehicle when it is determined that there is a possibility of collision between the host vehicle and another vehicle.

1 to 5 show an embodiment of the present invention.
As shown in FIG. 2, the driving support device 1 is mounted on the vehicle.
The driving support device 1 notifies the driver of the host vehicle when it is determined that the host vehicle and another vehicle may collide, and includes a vehicle communication device 2 and a counterpart device 3. The counterpart device 3 is composed of the navigation system 4 or the portable terminal 5 and constitutes another device having a map information database. Therefore, the navigation system 4 has a map information database 4A. The portable terminal 5 has a map information database 5A.
As shown in FIG. 3, the vehicle communication device 2 is composed of a GPS receiving circuit 6 and a GPS antenna 7, a vehicle position detecting means 8 for detecting the position of the vehicle, a road-to-vehicle communication device (communication circuit) 9, and a road Road-to-vehicle communication means 11 comprising a vehicle-to-vehicle communication antenna 10, vehicle-to-vehicle / step-to-vehicle communication device (communication circuit) 12 and vehicle-to-vehicle / to-vehicle communication means 14 comprising a vehicle-to-vehicle / to-vehicle communication antenna 13, and notification to the driver Notification means (buzzer, speaker, etc.) 15, a display unit (LED display) 16 for displaying information to the driver, sensors (G sensor, gyro etc.) 17 for detecting various vehicle states, A battery 18 as a power source and an external power source / GND / vehicle signal means 19 are provided.

Further, as shown in FIG. 3, the vehicle communication device 2 includes a first intersection information acquisition unit 20, an intersection information recording unit 21, a second intersection information acquisition unit 22, an other vehicle information acquisition unit 23, The first intersection information acquisition means 20 comprising a collision possibility determination means 24, a warning means 25, and an internal memory 26 communicates with the counterpart apparatus 3 which is another apparatus having a map information database, and the own vehicle Information about intersections around the vehicle position detected by the position detection means 8 is acquired.
The intersection information recording unit 21 records information on the intersection acquired by the first intersection information acquisition unit 20 in the internal memory 26.
The second intersection information acquisition means 22 is information related to the intersection recorded in the internal memory 26 by the intersection information recording means 21 when the first intersection information acquisition means 20 cannot acquire information related to the intersection from the map information database. To acquire information on intersections around the vehicle position detected by the vehicle position detection means 8.
The other vehicle information acquisition unit 23 acquires information related to the other vehicle including at least position information of the other vehicle.
The collision possibility determination unit 24 is based on the information on the intersection acquired by the first intersection information acquisition unit 20 or the second intersection information acquisition unit 22 and the information on the other vehicle acquired by the other vehicle information acquisition unit 23. Then, it is determined whether or not there is a possibility of collision between the own vehicle and another vehicle.
The alerting means 25 alerts the driver of the own vehicle via the notifying means 15 or the like when it is determined by the collision possibility determining means 24 that there is a possibility of collision between the own vehicle and another vehicle. . In addition, as means for alerting the driver of the own vehicle, voice by the notification means 15, display by the display unit 16, or a combination thereof can be performed.
The internal memory 26 records various information regarding each intersection.

  Furthermore, the vehicle communication device 2 includes an intersection estimation unit 27 as shown in FIG. When the intersection estimation means 27 cannot acquire the information about the intersection around the own vehicle position detected by the own vehicle position detection means 8 by the first intersection information acquisition means 20 and the second intersection information acquisition means 22. Then, it is estimated from the traveling state of the host vehicle whether the location where the host vehicle has traveled is an intersection without a traffic light. The intersection information recording unit 21 records information about the intersection in the internal memory 26 when the intersection estimation unit 27 estimates that the intersection has no traffic light.

FIG. 4 illustrates an example of traveling of the own vehicle (an encounter scene) when turning left on a T-shaped road including a priority road and a non-priority road.
The reference numerals attached to FIG. 4 will be described below.
T indicates a T-junction.
R1 indicates a priority road.
R2 indicates a non-priority road.
D1 indicates a tall building (obstacle that obstructs the field of view) on the right side of the host vehicle.
D2 indicates a high heel (obstacle that obstructs the field of view) on the left side of the host vehicle.
S shows the temporary stop line of a non-priority road.
C1 indicates the host vehicle that stops at the temporary stop line S of the non-priority road.
C2 shows the host vehicle where C1 moves forward and stops at the end of the road waiting for the left turn to start.
E shows a vehicle (service target vehicle) approaching from the right direction of the host vehicle.
F indicates a vehicle (service target vehicle) approaching from the left direction of the host vehicle.
The vehicle communication device 2 alerts the driver of the host vehicle about the possibility of collision with another vehicle (service target vehicle) E approaching from the right side of the host vehicle.

FIG. 5 is an explanatory diagram of an example of traveling of the host vehicle (right-right scene) when turning right at an intersection.
The reference numerals attached to FIG. 5 will be described below.
R3 indicates one road.
R4 indicates the other road orthogonal to the one road R3.
P indicates an intersection of one road R3 and the other road R4.
H indicates a stop line at the center of the intersection from one road R3.
C3 shows the host vehicle waiting for a right turn from one road R3 on the stop line H at the center of the intersection.
C4 indicates the host vehicle that is moving forward and waiting for a right turn at the center of the intersection.
G indicates a vehicle (service target vehicle) that approaches and approaches the opposite lane.
The vehicle communication device 2 alerts the driver of the host vehicle about the possibility of a collision with another vehicle (service target vehicle) G that travels on the opposite lane and approaches.

In other words, in this embodiment, the vehicle communication device 2 uses the information in the map information database by the counterpart device 3 comprising the navigation system 4 or the mobile terminal 5 and uses the information on the intersection position (latitude and longitude) and information around the host vehicle. The necessity of service is determined from (signal etc.).
There is no problem when the information of the map information database can be obtained from the counterpart device 3, but there is a failure or communication failure on the navigation system 4 side, or the mobile terminal 5 cannot transmit the information of the map information database (application software) If the information in the map information database is no longer available, use the travel / stop / turn left / right position information recorded in the vehicle communication device 2 or the estimated information of intersections with or without traffic lights. To determine whether there is a service.
Here, the recorded position information is obtained from the information of the map information database of the counterpart device 3 at the time of running / stopping / turning left / right. Record. Similarly, when the information of the map information database is not available, when the vehicle travels, stops, or makes a left / right turn, the right / left turn position is recorded as a temporary intersection. However, since there is no signal presence / absence information at this position, if you pass the vicinity of this temporary intersection position (within the specified radius) within the specified number of times, do not stop at the specified speed or more, and turn right or left or go straight ahead. This temporary intersection is fully registered as an intersection with a signal.

Next, driving assistance according to this embodiment will be described with reference to the flowchart of FIG.
In the flowchart of FIG. 1, communication is performed between each vehicle equipped with the vehicle communication device 2 to determine whether or not the service is necessary. When the information in the map information database is available, the map information database Since the control differs depending on whether information is not available, the flow of each control is shown.
As shown in FIG. 1, when the driving support program is started (step A01), the vehicle communication device 2 first determines whether or not communication with the counterpart device 3 is possible (step A02).
If this step A02 is YES and communication with the counterpart device 3 is possible and the information of the map information database is available from the counterpart device 3, the following processing is performed.
The vehicle communication device 2 communicates with the counterpart device 3 where map information is available, and collects intersection information (see FIG. 2) (step A03).
Then, the vehicle communication device 2 performs vehicle-to-vehicle / road-to-vehicle communication, detects the current position from the GPS receiving circuit 6 of the own vehicle position detecting means 8, and detects intersection information (latitude / longitude position) around the current position or the vehicle traveling direction , The presence / absence of a signal, etc.) is requested from the counterpart device 3. On the other hand, the counterpart device 3 returns the intersection information corresponding to this request to the vehicle communication device 2 (step A04).
In addition, the vehicle communication device 2 may receive the intersection information and the distance between the vehicles and between the roads before and after the vehicle is temporarily stopped in an encounter scene (see FIG. 4) / right-hand scene (see FIG. 5) that requires service Target vehicle information by communication, own vehicle information (vehicle speed, etc.), information from GPS receiving circuit 6 / sensor 17 in vehicle communication device 2, etc., there is a possibility of collision with the target vehicle, encounter scene (see Fig. 4) It is determined whether the right-hand scene (see FIG. 5) service is necessary (step A05).
If this step A05 is YES and it is determined that the service is necessary, the vehicle communication device 2 transmits an ON request for alerting the driver by the notification means 15 or the like to the counterpart device 3 at an optimal timing. (Step A06).
On the other hand, in response to a request from the vehicle communication device 3, the counterpart device 3 activates the alerting means 15 for alerting the corresponding scene, etc., and alerts the driver (Step A 07).
Then, it is determined whether or not the above service is unnecessary (step A08).
When this step A08 is YES and the service becomes unnecessary because the target vehicle passes, etc., the vehicle communication device 2 transmits an alerting off request to the counterpart device 3 (step A09).
On the other hand, the counterpart device 3 stops voice / display in response to a request signal from the vehicle communication device 2 (step A10).
After the processing of step A10 or when the step A05 is NO, the vehicle communication device 2 passes the own vehicle (turns right / left / straight) in the obtained intersection information regardless of the presence / absence of the driving service. The intersection information thus recorded is recorded in the internal memory 26 (step A11).

On the other hand, if step A02 is NO, communication with the counterpart device 3 is impossible, and information in the map information database cannot be obtained from the counterpart device 3, the following processing is performed.
In this case, when the vehicle communication device 2 detects that there is no counterpart device 3 from which map information can be obtained at the time of start-up, or communication with the counterpart device 3 has been disabled for a certain period of time during communication, Shift to a mode that does not use simple map information. However, whether or not communication with the communication partner is possible is periodically investigated, and the mode is returned to the mode using the map information when communication is possible.
When the vehicle communication device 2 shifts to the mode in which the map information is not used, the vehicle communication device 2 investigates whether or not the intersection information in the internal memory 26 can be used for the intersection in the traveling direction from the current position (step A12).
When this step A12 is YES and it is determined that the intersection information in the internal memory 26 is available (intersection that has passed in the past), the intersection information in the internal memory 26 is collected (step A13).
After the process of step A13 or when step A12 is NO, the vehicle communication device 2 performs vehicle-to-vehicle / road-to-vehicle communication before and after the host vehicle is temporarily stopped. Vehicle speed, etc.), information of the GPS receiving circuit 6 / sensor 17 of the vehicle communication device 2 is collected (step A14).
Then, the vehicle communication device 2 determines whether there is a possibility that the own vehicle may collide with the target vehicle and the service of the encounter scene / right-handed scene is necessary (step A15).
When this step A15 is YES and it is determined that the service is necessary, the vehicle communication device 2 alerts the driver by the internal notification means 15 at the optimal timing (step A16).
Then, it is determined whether or not the service is unnecessary because the target vehicle passes (step A17).
If step A17 is NO and service is required, the process returns to step A16.
If this step A17 is YES and the vehicle communication device 2 determines that the service is no longer necessary because the target vehicle has passed or the like, the vehicle communication device 2 stops the notification means 15 (step A18).
And after processing of this step A18, or when said step A15 is NO, since the vehicle communication apparatus 2 records the positional information on the intersection which turned right and left, it pauses (position of the code | symbol C1 of FIG. 4). Then, the position of the intersection is estimated and recorded in the internal memory 26 from the position (position C2 in FIG. 4) (latitude / longitude) temporarily stopped for the right / left turn (step A19). In this case, when the vehicle passes the position near the intersection (within the specified radius) for the specified number of times, if it stops in the same manner and then makes a right or left turn, it is officially registered as an estimated intersection that requires service. If it does not stop and passes right / left / straight, it is registered as an estimated intersection (such as with a signal) that does not require service. In addition, when the signal stops in red instead of the temporary stop line, the distance to the intersection is extremely longer than the road edge distance at the encounter (the distance from the position of C1 to the position of C2 in FIG. 4). Can be distinguished.
After the process of step A11 or after the process of step A19, the program is ended (step A20).

Therefore, according to this embodiment, even if the information in the map information database becomes unavailable, the service can be continued with the intersection information estimated from the past travel history, so that the service function is not interrupted, and the signal Unnecessary services at intersections can be reduced.
In other words, if there is no information in the map information database, it is difficult to determine whether or not the location where the suspension is required requires service, and when the service is originally stopped at a red light, the service is unnecessary. May not be able to provide services.
On the other hand, in this embodiment, if there is information in the map information database, it is easy to determine whether or not the temporarily stopped position is an intersection where service is required (location where service is required = intersection without signal, etc.) , Places where service is not required = intersections with traffic lights at encounters, stops on straight roads in heavy traffic, etc.).

Although the embodiments of the present invention have been described above, the configuration of the above-described embodiments will be described for each claim.
First, in the first aspect of the invention, the vehicle communication device 2 includes the first intersection information acquisition unit 20, the intersection information recording unit 21, the second intersection information acquisition unit 22, and the other vehicle information acquisition unit 23. And a collision possibility determining means 24 and a warning means 25.
The first intersection information acquisition means 20 communicates with the counterpart apparatus 3 which is another apparatus having a map information database, and acquires information about intersections around the own vehicle position detected by the own vehicle position detection means 8. The intersection information recording unit 21 records information on the intersection acquired by the first intersection information acquisition unit 20 in the internal memory 26. The second intersection information acquisition means 22 is information related to the intersection recorded in the internal memory 26 by the intersection information recording means 21 when the first intersection information acquisition means 20 cannot acquire information related to the intersection from the map information database. To acquire information on intersections around the vehicle position detected by the vehicle position detection means 8. The other vehicle information acquisition unit 23 acquires information related to the other vehicle including at least position information of the other vehicle. The collision possibility determination unit 24 is based on the information on the intersection acquired by the first intersection information acquisition unit 20 or the second intersection information acquisition unit 22 and the information on the other vehicle acquired by the other vehicle information acquisition unit 23. Then, it is determined whether or not there is a possibility of collision between the own vehicle and another vehicle. The alerting means 25 alerts the driver of the host vehicle via the notification means 15 when it is determined by the collision possibility determination means 24 that the host vehicle and the other vehicle may collide.
As a result, this information is recorded when information about the intersection is acquired from the map information database of the counterpart device 3, so even when information about the intersection cannot be acquired from the map information database, it is recorded when traveling in the past. The service can be continued based on information about the intersection.
In the invention according to claim 2, the vehicle communication device 2 includes the intersection estimation means 27. This intersection estimation means 27 is used when the first intersection information acquisition means 20 and the second intersection information acquisition means 22 cannot acquire information about intersections around the own vehicle position detected by the own vehicle position detection means 8. Then, it is estimated from the traveling state of the host vehicle whether the place where the host vehicle traveled is an intersection without a traffic light. The intersection information recording means 21 records information about the intersection in the internal memory 26 when the intersection estimation means 27 estimates that the intersection has no traffic light.
As a result, the information about the intersection cannot be acquired from the map information database of the counterpart device 3, and the information about the intersection is recorded based on the actual traveling result even if the information about the intersection is not recorded. The service can be provided even if information regarding intersections cannot be obtained from the information database continues.

  In this embodiment, as a modification, if vehicle information such as presence / absence of a front intersection signal by a camera or front intersection signal information by road-to-vehicle communication is available, the presence / absence of a signal can be recorded in the internal memory using this information. Good.

  The driving support device according to the present invention provides an appropriate service to the driver, and can be applied to various vehicles such as two-wheeled, four-wheeled, and electric vehicles.

DESCRIPTION OF SYMBOLS 1 Driving assistance apparatus 2 Vehicle communication apparatus 3 Counterpart apparatus 4 Navigation system 4A Map information database of navigation system 5 Portable terminal 5A Map information database of portable terminal 6 GPS receiving circuit 7 GPS antenna 8 Own vehicle position detection means 9 Road-to-vehicle communication apparatus (Communication circuit)
10 Road-to-Vehicle Communication Antenna 11 Road-to-Vehicle Communication Means 12 Vehicle-to-Vehicle Communication Device (Communication Circuit)
13 Vehicle-to-step communication antenna 14 Vehicle-to-step communication means 15 Notification means (buzzer, speaker, etc.)
16 Display unit (LED, etc.)
17 Sensor (G sensor, gyro, etc.)
DESCRIPTION OF SYMBOLS 18 Battery 19 Power supply / GND / Vehicle signal means 20 1st intersection information acquisition means 21 Intersection information recording means 22 2nd intersection information acquisition means 23 Other vehicle information acquisition means 24 Collision possibility determination means 25 Warning means 26 Internal memory 27 Intersection estimation means

Claims (2)

  In a driving support device that notifies the driver of the host vehicle when it is determined that the host vehicle and another vehicle may collide, the host vehicle position detection unit that detects the position of the host vehicle, and a map information database A first intersection information acquisition unit configured to acquire information related to an intersection around the host vehicle position detected by the host vehicle position detection unit by communicating with another device having the first apparatus, and acquired by the first intersection information acquisition unit; Intersection information recording means for recording information about intersections in the internal memory, and when the information about intersections cannot be acquired from the map information database by the first intersection information acquisition means, the intersection information recording means stores the information in the internal memory. Obtain information about intersections around the vehicle position detected by the vehicle position detection means from the recorded information about intersections Second intersection information acquisition means, other vehicle information acquisition means for acquiring information on other vehicles including at least position information of other vehicles, and the first intersection information acquisition means or the second intersection information acquisition means. A collision possibility determination unit that determines whether or not the host vehicle and the other vehicle may collide based on the acquired information on the intersection and the information on the other vehicle acquired by the other vehicle information acquisition unit; Driving assistance comprising: alerting means for alerting the driver of the host vehicle when it is determined by the collision possibility determining unit that the host vehicle and the other vehicle may collide with each other apparatus.   When the information about the intersection around the own vehicle position detected by the own vehicle position detection unit cannot be acquired by the first intersection information acquisition unit and the second intersection information acquisition unit, When it is estimated that the place where the host vehicle traveled is an intersection without a traffic light, the intersection information recording means is estimated to be an intersection without a traffic light by the intersection estimation means, The driving support device according to claim 1, wherein information related to the intersection is recorded in the internal memory.

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