JP2015185004A - Drive assistance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive assistance device capable of executing drive assistance at appropriate timing or level for the state of a traffic light.SOLUTION: A drive assistance device comprises: acquisition means acquiring information on a traffic light and information on movable bodies around a vehicle; selection means selecting a collision candidate on the basis of the acquired information the movable bodies; and determination means determining whether to execute at least either early notification relating to the collision candidate (steps S15 and S17) or emphasis of a notification content depending on a state of the traffic signal (steps S11 and S13) and a state of the collision target (steps S12, S14, and S16).

Description

  The present invention relates to a driving support device.

  Conventionally, there is a technique for performing driving support based on signal display. For example, Patent Document 1 discloses a mobile communication apparatus that is provided in a mobile body and can provide a collision-prevention support at the time of bending that prevents the mobile body from colliding with another mobile body that may collide when the mobile body is bent. A communication unit that receives information including information indicating a signal display of a traffic light, and a control unit that determines a notification mode and performs a predetermined notification that prompts attention at the time of bending via the notification unit, When the signal display of the traffic signal with respect to the traveling direction of the mobile body is a turn permission signal display with a turn permission signal display, a technique for determining a notification mode regardless of the presence of other mobile bodies is disclosed. Yes.

JP 2013-131145 A

  There is still room for improvement in determining the mode of driving assistance based on signal information. For example, when the signal is yellow or the pedestrian signal is flashing, the driver's psychological state and the behavior pattern of surrounding moving objects may change with respect to the psychological state in other signal states. is assumed. It is desired that driving assistance can be executed at a more appropriate time and level according to the state of the signal.

  An object of the present invention is to provide a driving support device that can perform driving support at an appropriate time and level according to the state of a signal.

  The driving support device according to the present invention includes an acquisition unit that acquires signal information and information on a moving body around the vehicle, a selection unit that selects a candidate to collide based on the acquired information on the moving body, A determination unit that determines whether to perform at least one of prompt notification regarding the conflicting candidate or enhancement of notification content according to the state and the state of the collision candidate; and determination by the determination unit Informing means for informing the driver in the vehicle of the collision candidate according to the result.

  In the above-described driving support device, it is preferable that the prompt notification and the emphasis of the notification content by the notification unit are executed when the state of the signal is in a transitional state in which the progress is permitted and the progress is not permitted. .

  The driving support apparatus according to the present invention includes an acquisition unit that acquires signal information and information on a moving body around the vehicle, a selection unit that selects a candidate to collide based on the acquired information on the moving body, and a signal state According to the status of the candidate that collides with the determination means for determining whether to perform at least one of the early notification of the conflicting candidate or the enhancement of the notification content, and according to the determination result of the determination means An informing means for informing a driver in the vehicle of a collision candidate. According to the driving support apparatus of the present invention, there is an effect that the driving support can be executed at an appropriate time and level according to the state of the signal.

FIG. 1 is a flowchart showing the operation of the driving support apparatus according to the first embodiment. FIG. 2 is a schematic configuration diagram of a vehicle equipped with the driving support apparatus according to the first embodiment. FIG. 3 is an explanatory diagram of the support situation. FIG. 4 is a flowchart showing the operation of the notification quick appearance determination means. FIG. 5 is an explanatory diagram of a support situation according to the second embodiment. FIG. 6 is a flowchart showing the operation of the notification quick-start determination unit of the second embodiment. FIG. 7 is an explanatory diagram of a support situation according to the third embodiment. FIG. 8 is a flowchart showing the operation of the notification quick-start determination unit of the third embodiment. FIG. 9 is an explanatory diagram of a support situation according to the fourth embodiment. FIG. 10 is a flowchart illustrating the operation of the notification quick-start determination unit of the fourth embodiment.

  Hereinafter, a driving support 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.

[First Embodiment]
The first embodiment will be described with reference to FIGS. 1 to 4. The present embodiment relates to a driving support device. FIG. 1 is a flowchart showing the operation of the driving support apparatus according to the first embodiment of the present invention, FIG. 2 is a schematic configuration diagram of a vehicle equipped with the driving support apparatus according to the first embodiment, and FIG. FIG. 4 is a flowchart showing the operation of the notification quick-start determination means.

  The driving support device 1 of the present embodiment acquires signal (progress / non-permission state) information and moving object information (position, speed, moving direction, etc.) around the host vehicle at an intersection with a signal. The driving support device 1 assists in preventing an accident at an intersection by notifying the driver of the target when there is a target that may collide with the host vehicle when the host vehicle can travel. When traveling at an intersection, it is assumed that the driver's psychological state and the behavior of surrounding moving objects change depending on the signal transition state. Therefore, the driving support device 1 receives not only the progress permission / non-permission state but also the yellow signal and the blinking state of the pedestrian signal as signal information, and assists when it is determined that the degree of risk is higher than normal. Execute early highlighting and emphasis. Thereby, at least one of starting support at an appropriate timing according to the state of the signal and executing an appropriate level of support becomes possible.

  As shown in FIG. 2, the driving assistance device 1 is mounted on the vehicle 100. The driving assistance device 1 provides information to the driver in the vehicle 100 and assists the driving of the driver. The driving support device 1 according to the present embodiment includes a control unit 2, a notification unit 3, a host vehicle speed sensor 4, an image sensor 5, a navigation device 6, a millimeter wave sensor 7, and a communication unit 8. Has been.

  The control unit 2 includes a sensor output value acquisition unit 21, a collision target candidate selection unit 22, and a notification quick start determination unit 23. The sensor output value acquisition unit 21 acquires various output values from the own vehicle speed sensor 4, the image sensor 5, the navigation device 6, the millimeter wave sensor 7, and the communication unit 8. The sensor output value acquisition unit 21 functions as an acquisition unit that acquires signal information, forward image information, map information, and information on moving bodies around the vehicle 100 from each sensor and device. The sensor output value acquisition means 21 has a function of acquiring forward image information and map information.

  The own vehicle speed sensor 4 detects the vehicle speed of the vehicle 100 that is the own vehicle. The vehicle speed detected by the vehicle speed sensor 4 is output to the sensor output value acquisition means 21. The image sensor 5 captures the surroundings of the vehicle 100 and generates image data of the surrounding scene. The image sensor 5 of the present embodiment generates image data in front of the vehicle 100 including a diagonally forward direction. Note that the image sensor 5 may further generate image data on the side of the vehicle 100 and image data on the back of the vehicle 100. Image data generated by the image sensor 5 is output to the sensor output value acquisition means 21.

  The navigation device 6 includes position detection means such as GPS for detecting the position of the host vehicle, attitude detection means such as a gyro for detecting the direction of the host vehicle, display means such as a display for displaying a guide route to the destination, etc. For example, a sound output means such as a speaker. In addition, the navigation device 6 stores map information including the road shape, the position of the intersection, the presence / absence of a signal installed at the intersection, information on the lane provided on the road, and the like. The navigation device 6 can perform bidirectional communication with the control unit 2. In response to a request from the control unit 2, the navigation device 6 outputs information on the current position of the vehicle 100, information on the intersection position in front of the vehicle 100, information on the presence / absence of signals arranged at the intersection, information on the guidance route, and the like. Output to the value acquisition means 21.

  The millimeter wave sensor 7 includes a millimeter wave radar. The millimeter wave sensor 7 transmits millimeter-wave radio waves to the surroundings of the vehicle 100 and detects surrounding targets based on the reflected waves of the transmitted radio waves. The millimeter wave sensor 7 of the present embodiment detects the front, rear and side targets of the vehicle 100. The millimeter wave sensor 7 calculates the orientation of the target, the relative distance between the vehicle 100 and the target, and the relative speed between the vehicle 100 and the target. The millimeter wave sensor 7 of the present embodiment has a function of detecting a moving body around the vehicle 100. The millimeter wave sensor 7 determines whether or not the target is a moving object based on the relative speed with respect to the target calculated based on the vehicle speed of the vehicle 100 and the reflected wave. When there is a target determined to be a moving body, the millimeter wave sensor 7 outputs information such as a relative position of the target with respect to the vehicle 100, a relative speed, and a moving direction of the target. A signal indicating the detection result of the millimeter wave sensor 7 is output to the sensor output value acquisition means 21.

  The communication means 8 acquires information from outside the vehicle by communication. The control unit 2 exchanges information with the communication unit 8 via the sensor output value acquisition unit 21. The communication means 8 of this embodiment is comprised including the vehicle-to-vehicle communication means and the road-to-vehicle communication means. The inter-vehicle communication means exchanges information with other vehicles by communication with other vehicles. The road-to-vehicle communication means exchanges information with the infrastructure device through communication with the infrastructure device installed on the road. The communication unit 8 acquires information on the state of signals arranged at an intersection in front of the vehicle 100 by, for example, a road-to-vehicle communication unit.

  Here, the “signal state” includes a transitional state such as a progress permission state such as a blue signal, a progress disapproval state such as a red signal, and a blinking state of a yellow signal or a pedestrian signal. In the yellow signal, which is an example of a transient state, the vehicle should not proceed beyond the stop position. However, if it is approaching the stop position when it turns to a yellow light and cannot be stopped safely, it can proceed as it is. Moreover, in the blinking state of the pedestrian signal which is another example of the transient state, the pedestrian must not start crossing. Those who are crossing must either immediately finish crossing or stop and return. As will be described later, in the transient state, it is assumed that the psychological state of the driver and the behavior pattern of the surrounding moving body change with respect to other signal states.

  The collision target candidate selection unit 22 functions as a selection unit that selects a collision candidate based on the acquired information on the moving body. The collision target candidate selection unit 22 may further select a candidate to collide based on the image information and the map information. The collision target candidate selection unit 22 selects a collision candidate that is a candidate that collides with the vehicle 100 based on information acquired from the image sensor 5 and the millimeter wave sensor 7, for example. The collision target candidate selection unit 22 of this embodiment extracts a target from the image data acquired from the image sensor 5. The collision target candidate selecting unit 22 extracts a target in the image data based on the luminance of the image data, for example. When the image sensor 5 generates a stereo image, the collision target candidate selection unit 22 may extract a target based on the parallax value of the stereo image. The collision target candidate selection unit 22 can determine whether or not the extracted target is a moving object, for example, by pattern matching. The collision target candidate selection unit 22 may determine the type of the moving body by pattern matching. Further, the collision target candidate selecting unit 22 may determine whether or not the extracted target is a moving object based on a plurality of image data continuously captured.

  The collision target candidate selection unit 22 determines whether or not the detected moving object is a collision target candidate. The collision target candidate selection unit 22 determines whether each moving body is a candidate for a collision target based on, for example, a relative distance and relative speed between the moving body and the vehicle 100, a change in the traveling direction of the vehicle 100 such as a right or left turn, and the like. Determine whether or not.

  The notification means 3 notifies the driver in the own vehicle of the collision candidate according to the determination result of the notification quick issue determination means 23. The notification means 3 of the present embodiment includes a display device 31 and an audio output device 32. The notification means 3 alerts the driver to the collision candidate by using visual information and auditory information. The display device 31 alerts the driver to the collision candidate using visual information. The display device 31 may be, for example, a HUD (Head Up Display) or a multi-information display. The display device 31 displays an image or the like on the display surface so as to call attention to the collision candidate. The display device 31 displays the position of the collision candidate, for example, in which direction the collision candidate exists with respect to the vehicle 100 such as front, left side, right side, and rear. An image having a different shape may be displayed on the display device 31 according to the type of collision candidate such as another vehicle, a pedestrian, or a bicycle.

  The audio output device 32 alerts the driver to the collision candidate based on the auditory information. The audio output device 32 outputs audio or the like so as to call attention to the collision candidate. The audio output device 32 notifies the driver of, for example, the type of collision candidate, the direction and distance of the collision candidate viewed from the vehicle 100, and the like.

  The notification means 3 can execute enhancement of notification contents. The notification means 3 of the present embodiment can perform a plurality of steps of notification with different degrees of alerting. For example, the display device 31 changes the color, size, shape, etc. of the image that prompts attention to the collision candidate, flashes the image, or changes the flashing cycle of the image according to the degree of the warning. To do. The voice output device 32 changes the volume / pitch of the voice, the message content, the message repetition rate, the message speed, etc. that urge the attention to the collision candidate according to the degree of the warning.

  The notification early determination means 23 determines whether or not to promptly notify the driver of the collision candidate for the driver by the notification unit 3 and whether or not to emphasize the notification content according to the state of the candidate that collides with the signal state. Determine whether. The early notification determination unit 23 of the present embodiment is configured such that the signal state and the collision candidate state (relative position between the vehicle 100 and the collision candidate, the relative speed, the acceleration / deceleration state of the collision candidate) Or the like), it is determined whether or not to promptly issue the notification means and / or to emphasize the notification content.

  The concept of determination by the notification quick-start determination means 23 will be described with reference to FIG. FIG. 3 shows a state where the vehicle 100 is about to make a right turn at an intersection. The vehicle 100 is going to make a right turn from the own vehicle traveling path 10 to the traveling path 12 intersecting with the own vehicle traveling path 10. On the own vehicle travel path 10, an oncoming vehicle 101 exists on the opposite side of the vehicle 100 across the intersection. The oncoming vehicle 101 is traveling in a direction from the front of the vehicle 100 toward the vehicle 100. A pedestrian 15 is present on the sidewalk 16R on the right side of the vehicle 100. The pedestrian 15 is traveling on the sidewalk 16R toward the front side in the traveling direction of the vehicle 100. In front of the pedestrian 15 is a pedestrian crossing 13 for crossing the road 12. The pedestrian 15 is walking toward the pedestrian crossing 13 and is expected to cross the pedestrian crossing 13 thereafter.

  At the intersection, a traffic light 11 and a pedestrian traffic light 14 are arranged. The traffic light 11 is disposed in front of the traveling direction of the vehicle 100, and is a traffic light that indicates permission / prohibition of traveling in the traveling direction of the vehicle 100. The pedestrian traffic light 14 is a traffic light provided on the pedestrian crossing 13, and is a traffic light indicating whether the pedestrian crossing 13 is allowed to proceed or prohibited from traveling.

  The driving support device 1 detects the oncoming vehicle 101 and the pedestrian 15 based on the image data generated by the image sensor 5 and the signal indicating the detection result of the millimeter wave sensor 7. Further, the control unit 2 determines whether or not the oncoming vehicle 101 is a collision candidate based on the image data and the collision time TTC (Time To Collision) calculated from the detection result of the millimeter wave sensor 7. The collision time TTC is a predicted time until the vehicle 100 and the oncoming vehicle 101 collide, and is calculated based on the relative position and relative speed between the vehicle 100 and the oncoming vehicle 101. For example, when the collision time TTC is within a predetermined time T0, the control unit 2 determines that the oncoming vehicle 101 is a collision candidate.

  Moreover, the control part 2 determines whether the detected pedestrian 15 is a collision candidate. For example, when the pedestrian 15 is on the pedestrian crossing 13 or when the pedestrian 15 is within a predetermined distance from the pedestrian crossing 13, the control unit 2 determines the pedestrian 15 as a collision candidate. Note that the position of the pedestrian crossing 13 can be calculated based on image data, or can be grasped based on position information acquired from the navigation device 6.

  The control unit 2 determines whether or not the oncoming vehicle 101 and the pedestrian 15 determined to be a collision candidate are notification targets. The notification target is a target to be notified to the driver by the notification means 3. For example, when the collision time TTC for the oncoming vehicle 101 determined as a collision candidate is equal to or shorter than the first predetermined time T1, the control unit 2 determines that the oncoming vehicle 101 is a notification target. The first predetermined time T1 is a time equal to or shorter than the predetermined time T0, for example. Moreover, the control part 2 determines whether the pedestrian 15 is information object based on the relative distance of the pedestrian 15 determined to be a collision candidate, and the vehicle 100, for example. For example, the control unit 2 calculates a collision time TTC with the pedestrian 15, and determines that the pedestrian 15 is a notification target when the collision time TTC is equal to or less than the first threshold value Tp1. The threshold value may be, for example, the same value as the first predetermined time T1 or a value different from the first predetermined time T1.

  Here, in the vicinity of the intersection, there is a possibility that the driver's psychological state and the behavior of the surrounding moving body change depending on the signal state. For example, in the state of a yellow signal, in the own vehicle, a driver may be eager to pass through an intersection early, and it may be easy to miss a surrounding moving body. Further, in the oncoming vehicle 101, there is a possibility that the driver will suddenly accelerate and pass through the intersection in an attempt to pass before becoming a red signal. In addition, there is a possibility that the oncoming vehicle 101 may go straight without stopping after changing to a red light. For example, when the signal for the oncoming vehicle 101 is a red signal and the traffic light 11 for the vehicle 100 is in a right turn advanceable display state such as an arrow, the oncoming vehicle 101 may enter the intersection.

  In addition, when the pedestrian traffic light 14 is in a blinking state, in the own vehicle, the driver is likely to pass through the intersection early, and it may be easy to miss surrounding moving bodies. In addition to the host vehicle, there is a possibility that the oncoming vehicle 101 will suddenly accelerate and pass through the intersection, trying to pass before the oncoming vehicle 101 turns red. In addition, there is a possibility that a pedestrian 15 or a bicycle passing through the pedestrian crossing 13 may make a sudden movement such as acceleration or running. In addition, there is a possibility that a pedestrian 15 or a bicycle jumps out of the sidewalk 16R in an attempt to cross the pedestrian crossing 13 before becoming a red light.

  On the other hand, as will be described below, the driving support device 1 according to the present embodiment prompts notification by the notification unit 3 or emphasizes the content of notification according to the candidate state that collides with the signal state. Execute at least one of them. Note that the early notification means that the notification start timing by the notification means 3 is advanced. Further, the emphasis on the content of notification is to increase the degree of alerting to the notification target, for example, to display the notification target on the display device 31 in a form such as a color or shape that feels more dangerous, or to be more dangerous This includes notifying the notification target from the audio output device 32 in a manner such as a sound volume and a speed that can be felt at a high level.

  By prompting the notification by the notification means 3 and emphasizing the notification content, the driver's attention can be directed to the notification target at an earlier timing, or the driver's attention can be directed more to the notification target. It becomes possible. Therefore, according to the driving support device 1 of the present embodiment, it is possible to reduce the possibility of an accident occurring at an intersection and to suppress the accident in advance.

  With reference to the flowchart of FIG. 1 and FIG. 4, operation | movement of the driving assistance apparatus 1 of this embodiment is demonstrated. The flowchart shown in FIG. 1 is repeatedly executed at predetermined intervals, for example. First, in step S <b> 1, vehicle information is input to the control unit 2. The control unit 2 acquires a shift position, an accelerator opening degree, a steering angle, a brake operation amount, an operating state of the winker, and the like of the vehicle 100. When step S1 is executed, the process proceeds to step S2.

  In step S2, the sensor output value acquisition means 21 acquires and records the output value of each sensor. The sensor output value acquisition means 21 acquires the vehicle speed of the vehicle 100 from the own vehicle speed sensor 4. Further, the sensor output value acquisition unit 21 acquires image data from the image sensor 5. The sensor output value acquisition means 21 acquires the current position information, information about surrounding intersections, information about the road such as the number of lanes, information about the guidance route, and the like from the navigation device 6. The sensor output value acquisition unit 21 acquires information about the detection result of the millimeter wave radar from the millimeter wave sensor 7. The sensor output value acquisition means 21 acquires information on the state of traffic lights arranged at surrounding intersections via the communication means 8. When step S2 is executed, the process proceeds to step S3.

  In step S <b> 3, a collision target candidate is selected by the collision target candidate selection unit 22. The collision target candidate selection means 22 of this embodiment selects a collision candidate when the vehicle 100 is about to turn right. Whether the vehicle 100 is about to turn right is determined based on, for example, current position information and the state of the blinker. When the vehicle 100 is in front of or in the intersection and the right turn signal is operating, it can be determined that the vehicle 100 is about to turn right. Further, when the guidance route of the navigation device 6 is a route that turns right at the current intersection, it can be determined that the vehicle 100 is about to turn right. The collision target candidate selection means 22 selects candidates that may collide with the vehicle 100 using the forward image information, map information, and moving body information acquired in step S2. In the situation shown in FIG. 3, the oncoming vehicle 101 and the pedestrian 15 are selected as collision candidates. When step S3 is executed, the process proceeds to step S4.

  In step S4, it is determined by the notification quick appearance determination means 23 whether or not to perform early notification. The notification early appearance determination means 23 determines whether or not to promptly notify the collision candidate selected in step S3 and to emphasize the notification content. The determination in step S4 will be described with reference to FIG. When the processing proceeds to step S4, the notification early determination means 23 determines whether or not to perform early notification according to the subroutine shown in FIG.

  First, in step S11, it is determined whether or not the pedestrian signal is blinking by the notification quick appearance determination means 23. For example, the notification early appearance determination unit 23 performs the determination in step S11 based on image data obtained by imaging the front of the vehicle 100. It is possible to determine whether or not the pedestrian traffic light 14 of the pedestrian crossing 13 is blinking based on a plurality of image data continuously captured. Note that the determination in step S11 may be made based on information regarding the signal state acquired via the communication unit 8 instead of the image information. As a result of the determination in step S11, if it is determined that the pedestrian signal is blinking (step S11-Y), the process proceeds to step S12. If not (step S11-N), the process proceeds to step S13.

  In step S <b> 12, it is determined whether or not there is an oncoming vehicle by the notification quick appearance determination unit 23. For example, if there is an oncoming vehicle 101 that is determined as a collision candidate by the collision target candidate selecting unit 22, an affirmative determination is made in step S12. As a result of the determination in step S12, if it is determined that there is an oncoming vehicle (step S12-Y), the process proceeds to step S15, and if not (step S12-N), the process proceeds to step S16.

  In step S <b> 13, it is determined whether or not the own lane signal is a yellow signal by the notification early issue determination means 23. For example, the early notification determination unit 23 performs the determination in step S13 based on image data obtained by imaging the front. If the state of the traffic signal 11 for the vehicle in front of the traveling direction of the vehicle 100 is a yellow signal, the notification quick-start determination unit 23 makes an affirmative determination in step S13. As a result of the determination in step S13, if it is determined that the own lane signal is a yellow signal (step S13-Y), the process proceeds to step S14, and if not (step S13-N), the process proceeds to step S18.

  In step S <b> 14, it is determined whether or not an oncoming vehicle exists by the notification quick-start determination unit 23. For example, in the same manner as in step S12, the notification quick-start determination unit 23 determines whether there is an oncoming vehicle. As a result of the determination in step S14, if it is determined that there is an oncoming vehicle (step S14-Y), the process proceeds to step S15. If not (step S14-N), the process proceeds to step S20.

  In step S <b> 15, the notification early appearance determination unit 23 performs the notification early departure determination regarding the oncoming vehicle. The notification early determination means 23 determines to execute at least one of notification early regarding the detected oncoming vehicle 101 and enhancement of notification contents. When step S15 is executed, the subroutine is terminated and the routine proceeds to step S5.

  In step S <b> 16, it is determined whether or not there is a pedestrian 15 or a bicycle in the vicinity of the pedestrian crossing by the notification quick appearance determination unit 23. In step S16, an affirmative determination is made when there is a pedestrian 15 or a bicycle selected as a collision candidate by the collision target candidate selecting means 22. Note that the early warning determination unit 23 may determine whether there is a pedestrian 15 or a bicycle near the pedestrian crossing 13 based on the image data or the detection result of the millimeter wave sensor 7. As a result of the determination in step S16, if it is determined that there is a pedestrian 15 or a bicycle near the pedestrian crossing (step S16-Y), the process proceeds to step S17. If not (step S16-N), the process proceeds to step S21. move on.

  In step S <b> 17, the notification early determination about the pedestrian is performed by the notification early determination unit 23. The notification early appearance determination unit 23 determines to execute at least one of notification early regarding the detected pedestrian 15 or bicycle and enhancement of notification content. When step S17 is executed, the subroutine ends and the process proceeds to step S5.

  In step S <b> 18, it is determined whether or not any of an oncoming vehicle, a pedestrian, or a bicycle exists by the notification quick-start determination unit 23. When any of the oncoming vehicle 101, the pedestrian 15 and the bicycle is selected as a collision candidate, the notification quick start determination unit 23 makes an affirmative determination in step S18. As a result of the determination in step S18, if it is determined that there is an oncoming vehicle, a pedestrian, or a bicycle (step S18-Y), the process proceeds to step S19. If not (step S18-N), step S20 is performed. Proceed to

  In step S <b> 19, the normal notification determination is performed by the notification quick issue determination unit 23. The normal notification is to notify the driver of a collision candidate by the notification means 3 without prompting notification or emphasizing the notification content. When step S19 is executed, the subroutine ends and the process proceeds to step S6.

  In step S <b> 20, the notification early determination unit 23 determines that there is no notification. If it is determined that there is no notification, the notification by the notification means 3 to the driver is not performed. When step S20 is executed, the subroutine ends and the process proceeds to step S6.

  In step S21, the notification early determination means 23 determines that there is no notification, ends the subroutine, and proceeds to step S6.

  Returning to the control flow of FIG. 1, the description will be continued from step S4. As a result of executing the subroutine of FIG. 4 from step S4, when the notification early determination is made (step S4-Y), the process proceeds to step S5, and when the normal notification determination or no notification determination is made (step S4-N), Proceed to step S6.

  In step S <b> 5, the notification quick start by the notification unit 3 is executed. The control unit 2 changes the condition for determining the start of notification in the case of normal notification and the condition for determining the start of notification in the case of early notification. For example, the threshold value of the collision time TTC when determining whether or not the oncoming vehicle 101 is a notification target is different between the case of early notification and the case of normal notification. The control part 2 of this embodiment determines whether the oncoming vehicle 101 is an alerting | reporting object by making the 2nd predetermined time T2 into the threshold value of the collision time TTC, when alerting | reporting early determination is made. The second predetermined time T2 is a time longer than the first predetermined time T1, which is a threshold value of the collision time TTC in the case of normal notification. In step S5, the control unit 2 determines that the oncoming vehicle 101 is a notification target when the collision time TTC for the oncoming vehicle 101 is equal to or shorter than the second predetermined time T2. As a result, in the case of early notification, the notification means 3 starts to notify the presence of the oncoming vehicle 101 while the oncoming vehicle 101 is far away than in the case of normal notification.

  Moreover, the threshold value of the collision time TTC when determining whether or not the pedestrian 15 or the bicycle is a notification target is different between the case of early notification and the case of normal notification. The collision time threshold value Tp2 (hereinafter referred to as “second threshold value”) for the pedestrian 15 or the like when the early notification determination is made is longer than the first threshold Tp1 when the normal notification determination is made. It's time. When determining whether or not the pedestrian 15 or the like is to be notified based on the distance from the pedestrian crossing 13, in the case of early notification, the pedestrian who is farther from the pedestrian crossing 13 than in the case of normal notification. 15 may be included in the notification target.

  When there is an oncoming vehicle 101, a pedestrian 15, a bicycle, or the like that satisfies the conditions for notification in the case of early notification, the control unit 2 notifies the driver by the notification means 3. Announce the mark. When multiple targets are to be notified, it is possible to notify about one target that is most likely to collide or one target that needs to be paid the most attention so that the driver's attention is not dispersed. preferable. For example, the control unit 2 may notify the driver of a target having the shortest collision time TTC among a plurality of targets to be notified.

  In addition, you may make it the control part 2 select one target actually alert | reported by judgment criteria other than collision time TTC from the several target which satisfy | fills alerting | reporting object conditions. For example, in the situation shown in FIG. 3, it may be preferable to pay more attention to the oncoming vehicle 101 than to the pedestrian 15 before the vehicle 100 starts a right turn or starts a right turn operation. On the other hand, it is considered preferable to pay more attention to the pedestrian 15 than the oncoming vehicle 101 after the start of the right turn operation. For example, the control unit 2 may determine the start of the right turn operation or the progress of the right turn operation based on the direction of the vehicle 100, the steering angle, the vehicle speed, and the like, and may select the target to be notified.

  Moreover, you may make it the control part 2 perform the emphasis of alerting | reporting content instead of alerting | reporting early appearance, or in addition to alerting | reporting early appearance. When emphasizing the content of notification in place of early notification, the method for selecting the notification target is the same as in the case of normal notification. When emphasizing the notification content, the control unit 2 increases the degree of alerting when the notification means 3 notifies the target to be notified as compared with the case of normal notification. Further, when emphasizing the notification content in addition to prompt notification, the control unit 2 determines a notification target according to a determination criterion (second predetermined time T2, second threshold Tp2) in the case of prompt notification, and the notification The degree of alerting when notifying the target is set higher than the alerting degree during normal alerting. When step S5 is executed, this control flow ends.

  In step S6, the control unit 2 performs normal notification. When the normal notification determination is made in the subroutine of FIG. 4, the control unit 2 selects a notification target on the basis of the normal notification determination criterion (first predetermined time T1, first threshold Tp1), and the notification means 3 for the notification target. To inform the driver. Moreover, the control part 2 does not perform alerting | reporting by the alerting | reporting means 3, when determination with no alerting | reporting is made by the subroutine of FIG. When step S6 is executed, the control flow ends.

  As described above, the driving assistance device 1 according to the present embodiment determines the possibility that the driver's psychological state change and the behavior of surrounding moving objects (such as an oncoming vehicle or a crossing pedestrian) will change based on the signal information. To do. When it is determined that the collision risk is likely to increase (steps S12-Y, S14-Y, S16-Y), the driving assistance device 1 lowers the notification threshold and increases the notification level. This makes it possible to perform driving support at an appropriate time or level according to the signal state. According to the driving support device 1 of the present embodiment, by lowering the notification threshold, it is possible to determine an object with a high collision risk earlier and to notify the driver of the presence of the object earlier. Become. As a result, there is an advantage that the driver can recognize the target earlier.

  In addition, the driving support device 1 according to the present embodiment is notified by the notification unit 3 when the signal state is a transitional state in which the progress transition state is shifted from the progress permission state to the travel disapproval state (steps S11-Y and S13-Y). Executes early search and emphasis on notification contents. Thereby, driving assistance is executed at an appropriate time or at an appropriate level according to the state of the signal.

[Second Embodiment]
The second embodiment will be described with reference to FIGS. 5 and 6. In the second embodiment, components having the same functions as those described in the first embodiment are given the same reference numerals, and duplicate descriptions are omitted. FIG. 5 is an explanatory diagram of the support situation according to the second embodiment, and FIG. 6 is a flowchart showing the operation of the notification quick-start determination unit of the second embodiment. The second embodiment is different from the first embodiment described above in that, for example, a quick warning for front and rear vehicles is performed during straight ahead.

  FIG. 5 shows a vehicle 100 that is going straight ahead at an intersection ahead, a preceding vehicle 102 that is traveling immediately before the vehicle 100, and a subsequent vehicle 103 that is traveling immediately after the vehicle 100. When the traffic light 11 at the front intersection becomes a yellow signal, the driver of the vehicle 100 may be accelerated to pass through the intersection and accelerate. On the other hand, the driver of the preceding vehicle 102 may see the yellow signal and operate the brake device to stop the vehicle. When the traffic light 11 is a yellow signal, the driving support device 1 executes at least one of prompt notification regarding the preceding vehicle 102 and enhancement of the notification content. Thereby, the approach of the preceding vehicle 102 and the vehicle 100 is suppressed.

  In addition, when the traffic light 11 at the front intersection becomes a yellow signal, the driver of the vehicle 100 may activate the brake device in an attempt to stop the vehicle before the intersection. On the other hand, there is a possibility that the driver of the following vehicle 103 accelerates trying to pass through the intersection early. When the traffic light 11 is a yellow signal, the driving support device 1 executes at least one of the quick notification of the following vehicle 103 and the enhancement of the notification content. Thereby, the approach of the following vehicle 103 and the vehicle 100 is suppressed. Therefore, according to the driving support device 1 of the present embodiment, the occurrence of an accident is suppressed.

  With reference to the flowchart of FIG. 1 and FIG. 6, operation | movement of the driving assistance apparatus 1 of 2nd Embodiment is demonstrated. The driving support device 1 of the present embodiment targets vehicles before and after the vehicle 100 in the control flow of FIG. Specifically, in step S <b> 3, the collision target candidate selection unit 22 selects a vehicle to be notified from vehicles traveling in front of and behind the vehicle 100. The collision target candidate selection unit 22 determines whether the preceding vehicle 102 and the following vehicle 103 exist based on the image data acquired from the image sensor 5 and the information acquired from the millimeter wave sensor 7. When the preceding vehicle 102 is detected, the collision target candidate selecting unit 22 determines whether the preceding vehicle 102 is a collision candidate. Further, when the subsequent vehicle 103 is detected, the collision target candidate selecting unit 22 determines whether or not the subsequent vehicle 103 is a collision candidate. For example, based on the collision time TTC with the vehicle 100, it is determined whether the preceding vehicle 102 and the following vehicle 103 are collision candidates.

  In step S4, the notification quick-determination determination unit 23 determines whether or not to perform early notification or enhance the notification content based on the subroutine shown in FIG. In step S31, it is determined by the notification quick-start determination means 23 whether or not the own lane signal is a yellow signal. As a result of the determination, if it is determined that the own lane signal is a yellow signal (step S31-Y), the process proceeds to step S32. If not (step S31-N), the process proceeds to step S39.

  In step S <b> 32, it is determined whether or not there is a preceding vehicle by the notification early appearance determination unit 23. When the collision candidate preceding vehicle 102 exists, the notification quick-start determination unit 23 makes an affirmative determination in step S32. As a result of the determination in step S32, if it is determined that there is a preceding vehicle (step S32-Y), the process proceeds to step S33, and if not (step S32-N), the process proceeds to step S36.

  In step S <b> 33, it is determined whether or not there is a succeeding vehicle by the notification quick appearance determination unit 23. When the collision candidate subsequent vehicle 103 exists, the notification quick-start determination unit 23 makes an affirmative determination in step S33. As a result of the determination in step S33, if it is determined that there is a following vehicle (step S33-Y), the process proceeds to step S34, and if not (step S33-N), the process proceeds to step S35.

  In step S34, the notification quick-determination determination unit 23 performs notification quick-determination determination regarding the preceding vehicle and the subsequent vehicle. When step S34 is executed, the subroutine ends and the process proceeds to step S5.

  In step S <b> 35, the notification early-arrival determination unit 23 performs notification early-arrival determination regarding the preceding vehicle. When step S35 is executed, the subroutine ends and the process proceeds to step S5.

  In step S36, it is determined by the notification quick appearance determination means 23 whether or not there is a following vehicle. As a result of the determination, if it is determined that there is a following vehicle (step S36-Y), the process proceeds to step S37, and if not (step S36-N), the process proceeds to step S38.

  In step S <b> 37, the notification early-arrival determination unit 23 performs notification early-arrival determination regarding the following vehicle. When step S37 is executed, the subroutine ends and the process proceeds to step S5.

  In step S <b> 38, the notification early appearance determination means 23 determines that there is no notification. When step S38 is executed, the subroutine is terminated and the process proceeds to step S6.

  In step S39, the normal notification determination is performed by the notification quick determination determination unit 23. When step S39 is executed, the subroutine ends and the process proceeds to step S6.

  Returning to step S4 in FIG. 1, if the notification early determination is made for at least one of the preceding vehicle 102 and the following vehicle 103 in the subroutine of FIG. 6 (step S4-Y), the process proceeds to step S5, otherwise ( In step S4-N), the process proceeds to step S6.

  In step S <b> 5, the control unit 2 issues at least one instruction for prompt notification and enhancement of notification contents to the notification unit 3. When executing the quick notification of the preceding vehicle 102, the control unit 2 sets a threshold for determining the preceding vehicle 102 as a notification target to a value different from the threshold for the normal notification. For example, the control unit 2 uses the third predetermined time T3 as the threshold of the collision time TTC related to the preceding vehicle 102 in the case of normal notification, and the fourth predetermined time as the threshold of the collision time TTC related to the preceding vehicle 102 in the case of early notification. T4 is used. The fourth predetermined time T4 is longer than the third predetermined time T3. Further, when emphasizing the notification content for the preceding vehicle 102, the control unit 2 notifies the preceding vehicle 102 by the notification means 3 with a higher degree of alerting than when the normal notification determination is made.

  Moreover, when performing early notification of the notification of the subsequent vehicle 103, the control unit 2 sets a threshold value for determining the subsequent vehicle 103 as a notification target to a value different from the threshold value for the normal notification. For example, the control unit 2 uses the fifth predetermined time T5 as the threshold of the collision time TTC related to the subsequent vehicle 103 in the case of normal notification, and the sixth predetermined time as the threshold of the collision time TTC related to the subsequent vehicle 103 in the case of early notification. Use T6. The sixth predetermined time T6 is longer than the fifth predetermined time T5. Further, when emphasizing the notification content for the subsequent vehicle 103, the control unit 2 notifies the subsequent vehicle 103 by the notification means 3 with a higher degree of alerting than when the normal notification determination is made.

  In addition, when both the preceding vehicle 102 and the succeeding vehicle 103 are targets for early notification and emphasis on the content of notification, the control unit 2 preferably gives priority to either of the notification to the driver. For example, among the preceding vehicle 102 and the following vehicle 103, the control unit 2 notifies the vehicle with the shorter collision time TTC with the vehicle 100 by using the notification unit 3 or emphasizes the notification content of the vehicle. . When step S5 is executed, this control flow ends.

  In step S6, the control unit 2 performs normal notification. When the normal notification determination is made in the subroutine of FIG. 6, the control unit 2 selects a notification target on the basis of the normal notification determination criteria (third predetermined time T3, fifth predetermined time T5), and notifies the notification target about the notification target. 3 to inform the driver. Moreover, the control part 2 does not perform alerting | reporting by the alerting | reporting means 3, when the no notification determination is made by the subroutine of FIG. When step S6 is executed, the control flow ends.

  In the subroutine of FIG. 6, it is determined whether or not to make a quick notification based on whether or not the own lane signal is a yellow signal, but instead of the state of the own lane signal or In addition to the state of the own lane signal, it may be determined whether or not to promptly notify the user based on the state of the pedestrian traffic light (for example, the blinking state).

  According to the driving support device 1 of the present embodiment, notification regarding the preceding and following vehicles is made at an appropriate time and level according to the state of the signal. That is, the driving support device 1 of the present embodiment can execute driving support at an appropriate time and level according to the signal state.

[Third Embodiment]
A third embodiment will be described with reference to FIG. 7 and FIG. In the third embodiment, constituent elements having the same functions as those described in the first embodiment and the second embodiment are denoted by the same reference numerals, and redundant description is omitted. FIG. 7 is an explanatory diagram of the support situation according to the third embodiment, and FIG. 8 is a flowchart showing the operation of the notification quick-start determination unit of the third embodiment. The third embodiment differs from the first embodiment and the second embodiment in that, for example, a quick warning is given to the oncoming vehicle 101 that makes a right turn when traveling straight ahead.

  FIG. 7 shows a vehicle 100 that is going straight ahead at an intersection ahead and an oncoming vehicle 101 that is going to turn right. The driving assistance device 1 according to the present embodiment performs quick notification regarding the oncoming vehicle 101 when the traffic signal 11 ahead is a yellow signal. As a result, the driver's attention to the oncoming vehicle 101 about to turn right can be appropriately alerted.

  With reference to the flowchart of FIG. 1 and FIG. 8, operation | movement of the driving assistance apparatus 1 of 3rd Embodiment is demonstrated. When the vehicle 100 is going straight ahead, the driving assistance apparatus 1 of this embodiment sets the oncoming vehicle 101 about to turn right as a collision candidate or a notification target in the control flow of FIG.

  Specifically, in step S3, the collision target candidate selecting unit 22 selects a vehicle that is about to turn right among the oncoming vehicles 101 as a collision candidate. The fact that the oncoming vehicle 101 is about to turn right can be determined, for example, by the fact that the oncoming vehicle 101 is operating a turn signal in the right turn direction. Further, when the oncoming vehicle 101 is in the right turn lane, it can be determined that the oncoming vehicle 101 is about to turn right. Further, when the oncoming vehicle 101 is a green light and the oncoming vehicle 101 remains stopped before or in the intersection, it can be determined that the oncoming vehicle 101 is about to turn right. The collision target candidate selection means 22 selects the oncoming vehicle 101 that is going to turn right at an intersection in front of the vehicle 100 as a collision candidate.

  In step S4, it is determined by the notification quick-release determination means 23 based on the flowchart shown in FIG. First, in step S41, it is determined whether or not the own lane signal is a yellow signal by the notification quick-start determination means 23. As a result of the determination, if it is determined that the lane signal is a yellow signal (step S41-Y), the process proceeds to step S42, and if not (step S41-N), the process proceeds to step S44.

  In step S <b> 42, it is determined whether or not there is an oncoming vehicle that makes a right turn by the notification early appearance determination unit 23. As a result of the determination, if there is an oncoming vehicle 101 that is about to turn right and has been selected as a collision candidate (step S42-Y), the process proceeds to step S43, and otherwise (step S42-N). Then, the process proceeds to step S44.

  In step S43, the notification early-arrival determination means 23 determines whether or not notification regarding the oncoming vehicle is early. When step S43 is executed, the subroutine is terminated and the process proceeds to step S5.

  In step S44, the normal notification determination is made by the notification early determination means 23. When step S44 is executed, the subroutine is terminated and the routine proceeds to step S6.

  Returning to step S4 in FIG. 1, if the early notification determination is made in the subroutine of FIG. 8 (step S4-Y), the process proceeds to step S5, and if not (step S4-N), the process proceeds to step S6.

  In step S <b> 5, the control unit 2 executes at least one of the notification quick start and the enhancement of the notification content regarding the oncoming vehicle 101 that is about to turn right. When executing the quick notification of the oncoming vehicle 101, the control unit 2 sets a threshold value for determining the oncoming vehicle 101 as a notification target to a value different from the threshold value for the normal notification. For example, the control unit 2 uses the seventh predetermined time T7 as the threshold of the collision time TTC for the oncoming vehicle 101 in the case of normal notification, and the eighth predetermined time as the threshold of the collision time TTC for the oncoming vehicle 101 in the case of early notification. Use T8. The eighth predetermined time T8 is longer than the seventh predetermined time T7. In addition, when emphasizing the notification content for the oncoming vehicle 101 that is about to turn right, the control unit 2 notifies the oncoming vehicle 101 by the notification means 3 with a higher degree of alerting than when the normal notification determination is made. . When step S5 is executed, this control flow ends.

  In step S6, the control unit 2 performs normal notification. When the normal notification determination is made in the subroutine of FIG. 8, the control unit 2 selects the oncoming vehicle 101 to be notified on the normal notification determination criterion (seventh predetermined time T7), and notifies the notification target 3 about the notification target. To inform the driver. When the oncoming vehicle 101 that is a collision candidate does not exist, the notification by the notification unit 3 is not executed. When step S6 is executed, the control flow ends.

  Note that the control unit 2 may determine whether or not to perform early notification based on the state of the traffic light 17 for the oncoming vehicle 101. For example, at an intersection where a time difference type traffic signal is provided, the state of the traffic light 11 for the vehicle 100 may be different from the state of the traffic light 17 for the oncoming vehicle 101. In this case, based on the state of the two traffic lights 11 and 17, it may be determined whether the notification is to be issued quickly or the content of the notification is emphasized. For example, when the traffic light 11 in front of the vehicle 100 is a green signal and the traffic light 17 in front of the oncoming vehicle 101 is a yellow signal, the driver of the oncoming vehicle 101 misunderstands that the traffic light 11 is also a yellow signal. There is a possibility that will start a right turn. The control unit 2 may make an early warning determination when at least one of the two traffic lights 11 and 17 is a yellow signal. The state of the traffic light 17 is acquired through, for example, road-to-vehicle communication means.

  According to the driving support device 1 of the present embodiment, notification regarding the oncoming vehicle 101 that makes a right turn at an appropriate time or level according to the state of the signal is made. That is, the driving support device 1 of the present embodiment can execute driving support at an appropriate time and level according to the signal state.

[Fourth Embodiment]
The fourth embodiment will be described with reference to FIGS. 9 and 10. In the fourth embodiment, constituent elements having the same functions as those described in the first to third embodiments are denoted by the same reference numerals, and redundant description is omitted. FIG. 9 is an explanatory diagram of a support situation according to the fourth embodiment, and FIG. 10 is a flowchart showing the operation of the notification quick-start determination unit of the fourth embodiment. In the fourth embodiment, the difference from the above-described embodiments is that, for example, an early warning for a pedestrian or the like is performed at the time of a left turn.

  FIG. 9 shows a vehicle 100 about to turn left at a front intersection and a pedestrian 20 on a sidewalk 16L provided on the left side of the own vehicle traveling path 10. The pedestrian 20 is walking in the same direction as the traveling direction of the vehicle 100. In front of the pedestrian 20 is a pedestrian crossing 18 that crosses the travel path 12. A pedestrian traffic light 19 is arranged at the intersection. When the pedestrian traffic light 19 is in a blinking state or the vehicle traffic signal 11 is a yellow signal, the driving support device 1 of the present embodiment executes early warning for the pedestrian 20 and emphasis on the content of the notification. To do.

  With reference to the flowchart of FIG. 1 and FIG. 10, operation | movement of the driving assistance apparatus 1 of 4th Embodiment is demonstrated. When the vehicle 100 is about to turn left, the driving support device 1 of the present embodiment sets the pedestrian 20 and the bicycle on the pedestrian crossing 18 and the left sidewalk 16L as collision candidates and notification targets in the control flow of FIG. Note that whether or not the vehicle 100 is about to turn left can be determined based on the operating state of the winker or the guidance route of the navigation device 6.

  In step S3, the collision target candidate selecting means 22 selects a moving body such as a pedestrian 20 on the left sidewalk 16L or the pedestrian crossing 18 as a collision candidate. The collision target candidate selection unit 22 determines whether or not the moving object is a collision candidate based on, for example, the distance from the moving object to the pedestrian crossing 18, the collision time TTC between the moving object and the vehicle 100, and the like.

  In step S4, it is determined by the notification quick appearance determination means 23 based on the flowchart shown in FIG. First, in step S51, it is determined whether or not the pedestrian signal is blinking by the notification quick appearance determination means 23. The notification early appearance determination means 23 determines whether or not the pedestrian traffic light 19 is blinking. The determination method is the same as, for example, step S11 in FIG. As a result of the determination in step S51, if it is determined that the pedestrian signal is blinking (step S51-Y), the process proceeds to step S52, and if not (step S51-N), the process proceeds to step S54.

  In step S52, it is determined whether or not there is a pedestrian or a bicycle in the vicinity of the pedestrian crossing by the notification quick appearance determination means 23. For example, when there is a pedestrian 20 or a bicycle selected as a collision candidate, the notification quick-start determination unit 23 makes an affirmative determination in step S52. As a result of the determination in step S52, if it is determined that there are pedestrians or bicycles near the pedestrian crossing (step S52-Y), the process proceeds to step S53, and if not (step S52-N), the process proceeds to step S56. .

  In step S <b> 53, the notification early determination about the pedestrian is performed by the notification early determination unit 23. The notification early appearance determination means 23 determines to perform early notification regarding the pedestrian 20 and the bicycle as a collision candidate and to emphasize the content of the notification. When step S53 is executed, the subroutine ends and the process proceeds to step S5.

  In step S54, it is determined whether or not there is a pedestrian or a bicycle by the notification quick appearance determination means 23. For example, when the pedestrian 20 or the bicycle selected as the collision candidate is present, the notification quick appearance determination unit 23 performs an affirmative determination in step S54 in the same manner as in step S52. As a result of the determination in step S54, if it is determined that there are pedestrians or bicycles (step S54-Y), the process proceeds to step S55. If not (step S54-N), the process proceeds to step S56.

  In step S55, the normal notification determination is performed by the notification quick issue determination means 23. When step S55 is executed, the subroutine ends and the process proceeds to step S6.

  In step S <b> 56, the notification early appearance determination means 23 determines that there is no notification. When step S56 is executed, the subroutine is terminated and the routine proceeds to step S6.

  Returning to step S4 of FIG. 1, if the notification early determination is made in the subroutine of FIG. 10 (step S4-Y), the process proceeds to step S5, and if not (step S4-N), the process proceeds to step S6.

  In step S <b> 5, the control unit 2 instructs the notification unit 3 to issue at least one of notification early regarding a moving body such as a pedestrian 20 or a bicycle and enhancement of notification content. The control unit 2 sets a threshold value for determining the pedestrian 20 or the like as a notification target to a value different from the threshold value for the normal notification when executing the quick notification of the pedestrian 20 or the like. For example, the control unit 2 uses the ninth predetermined time T9 as the threshold of the collision time TTC for the pedestrian 20 or the like in the case of normal notification, and the tenth as the threshold of the collision time TTC for the pedestrian 20 or the like in the case of early notification. A predetermined time T10 is used. The tenth predetermined time T10 is longer than the ninth predetermined time T9. In addition, when emphasizing the notification content for the pedestrian 20 or the like, the control unit 2 notifies the mobile body such as the pedestrian 20 or the like by the notification means 3 with a higher degree of alerting than when the normal notification determination is made. To do. When step S5 is executed, this control flow ends.

  In step S6, the control unit 2 performs normal notification. When the normal notification determination is made in the subroutine of FIG. 10, the control unit 2 selects the pedestrian 20 or the like to be notified according to the normal notification determination criterion (the ninth predetermined time T9), and notifies the notification target about the notification target. 3 to inform the driver. Moreover, the control part 2 does not perform alerting | reporting by the alerting | reporting means 3, when there is no alerting | reporting determination by the subroutine of FIG. When step S6 is executed, the control flow ends.

  According to the driving support device 1 of the present embodiment, the driver of the vehicle 100 turning left is notified of the pedestrian 20 and the like at an appropriate time and level according to the state of the signal. That is, the driving support device 1 of the present embodiment can execute driving support at an appropriate time and level according to the signal state.

[Modifications of the above embodiments]
A modification of the first to fourth embodiments will be described. The scenes and notification targets for prompt notification and emphasis of notification contents are not limited to those described in the above embodiments. From the viewpoint of reducing the risk of collision, a scene and a notification target in which notification is quickly issued and notification content is emphasized are appropriately set.

  Moreover, the method of determining a collision candidate and a notification target is not limited to that described in each of the above embodiments. For example, a collision candidate or a notification target may be determined based on a detection result of a sensor different from the sensors described in the above embodiments. The notification unit 3 may be an independent device or may be shared with other devices. For example, a display or a speaker of the navigation device 6 may be used as the notification unit 3.

  In each of the above embodiments, the case where the oncoming vehicle 101 other than the vehicle 100 is a four-wheeled vehicle has been described as an example, but the oncoming vehicle 101, the preceding vehicle 102, the following vehicle 103, etc. may be two-wheeled vehicles. Good.

  The contents disclosed in each of the above embodiments and modifications can be executed in appropriate combination.

DESCRIPTION OF SYMBOLS 1 Driving assistance device 2 Control part 3 Notification means 11, 17 Traffic light 14, 19 Pedestrian traffic light 21 Sensor output value acquisition means 22 Collision target candidate selection means 23 Notification early appearance determination means 31 Display device 32 Voice output device 100 Vehicle (self vehicle)
101 Oncoming vehicle 102 Preceding vehicle 103 Following vehicle

Claims (2)

An acquisition means for acquiring signal information and information of a moving body around the vehicle;
A selection means for selecting a collision candidate based on the acquired information of the moving object;
A determination means for determining whether to perform at least one of prompt notification regarding the candidate for collision or enhancement of notification content according to the state of the signal and the state of the candidate for collision;
Informing means for informing the driver in the vehicle of the collision candidate according to the judgment result of the judging means;
A driving support apparatus comprising: The driving support device according to claim 1, wherein the early notification and the emphasis on the content of the notification by the notification unit are executed when the state of the signal is a transitional state that shifts from a travel permission state to a travel disapproval state. .

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