JP2016146055A - System, method, and program for driving assistance - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving assistance system capable of alerting a driver of a merging road ahead while appropriately changing the alert level without using a sensor or the like for detecting other vehicles to determine the presence of actual merging vehicles.SOLUTION: When a merge lane 35 of a guided road 32 joined by a merging road 37 coincides with a guided lane 33 in a determination interval H that includes a merge point 34 and is set in a travel direction of a host vehicle 30, a drive assistance system sets the level of alert higher compared with when the merge lane 35 does not coincide with the guided lane 33 in the determination interval H.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a driving support system, a driving support method, and a driving support program that support driving by a driver of a host vehicle.

  With respect to the driving support system as described above, for example, a technique described in Patent Document 1 below is already known. The technique of Patent Document 1 is configured to detect other vehicles using other vehicle detection sensors such as radar sensors and camera sensors, and to set and guide information in consideration of the detection results of other vehicles. Yes. Therefore, in the technique of Patent Document 1, when there is a merging road that merges with a traveling road on which the host vehicle is traveling, the presence or absence of another vehicle traveling on the merging road is detected using another vehicle detection sensor. The guide information is set based on the detection result.

JP 2009-294943 A

  However, in the technique of Patent Document 1, it is necessary to detect another vehicle by another vehicle detection sensor such as a radar sensor or a camera sensor, and even if the other vehicle detection sensor is not provided or even if the other vehicle detection sensor is provided. When there is an obstacle or when the distance is long, other vehicles may not be detected.

  Even if there is a merging road ahead, the driver needs to be careful about the merging road, such as the possibility that the own vehicle will approach the merging vehicle is different if the lane on which the own vehicle is traveling is different. May vary. However, even if the degree of caution regarding the merging road is different, if the same content is guided every time without changing the cautionary caution for the merging road, the driver needs to be careful about the merging road. It is difficult to judge the degree. As a result, there is a possibility that the driver may react excessively to the alert guidance or listen to it.

  Therefore, it is possible to alert the driver by appropriately changing the degree of alerting to the merging road without having to determine whether there is actually a merging vehicle by using a sensor that detects other vehicles. A driving support system that can be used is desired.

  In view of the above, the characteristic configuration of the driving support system that supports driving by the driver of the host vehicle includes a host vehicle position acquisition unit that acquires the current position of the host vehicle, road connection relations, and lane arrangement information. A road data acquisition unit that acquires road data, and a guide route that guides the host vehicle to the destination based on the current position, the road data, and the set destination. A route search unit that searches for a guide lane that is a lane, and a merge road that merges with a guide road that is a road for which the guide route is set based on the guide route and the road data. An alerting degree determining unit for determining an alerting degree that is a degree of alerting to a driver of the own vehicle with respect to a road; and a meeting point where the current position is the guide road and the joining road A reminder executing unit that performs alerting in accordance with the alerting degree in a state in front of the vehicle, and the alerting degree determining unit includes the junction and follows the traveling direction of the host vehicle. If the connection lane that is the lane of the guide road to which the junction road is connected overlaps with the guide lane, the connection lane and the guide lane are within the determination section. It is in the point which determines the said alerting degree so that the said alerting degree may be made high compared with the case where it does not overlap.

  In addition, the technical features of the driving support system in view of the above can also be applied to a driving support method and a driving support program. Therefore, the present invention provides such a method and program, and such a program. The storage medium (for example, an optical disc, a flash memory, etc.) in which is stored can also be the subject of the right.

  In this case, the characteristic configuration of the driving support method for supporting driving by the driver of the host vehicle is that the arithmetic processing unit acquires the current position of the host vehicle, the vehicle position acquisition step, the road connection relationship, and the lane arrangement. A road data acquisition step for acquiring road data including the information, and based on the current position, the road data, and a set destination, a guide route that is a route for guiding the host vehicle to the destination, A route search step for searching including a guide lane that is a lane of a road to be guided, and a merge road that merges with the guide road that is the road on which the guide route is set based on the guide route and the road data A degree of attention determination for determining a degree of attention to the driver of the host vehicle regarding the junction road, and the current position In a state of being in front of the junction point between the guide road and the junction road, the alert execution step is performed to perform an alert according to the alert degree, and in the alert degree determination step, In a determination section that is set along the traveling direction of the host vehicle including a point, if the connection lane that is the lane of the guide road to which the junction road is connected and the guide lane overlap, the determination The degree of alerting is determined so as to increase the degree of alerting compared to the case where the connection lane and the guide lane do not overlap in the section.

  Further, in that case, the characteristic configuration of the driving support program for causing the computer to realize the driving support function for supporting the driving by the driver of the own vehicle is the own vehicle position acquisition function for acquiring the current position of the own vehicle, The vehicle is guided to the destination based on the road data acquisition function for acquiring road data including road connection information and lane arrangement information, and the current position, the road data, and the set destination. Based on the route search function for searching the guide route that is the route including the guide lane that is the lane of the road to be guided, and the guide road that is the road on which the guide route is set based on the guide route and the road data. The degree of alerting that determines the degree of alerting that is the degree of alerting to the driver of the vehicle regarding the merged road when there is a merged road A computer with a fixed function and a warning execution function for calling attention according to the degree of warning in a state where the current position is in front of the junction of the guide road and the junction road, In the alerting degree determination function, a connection lane that is a lane of the guide road to which the merging road is connected and the guidance in a determination section that is set along the traveling direction of the host vehicle including the merging point. When the lane overlaps, the alerting degree is determined so that the alerting degree is higher than in the case where the connection lane and the guide lane do not overlap in the determination section.

According to these characteristic configurations, the degree of alerting is determined according to whether or not the connection lane and the guide lane overlap, so the merge vehicle that actually travels on the merge road by a sensor that detects the merge vehicle or the like Can be appropriately changed based on the road shape of the junction point obtained from the road data and the guidance lane of the host vehicle.
That is, when the connecting lane and the guide lane overlap in the vicinity of the merging point, compared to the case where the connecting lane and the guide lane do not overlap, when the merging vehicle joins the guide road from the merging road, the own vehicle joins the lane The possibility of approaching is increased. According to the above configuration, when the connection lane and the guide lane overlap in the determination section, as compared with the case where the connection lane and the guide lane do not overlap in the determination section, the alerting degree is increased. Since the alerting degree is determined, it becomes easier for the driver to judge the degree of attention to the junction road, and the driver can be appropriately alerted to the junction road.

It is a block diagram which shows the driving assistance system which concerns on embodiment of this invention. It is a figure for demonstrating the determination process of the alertness degree according to whether the connection lane and the guidance lane overlap based on embodiment of this invention. It is a figure for demonstrating the determination process of the alertness degree according to whether the connection lane and the guidance lane overlap based on embodiment of this invention. It is a figure for demonstrating the determination process of the alertness degree in case the lane division line is a lane change prohibition line based on embodiment of this invention. It is a figure for demonstrating the determination process of the alertness degree in case the lane division line is a lane change prohibition line based on embodiment of this invention. It is a figure for demonstrating the determination process of the alertness degree in case the number of lanes of a running road increases based on embodiment of this invention. It is a figure for demonstrating the determination process of the alertness degree in case the number of lanes of a running road increases based on embodiment of this invention. It is a flowchart for demonstrating the process of the alerting degree determination part which concerns on embodiment of this invention.

1. Embodiment An embodiment of the driving support system 1 according to the present invention will be described.
The driving support system 1 is a system that supports driving by the driver of the host vehicle 30. As shown in FIG. 1, the driving support system 1 includes functional units such as a host vehicle position acquisition unit 5, a road data acquisition unit 6, a route search unit 7, an alerting degree determining unit 8, and an alerting execution unit 9. ing.

The own vehicle position acquisition unit 5 acquires the current position of the own vehicle 30. The road data acquisition unit 6 acquires road data including road connection information and lane arrangement information. The route search unit 7 includes a guide lane 33 that is a lane of a road to guide a guide route that is a route that guides the host vehicle 30 to the destination based on the current position, road data, and the set destination. To explore. When there is a merge road 37 that merges with the guide road 32 that is the road for which the guide route is set based on the guide route and the road data, the alert level determination unit 8 The degree of alerting that is the degree of alerting the driver is determined. The alerting execution unit 9 performs alerting according to the alerting degree in a state where the current position is in front of the junction 34 between the guide road 32 and the junction road 37. In such a configuration, the alerting degree determination unit 8 includes the lane of the guide road 32 to which the junction road 37 is connected in the determination section H that is set along the traveling direction of the host vehicle 30 including the junction point 34. When the connection lane 35 and the guide lane 33 are overlapped, the alerting degree is set so that the alerting degree is higher than in the case where the connection lane 35 and the guide lane 33 do not overlap in the determination section H. decide.
Hereinafter, the driving support system 1 according to the present embodiment will be described in detail.

1-1. Driving support system 1
The driving support system 1 includes an arithmetic processing device such as one or a plurality of CPUs as a core member, and a RAM (random access memory) configured to be able to read and write data from the arithmetic processing device, A ROM (read-only memory) configured to be able to read data from a processing device, and a storage device such as a flash memory and a hard disk configured to be able to store and read a large amount of data. Yes. And each function part 5-9 of the driving assistance system 1 etc. are comprised by the software (program) memorize | stored in ROM etc. of the driving assistance system 1, or hardwares, such as a separately provided arithmetic circuit, or both. ing. The driving support program for causing the arithmetic processing unit to realize the functions of the functional units 5 to 9 is stored in a storage device such as a RAM or a ROM that can be referred to by the arithmetic processing unit.

  In the present embodiment, the driving support system 1 is incorporated in the information terminal device 2. The information terminal device 2 is mounted on the host vehicle 30 and moves together with the host vehicle 30. Typically, the driving support program is stored in the storage device of the information terminal device 2 to configure the driving support system 1. For example, the driving support system 1 includes a portable cellular phone and a portable information terminal device that can be carried by the user, a navigation device mounted on the host vehicle 30, an AV (TV, video playback, music playback, etc. It is incorporated into an audio / video device or an information terminal device.

  The driving support program is stored in advance in the storage device of the information terminal device 2, is stored in a storage medium such as a DVD-ROM or a flash memory, and is distributed to the user, or the user is transmitted from the network server via the communication network. Or delivered to. The distributed or distributed driving support program is stored in the storage device of the information terminal device 2.

1-2. Own vehicle position acquisition unit 5
The host vehicle position acquisition unit 5 is a functional unit that performs host vehicle position acquisition processing for acquiring the current position of the host vehicle 30.
In the present embodiment, the host vehicle position acquisition unit 5 is configured to determine the current position (coordinates) of the host vehicle 30 based on the position related information of the host vehicle 30 acquired from the position detection device 20 or the like. . The position detection device 20 is a position of a GPS (Global Positioning System) receiver, an acceleration sensor, a direction sensor, a receiver that receives radio waves or light including point position information transmitted from a beacon installed on a road, and the like. Various devices for detecting information are provided. In the present embodiment, the position detection device 20 is provided in the information terminal device 2. The own vehicle position acquisition unit 5 receives radio waves including point position information such as a base station transmitted from a base station of a mobile phone line or a wireless LAN access point by a communication device, and It may be configured to determine the current position.

1-3. Road data acquisition unit 6
The road data acquisition unit 6 is a functional unit that acquires road data including road connection information and lane arrangement information. The road data includes node data indicating points such as road intersections, road network data composed of link data indicating roads connecting the nodes, and the like. Each node data includes the position coordinates and point attributes of the point, the presence or absence of a traffic signal, the configuration of the traffic signal, the name of the point, etc., and each link data includes the position coordinates and link length of the start and end points of the link, Road attributes such as toll roads and general roads, lane information such as the number of lanes, the shape of each lane and the traveling direction set for each lane, road width, types of vehicles that can be passed, and lane sections that divide each lane of the road The lane demarcation line 31 information such as the arrangement and type of the line 31 and various traffic regulation data are included.

  In the present embodiment, the road data acquisition unit 6 is configured to acquire road data from the road database 21 stored in the storage device of the information terminal device 2. Alternatively, the road database 21 is stored in an external information terminal device, and the road data acquisition unit 6 performs data communication and communication such as wireless communication or wired communication by a communication device (not shown) provided in the information terminal device 2. You may be comprised so that road data may be acquired from an external information terminal device via a network.

  The communication device included in the information terminal device 2 is a data communication device that performs data communication such as wireless communication or wired communication. The wireless communication includes a mobile phone line, a wireless LAN, Bluetooth (registered trademark), and the like. Wired communication includes a wired LAN, a universal serial bus (USB), and the like. The communication device is connected to a communication network such as a mobile phone communication network or the Internet by data communication such as wireless communication or wired communication. Alternatively, the communication device is connected to a data communication device such as a mobile phone possessed by the user by data communication such as Bluetooth, USB, or wireless LAN, and performs data communication such as a mobile phone line to which the data communication device can be connected. Via the communication network.

1-4. Route search unit 7
The route search unit 7 includes a guidance route that is a route for guiding the host vehicle 30 to the destination based on the current position and road data and the set destination, including a guidance lane that is a road lane for guidance. It is a functional part to search for. Various known methods such as the Dijkstra method can be used for searching the guide route. When a new destination is set by the user, the route search unit 7 searches for a guide route from the current position of the host vehicle 30 to the set new destination, and sets a new guide route. It is configured. In addition, the route search unit 7 travels when the host vehicle 30 deviates from the guide route during route guidance, and the distance between the current position of the host vehicle 30 and the guide route becomes equal to or greater than a predetermined re-search distance. In addition, a new guide route is set by re-searching the guide route from the current position of the host vehicle 30 to the set destination. The route search unit 7 performs route guidance for guiding the host vehicle 30 along the searched guide route.

1-5. Attention level determination part 8
When there is a merge road 37 that merges with the guide road 32 that is the road for which the guide route is set based on the guide route and the road data, the alert level determination unit 8 It is a functional unit that determines the degree of alerting that is the degree of alerting to the driver. Here, the alerting degree determined by the alerting degree determination unit 8 is a concept including the contents of alerting with different degrees of alerting. That is, the alert level determination unit 8 does not indirectly determine the parameter of the level that indicates the level of alert level, for example, the level represented by a numerical value or a character. It may be configured to determine directly.

  As shown in FIGS. 2 and 3, the joining vehicle 36 enters the connecting lane 35 that is a lane of the guide road 32 to which the joining road 37 is connected from the joining road 37. Therefore, the joining vehicle 36 always travels once in the connection lane 35. Further, the probability that the joining vehicle 36 travels on the connection lane 35 as it is becomes the highest. The probability of the merging vehicle 36 entering the lane of the guide road 32 farther from the connection lane 35 becomes lower. In the example shown in FIGS. 2 and 3, the guide road 32 of the host vehicle 30 is a highway main road, and the junction road 37 is a road joining the highway main road. That is, it is assumed that the guide road 32 is a main road and the junction road 37 is a secondary road that joins the main road. When route guidance according to the guidance route including the guidance lane 33 is performed by the route search unit 7, the host vehicle 30 is highly likely to travel on the guidance lane 33. Therefore, the closer the guide lane 33 is to the connection lane 35, the higher the possibility that the joining vehicle 36 will approach the host vehicle 30, and the driver needs to drive carefully with respect to the joining vehicle 36.

  Therefore, the alerting degree determination unit 8 is a connection lane that is a lane of the guide road 32 to which the junction road 37 is connected in the determination section H that is set along the traveling direction of the host vehicle 30 including the junction point 34. When the number 35 and the guidance lane 33 overlap, the degree of attention is determined so as to increase the degree of attention as compared to the case where the connection lane 35 and the guidance lane 33 do not overlap in the determination section H. It is configured.

  In the present embodiment, the alerting degree determining unit 8 determines the alerting degree so that the alerting degree becomes higher as the lane interval between the connection lane 35 and the guide lane 33 in the determination section H is closer. It is configured. The alerting degree determination unit 8 determines the lane interval between the connection lane 35 and the guide lane 33 based on the relative positional relationship between the connection lane 35 and the guide lane 33 in the determination section H. In the present embodiment, the alerting degree determination unit 8 is configured to determine the lane interval based on the number of lanes, not the distance between lanes. For example, when the guidance lane 33 overlaps with the connection lane 35 in the determination section H, the attention degree determination unit 8 determines that the lane interval is “0”, and the guidance lane 33 is connected with the connection lane 35 within the determination section H. If the guidance lane 33 is adjacent to the connection lane 35 without overlapping, the lane interval is determined to be “1”, and the guidance lane 33 does not overlap with the connection lane 35 in the determination section H. When there is another lane between the lane 33 and the connection lane 35, the lane interval is determined to be “2”. Thus, when the connection lane 35 and the guide lane 33 overlap, the lane interval is determined to be “0”, and when the connection lane 35 and the guide lane 33 do not overlap, the lane interval is determined to be “1” or more. Is done. When the lane interval changes within the determination section H, the minimum value of the changing lane interval is determined as the final lane interval.

  The attention level determination unit 8 determines a parameter indicating the level of attention level (hereinafter, referred to as a level of attention level parameter) according to the determined lane interval, and a different level of attention level depending on the determined level of attention level parameter. It can be configured to determine content. Alternatively, the alerting degree determination unit 8 can be configured to determine the contents of alerting with different degrees of alerting according to the determined lane interval.

  The attention level parameter is a stage representing the degree of attention level. The content of the alerting is the content of alerting the driver of the host vehicle 30 regarding the junction road 37, and differs depending on the degree of alerting. The content of the alert includes at least one of a reminder guidance message and a reminder screen display. The content of the alert may include an alert warning sound in addition to one or both of the alert message and the alert screen display. Further, the degree of alerting may be made different by changing the number of times of alerting by the guidance message, the alerting screen display or the warning sound. The volume of the guidance message or warning sound may be changed according to the degree of alerting.

  In the present embodiment, attention level setting data such as table data in which the relationship between the lane interval and the level of attention level is predetermined is stored in the storage device, and the attention level determination unit 8 includes the attention level setting data. The alerting degree is determined based on the lane interval. For example, the alerting degree setting data includes data in which the relationship between the lane interval and the alerting degree parameter is determined in advance, and data in which the relationship between the alerting degree parameter and the content of the alerting is determined in advance. The degree determination unit 8 is configured to determine the attention degree parameter based on the lane interval using the two types of attention degree setting data, and to determine the content of the attention based on the determined attention degree parameter. can do. Alternatively, the alerting degree setting data is data in which the relationship between the lane interval and the alerting content is determined in advance, and the alerting degree determining unit 8 uses such one kind of alerting degree setting data, The contents of the alert may be determined based on the lane interval.

For example, the alerting degree determination unit 8 can determine the alerting degree parameter as follows according to the lane interval between the connection lane and the guide lane. In this example, the alerting degree parameter is a numerical value that represents the degree of alerting step by step, and the alerting degree gradually increases as the numerical values increase to 0, 1, 2, and 3. Here, the alerting degree is set higher as the lane interval becomes closer.
<Determination of alertness parameter>
-Lane interval = 0: Alertness parameter = 4
・ Lane interval = 1: Attention level parameter = 2
・ Lane interval = 2: Attention level parameter = 1
-Lane interval = 3 or more: Alert level parameter = 0

Further, for example, the alerting degree determination unit 8 can determine the alerting guidance message as the alerting content as follows according to the lane interval (or alerting degree parameter). As the lane interval gets closer (or the alert level of the alert level parameter becomes higher), the alert level of the alert message is set to be higher.
<Determination of guidance message>
Lane interval = 0 (or alertness parameter = 4):
Notice message = Please pay attention to the merging vehicle from the right (or left) merging road.
Lane interval = 1 (or alertness parameter = 2):
Notice message = Please note the lane change of merging vehicles from the right (or left) merging road.
Lane interval = 2 (or alertness parameter = 1):
Guidance message = There is a merging road on the right (or left).
-Lane interval = 3 or more (or alertness parameter = 0):
Guidance message = none

Further, for example, the alerting degree determination unit 8 can determine the alerting sound for alerting as the alerting content according to the lane interval (or alerting degree parameter) as follows. As the lane interval gets closer (or the alert level of the alert level parameter increases), the alert level of the alert sound is set to increase (in this example, the number of alert sounds increases). The
<Determination of warning sound>
Lane interval = 0 (or alertness parameter = 4):
Warning sound = 3 times (for example, beep, beep, beep)
Lane interval = 1 (or alertness parameter = 2):
Warning sound = 1 time (for example, beep)
Lane interval = 2 (or alertness parameter = 1):
Warning sound = none-Lane interval = 3 or more (or alertness parameter = 0):
Warning sound = none

Further, for example, the alerting degree determining unit 8 can determine the volume of the guidance message and the warning sound as follows according to the lane interval (or the alerting degree parameter). As the lane interval gets closer (or the alerting degree of the alerting degree parameter becomes higher), the volume of the guidance message or warning sound is set to increase. As the numerical value of the sound volume increases as 0, 1, 2, 3, the sound volume gradually increases, and sound volume = 0 means that the sound volume becomes zero. Note that when the volume is changed, the content of the guidance message and the warning sound (number of times) may not be changed. In this case, the content of the guidance message is “Please be aware of vehicles joining from the right (or left) merge road”.
<Determination of volume>
Lane interval = 0 (or alertness parameter = 4): volume = 4
Lane interval = 1 (or alertness parameter = 2): volume = 2
Lane interval = 2 (or alertness parameter = 1): volume = 1
-Lane interval = 3 or more (or alertness parameter = 0): volume = 0

<Determination of screen display for alerting>
An explanation will be given of the case where the alert display includes the alert display. The attention level determination unit 8 determines the screen display for the attention level so that the closer the lane interval between the connection lane and the guide lane, the higher the level of attention level. For example, as shown in FIG. 2 and FIG. 3, the alerting degree determination unit 8 displays a reminder screen display superimposed on the road display around the host vehicle 30. The alerting degree determination unit 8 determines a screen display of an arrow line 38 representing an approach route of the joining vehicle 36 from the joining road 37 to each lane of the guide road 32. Here, the alerting degree determination unit 8 increases the thickness of the arrow line 38 for the arrow line 38 related to the lane of the guide road 32 close to the connection lane 35. Further, the alerting degree determination unit 8 determines the screen display of the arrow line 39 representing the guidance lane 33 that is route-guided by the route search unit 7. The alerting degree determining unit 8 determines the screen display of the alerting mark 40 to be displayed at a portion where the arrow line 39 representing the guide lane 33 and the arrow line 38 of the approach route of the joining vehicle 36 intersect. The attention mark 40 represents the risk of approach of the host vehicle 30 and the joining vehicle 36 that travel along the guide lane 33. Here, the alerting degree determination unit 8 varies the degree of alerting indicated by the alerting mark 40 (for example, the size, shape, and color of the mark) depending on the alerting degree. For example, the alert mark 40 is enlarged as the lane interval between the connection lane 35 and the guide lane 33 is closer and the alert level is higher.

  The alerting degree determining unit 8 displays a road display of a scale that can identify a lane on the display screen for alerting separately from the road display for navigation, and the alerting screen is displayed on the alerting road display. The display may be overlapped. Alternatively, when the scale of the road display around the host vehicle 30 displayed on the display screen for navigation is large enough to identify the road lane, the alert level determination unit 8 alerts the road display. The screen display may be displayed in an overlapping manner.

1-5-1. When the lane marking 31 is a lane change prohibition line As shown in FIGS. 4 and 5, when the lane marking 31 of the guide road 32 is a line that prohibits lane change (hereinafter referred to as a lane change prohibition line). The lane marking 31 shown in FIGS. 2 and 3 has a higher probability that the merging vehicle 36 travels on the connection lane 35 than when the lane change line 31 is a line that allows lane change (hereinafter referred to as a lane change permission line). On the other hand, the probability that the joining vehicle 36 enters and travels to a lane other than the connection lane 35 is low. When the lane marking 31 of the guide road 32 is a lane change prohibition line, the lane change of the host vehicle 30 is also prohibited, so the guide lane 33 of the host vehicle 30 overlaps the connection lane 35 near the junction 34. In this case, since the own vehicle 30 avoids the joining vehicle 36 that has entered the connection lane 35, it is difficult to change the lane to a lane other than the connection lane 35. Therefore, it is necessary to shift the relative positions of the host vehicle 30 and the joining vehicle 36 in the front-rear direction by speed adjustment or the like to join the joining vehicle 36 to the connection lane 35. Therefore, when the connection lane 35 and the guide lane 33 overlap, and the lane marking 31 of the junction 34 is a lane change prohibition line, than the case where the lane marking 31 is a lane change permission line, It is necessary to raise the degree of alerting the driver about the merged vehicle 36. On the other hand, when the connection lane 35 and the guide lane 33 do not overlap, and the lane marking 31 of the junction 34 is a lane change prohibition line, the lane marking 31 is a lane change permission line. The degree of alerting the driver to the merging vehicle 36 can be reduced.

  Therefore, in the present embodiment, the alerting degree determination unit 8 is a case where the guide road 32 has a plurality of lanes in the forward direction from the junction 34 and the connection lane 35 and the guide lane 33 do not overlap. When the lane marking 31 that divides a plurality of lanes of the guide road 32 is a lane change prohibiting line that prohibits lane change, the lane marking 31 is a lane change permission line that allows lane change. Compared to the case, the alerting degree is configured to be low. In addition, when the connection lane 35 and the guide lane 33 overlap and the lane marking 31 is a lane change prohibition line, the attention degree determination unit 8 determines that the lane marking 31 is a lane change permission line. Compared with the case where it is, it is comprised so that alertness may be raised.

In the case of such a configuration, the lane marking 31 of the guide road 32 is the lane change permission line in the example of the determination of the alert level described so far and the screen display of the alert in FIG. 2 and FIG. An example of the case.
Hereinafter, an example of determination of the degree of alerting and the screen display of alerting when the lane marking 31 of the guide road 32 is a lane change prohibition line will be described.

For example, when the lane marking 31 of the guide road 32 is a lane change prohibition line, the alert level determination unit 8 determines the alert level parameter as follows according to the lane interval. The attention degree determination unit 8 permits the attention degree of the attention degree parameter to be determined when the lane interval is 1 or more and the connection lane 35 and the guide lane 33 do not overlap, and the lane line 31 permits the lane change. It is configured to be lower (in this example, 1 decrease) than in the case of a line. On the other hand, the alert level determination unit 8 changes the lane division line 31 to the lane line according to the alert level of the alert level parameter determined when the lane interval is 0 and the connection lane 35 and the guide lane 33 overlap. It is configured to be higher (in this example, 1 increase) than the permission line.
<Determination of alertness parameter>
・ Lane interval = 0: Attention level parameter = 5
・ Lane interval = 1: Attention level parameter = 1
-Lane interval = 2 or more: Alert level parameter = 0

In addition, for example, when the lane marking 31 of the guide road 32 is a lane change prohibition line, the alert level determination unit 8 sends an alert message for alerting according to the lane interval (or alert level parameter) below. Decide like this. The alerting degree determination unit 8 is configured to increase the alerting degree of the guidance message determined when the lane interval is 0, as compared with the case where the lane marking 31 is a lane change permission line. . The degree of alerting of the guidance message determined when the lane interval is 1 or more is configured to be lower than when the lane marking 31 is a lane change permission line.
<Determination of guidance message>
Lane interval = 0 (or alertness parameter = 5):
Guidance message = Please pay sufficient attention to vehicles joining from the right (or left) junction road.
Lane interval = 1 (or alertness parameter = 1):
Guidance message = There is a merging road on the right (or left).
-Lane interval = 2 or more (or alertness parameter = 0):
Guidance message = none

In addition, for example, the alerting degree determination unit 8 generates the alerting sound for alerting according to the lane interval (or the alerting degree parameter) when the lane marking 31 of the guide road 32 is a lane change prohibition line. Decide like this. The alerting degree determination unit 8 increases the degree of alerting of the warning sound determined when the lane interval is 0 as compared to the case where the lane marking 31 is a lane change permission line (in this example, 1 Times increase). The alerting degree of the warning sound determined when the lane interval is 1 or more is configured to be lower than that in the case where the lane marking 31 is a lane change permission line (decreases once in this example). Yes.
<Determination of warning sound>
Lane interval = 0 (or alertness parameter = 5):
Warning sound = 4 times (for example, beep, beep, beep, beep)
Lane interval = 1 (or alertness parameter = 1):
Warning sound = none-Lane interval = 2 or more (or alertness parameter = 0):
Warning sound = none

In addition, for example, the alert level determination unit 8 determines the volume of the guidance message or the warning sound according to the lane interval (or the alert level parameter) when the lane marking 31 of the guide road 32 is a lane change prohibition line. Is determined as follows. The alerting degree determining unit 8 increases the degree of alerting of the sound volume determined when the lane interval is 0, as compared to the case where the lane marking 31 is a lane change permission line (in this example, 1 is increased). ) Is configured as follows. The degree of alerting the volume determined when the lane interval is 1 or more is configured to be lower (in this example, 1 decrease) than when the lane marking 31 is a lane change permission line. .
<Determination of volume>
Lane interval = 0 (or alertness parameter = 5): volume = 5
Lane interval = 1 (or alertness parameter = 1): volume = 1
-Lane interval = 2 or more (or alertness parameter = 0): Volume = 0

<Awareness screen display>
Further, for example, in the screen display of the alert when the lane marking 31 of the guide road 32 is a lane change prohibition line, as shown in FIG. 4 and FIG. The thickness of the arrow line 38 indicating the approach route of the joining vehicle 36 to a lane other than the connection lane 35 is made thinner than in the case of the lane change permission line of FIG. On the other hand, the alerting degree determination unit 8 increases the thickness of the arrow line 38 indicating the approach route of the merging vehicle 36 from the merging road 37 to the connecting lane 35 than in the case of the lane change permission line of FIGS. 2 and 3. To do. Further, when the connection lane 35 and the guide lane 33 do not overlap, the attention degree determination unit 8 makes the size of the attention mark 40 smaller than the case of the lane change permission line of FIGS. Thus, when the degree of alerting of the alerting mark 40 is lowered and the connection lane 35 and the guide lane 33 overlap, the alerting mark 40 is larger than the lane change permission line of FIGS. The degree of alerting of the alerting mark 40 is increased by increasing the size.

1-5-2. When the number of lanes increases at the merge point 34 As shown in FIGS. 6 and 7, when the number of lanes of the guide road 32 increases more than the number of lanes of the merge road 37 at the merge point 34, FIG. Compared to the case where the number of lanes of the guide road 32 does not increase at the junction point 34 shown in FIG. 4, the probability that the junction vehicle 36 travels on the connection lane 35 is higher, and the junction vehicle 36 enters the lane other than the connection lane 35. And the probability of running will be low. In front of the junction point 34, the guide lane 33 is set to a lane that does not overlap the connection lane 35, and the host vehicle 30 does not travel along the connection lane 35 that increases at the junction point 34. As shown in FIG. 6, when the guidance lane 33 is not changed so as to overlap the connection lane 35 at the junction 34, the driving with respect to the junction vehicle 36 is performed more than when the number of lanes of the guide road 32 does not increase at the junction 34. The degree of alerting the person can be reduced. On the other hand, as shown in FIG. 7, when the guidance lane 33 is changed from a lane other than the connection lane 35 to the connection lane 35 at the junction 34, the number of lanes of the guide road 32 does not increase at the junction 34. Instead, it is necessary to increase the degree of alerting the driver to the joining vehicle 36.

  Therefore, in the present embodiment, the alerting degree determination unit 8 determines that the number of lanes of the guide road 32 ahead of the junction point 34 and the number of lanes of the guide road 32 before the junction point 34 is the junction road 37. If the connection lane 35 and the guide lane 33 do not overlap in the determination section H, the guide road 32 ahead of the junction point 34 in the traveling direction is equal to or greater than the total number of lanes. Compared to the case where the number of lanes is less than the total number of lanes, the degree of alertness is lowered, and when the connection lane 35 and the guide lane 33 overlap in the determination section H, the direction of travel is greater than the junction point 34. Compared to the case where the number of lanes of the guide road 32 ahead is less than the total number of lanes, the alerting degree is increased.

When configured in this way, the example of determination of the degree of alerting described so far and the screen display of alerting such as in FIG. 2 and FIG. 3 is the case where the number of lanes of the guide road 32 does not increase at the junction 34. An example.
In the following, an example of determining the degree of alerting and displaying a screen for alerting when the number of lanes of the guide road 32 increases by more than the number of lanes of the junction road 37 at the junction 34 will be described.

For example, when the number of lanes of the guide road 32 increases more than the number of lanes of the merge road 37 at the junction point 34, the alert degree determination unit 8 determines the alert degree parameter as follows according to the lane interval. . The alert level determination unit 8 lowers the alert level of the alert level parameter determined when the lane interval is 1 or more as compared to the case where the number of lanes does not increase (in this example, decreases by 1). The degree of alerting of the alerting degree parameter determined when the interval is 0 is configured to be higher (increased by 1 in this example) than when the number of lanes is not increased.
<Determination of alertness parameter>
・ Lane interval = 0: Attention level parameter = 5
・ Lane interval = 1: Attention level parameter = 1
-Lane interval = 2 or more: Alert level parameter = 0

In addition, for example, when the number of lanes of the guide road 32 increases more than the number of lanes of the merge road 37 at the junction 34, the alert degree determination unit 8 alerts according to the lane interval (or the alert degree parameter). Is determined as follows. The alerting degree determination unit 8 determines the alerting degree of the guidance message determined when the lane interval is 1 or more as compared with the case where the number of lanes is not increased, and is determined when the lane interval is 0. The degree of alerting the guidance message is configured to be higher than when the number of lanes does not increase.
<Determination of guidance message>
Lane interval = 0 (or alertness parameter = 5):
Guidance message = Please pay sufficient attention to vehicles joining from the right (or left) junction road.
Lane interval = 1 (or alertness parameter = 1):
Guidance message = There is a merging road on the right (or left).
-Lane interval = 2 or more (or alertness parameter = 0):
Guidance message = none

In addition, for example, when the number of lanes of the guide road 32 increases more than the number of lanes of the merge road 37 at the junction 34, the alert degree determination unit 8 alerts according to the lane interval (or the alert degree parameter). Is determined as follows. The alerting degree determination unit 8 lowers the alerting degree of the warning sound determined when the lane interval is 1 or more as compared with the case where the number of lanes does not increase (in this example, decreases once). The degree of alerting of the warning sound determined when the interval is 0 is configured to be higher (in this example, increased once) than when the number of lanes does not increase.
<Determination of warning sound>
Lane interval = 0 (or alertness parameter = 5):
Warning sound = 4 times (for example, beep, beep, beep, beep)
Lane interval = 1 (or alertness parameter = 1):
Warning sound = none-Lane interval = 2 or more (or alertness parameter = 0):
Warning sound = none

Further, for example, when the number of lanes of the guide road 32 increases by more than the number of lanes of the merge road 37 at the junction 34, the alert level determination unit 8 determines the guidance message according to the lane interval (or alert level parameter). And the volume of the warning sound is determined as follows. The alerting degree determination unit 8 lowers the alerting degree of the sound volume determined when the lane interval is 1 or more compared to the case where the number of lanes does not increase (in this example, 1 decrease), and the lane interval is The degree of alerting the sound volume determined in the case of 0 is configured to be higher than that in the case where the number of lanes does not increase (in this example, 1 increase).
<Determination of volume>
Lane interval = 0 (or alertness parameter = 5): volume = 5
Lane interval = 1 (or alertness parameter = 1): volume = 1
-Lane interval = 2 or more (or alertness parameter = 0): Volume = 0

<Awareness screen display>
Further, for example, when the number of lanes of the guide road 32 increases by more than the number of lanes of the merge road 37 at the merge point 34, the alert level display unit 8 as shown in FIGS. Compared to the case where the number of lanes in FIGS. 2 and 3 does not increase, the thickness of the arrow line 38 indicating the approach route of the merging vehicle 36 to a lane other than the connecting lane 35 is reduced, and the merging vehicle to the connecting lane 35 is reduced. The thickness of the arrow line 38 representing the 36 approach routes is increased. As shown in FIG. 6, the alert level determination unit 8 determines that the alert mark 40 is greater when the connection lane 35 and the guide lane 33 do not overlap than when the number of lanes in FIGS. 2 and 3 does not increase. When the connection lane 35 and the guide lane 33 overlap each other as shown in FIG. 7, the degree of caution of the caution mark 40 is lowered by reducing the size of the caution mark 40, for example. The degree of alerting of the alerting mark 40 is increased by increasing the size of the alerting mark 40 compared to the case where the number does not increase.

1-5-3. When there is a traffic signal at the junction 34 If the traffic period of the vehicle between the guide road 32 and the junction road 37 is divided by the traffic signal installed at the junction 34, the junction 34 shown in FIGS. The possibility that the merging vehicle 36 approaches the host vehicle 30 is greatly reduced as compared with the case where no traffic light is installed.

  Therefore, in the present embodiment, when the traffic period of the vehicle between the guide road 32 and the junction road 37 is divided by a traffic light, the attention degree determination unit 8 determines whether the guidance road 32 and the junction road 37 are connected by a traffic light. Compared to the case where the vehicle traffic period is not divided, the alerting degree is configured to be low.

In the case of such a configuration, the example of determination of the degree of alerting and the screen display of alerts such as FIGS. 2 and 3 described so far are examples when no traffic lights are installed at the junction 34. .
In the present embodiment, the alerting degree determining unit 8 is configured to set the alerting degree to zero and not to alert when a traffic light is installed at the junction 34.

When the traffic signal is installed at the junction point 34, the alert level determination unit 8 reduces the degree of alerting at all lane intervals compared to when no traffic signal is set at the junction point 34, for example, The degree of alerting of the alerting degree parameter is reduced to zero.
-Lane interval = 0 or more: Alert level parameter = 0
In addition, the attention degree determination unit 8 has a traffic signal installed at the junction point 34, as compared to a case where no traffic signal is set at the junction point 34 in all lane intervals (or attention level parameters). , Reduce the degree of alerting of the content of each alerting, for example, reduce it to zero.
-Lane interval = 0 or more (or alertness parameter = 0):
Guidance message = none Warning sound = none Volume = 0
Further, the alerting degree determination unit 8 is configured not to display the alerting screen display when a traffic light is installed at the junction 34.

1-6. Alert execution unit 9
The alert execution unit 9 is a functional unit that performs alerts according to the alert level in a state where the current position is in front of the junction 34 between the guide road 32 and the junction road 37.
The alerting execution unit 9 alerts according to the alerting degree via the speaker 22, the display device 23, or the like. In the present embodiment, as shown in FIG. 1, the speaker 22 and the display device 23 are provided in the information terminal device 2. The alert execution unit 9 outputs a guidance message or warning sound determined by the alert level determination unit 8 from the speaker 22 or displays an alert screen display on the display screen of the display device 23. The alert execution unit 9 is configured to start alerting when the current position of the host vehicle 30 is within a predetermined start distance range in front of the direction of travel from the junction 34. The number of executions of alerting is at least once, but the alerting execution unit 9 alerts each time the distance between the junction 34 and the current position is reduced by a predetermined distance or every predetermined time interval. The alerting may be executed a plurality of times, for example. At this time, the number of executions of alerting may be changed according to the alerting degree. In addition, the alert execution unit 9 may be configured to alert at the junction point 34, so that after the vehicle 30 passes the junction point 34, the alert execution unit 9 also alerts within a predetermined distance range. It may be configured. Note that the alert execution unit 9 does not alert if there is no alert content such as a low alert level and no guidance message.

1-7. Flowchart The processing of the attention level determination unit 8 can be configured as a flowchart shown in FIG. The attention degree determination unit 8 determines whether or not there is a merge road 37 that merges with the guide road 32 in front of the traveling direction of the host vehicle 30 (step # 01). When it is determined that there is the merging road 37 (step # 01: Yes), the caution degree determination unit 8 determines the degree of caution that is the degree of caution to the driver of the host vehicle 30 regarding the merging road 37. Start processing. At step # 02, the alerting degree determination unit 8 determines the determination section H when the connection lane 35, which is the lane of the guide road 32 to which the junction road 37 is connected, and the guide lane 33 overlap in the determination section H. Compared to the case where the connection lane 35 and the guide lane 33 do not overlap each other, a process for determining the alerting degree is performed so as to increase the alerting degree.

  The alerting degree determination unit 8 determines whether or not the lane marking 31 that divides the plurality of lanes of the guide road 32 ahead of the traveling direction from the junction 34 is a lane change prohibition line (step # 03). Attention level determination unit 8 determines that lane marking 31 is a lane change prohibition line (step # 03: Yes), and connection lane 35 and guide lane 33 do not overlap in determination section H. In this case, a process for lowering the alertness is performed as compared with the case where the lane marking 31 is a lane change permission line (step # 04). In addition, the alerting degree determination unit 8 determines that the lane marking 31 is a lane change prohibition line (step # 03: Yes), and the connection lane 35 and the guide lane 33 are included in the determination section H. If the lane markings 31 overlap, a process for increasing the alerting degree is performed as compared with the case where the lane marking 31 is a lane change permission line (step # 04).

  The alerting degree determination unit 8 is configured such that the number of lanes of the guide road 32 ahead of the junction point 34 in the traveling direction is the sum of the number of lanes of the guide road 32 and the number of lanes of the junction road 37 before the junction point 34. It is determined whether or not the total number of lanes is exceeded (step # 05). If the alerting degree determination unit 8 determines that the total number of lanes is equal to or greater than the total number of lanes (step # 05: Yes) and the connection lane 35 and the guide lane 33 do not overlap in the determination section H, Compared to the case where the number of lanes of the guide road 32 ahead of the direction of travel is less than the total number of lanes, a process for lowering the degree of alerting is performed (step # 06). Further, if the alerting degree determination unit 8 determines that the total number of lanes is equal to or greater than the total number of lanes (step # 05: Yes), and the connection lane 35 and the guide lane 33 overlap in the determination section H, the merging is performed. Compared with the case where the number of lanes of the guide road 32 ahead of the point 34 in the traveling direction is less than the total number of lanes, processing for increasing the alerting degree is performed (step # 06).

  The alerting degree determination unit 8 determines whether or not the vehicle traffic periods of the guide road 32 and the junction road 37 are divided by a traffic light (step # 07). When the degree of attention determination unit 8 determines that the traffic period is divided by the traffic light (step # 07: Yes), the traffic period of the vehicle on the guide road 32 and the junction road 37 is not divided by the traffic light. Compared to the case, processing for lowering the alerting degree is performed (step # 08).

[Other Embodiments]
Finally, other embodiments will be described. Note that the configuration of each embodiment described below is not limited to being applied independently, and can be applied in combination with the configuration of other embodiments as long as no contradiction arises.

(1) In the above embodiment, the case where the information terminal device 2 in which the driving support system 1 is incorporated includes the position detection device 20, the road database 21, the speaker 22, and the display device 23 has been described as an example. . However, the embodiment of the present invention is not limited to this. That is, part or all of the position detection device 20, the road database 21, the speaker 22, and the display device 23 are provided outside the information terminal device 2, and are connected to the information terminal device 2 by data communication such as wireless communication or wired communication. Data communication may be configured.

(2) In the above-described embodiment (particularly, the flowchart of FIG. 8), the alert level determination unit 8 determines whether or not the connection lane 35 and the guide lane 33 overlap in the determination section H (lane interval in the embodiment). After deciding the degree of alerting accordingly, it is configured to raise or lower the degree of alerting depending on when there are prohibited lines, the number of lanes increases, or when there is a traffic light The case has been described as an example. However, the embodiment of the present invention is not limited to this. That is, the alerting degree setting data corresponding to the respective conditions when there is a forbidden line, when the number of lanes increases, when there is a traffic light, or in any case is set in advance, and the alerting degree determination The unit 8 uses the alerting degree setting data corresponding to when each condition is satisfied, and alerts based on whether or not the connection lane 35 and the guide lane 33 overlap in the determination section H (or the lane interval). It may be configured to determine the degree.

2. Outline of Embodiment of the Present Invention The embodiment of the present invention described above has at least the following configuration.
A driving support system (1) that supports driving by a driver of the host vehicle (30), the host vehicle position acquisition unit (5) that acquires the current position of the host vehicle (30), a road connection relationship, and a lane A road data acquisition unit (6) that acquires road data including arrangement information, and a guidance that guides the host vehicle (30) to the destination based on the current position, road data, and the set destination A route search unit (7) that searches for a route including a guide lane (33) that is a lane of a road to guide, and a guide road (32) that is a road for which a guide route is set based on the guide route and road data. ), When there is a merging road (37) that merges, a caution level determination unit (8) that determines a degree of caution to the driver of the vehicle (30) regarding the merging road (37) ) And the current position is a plan An alert execution unit (9) for alerting according to the alertness level in a state in front of the junction (34) of the road (32) and the junction road (37), The determination unit (8) includes a guide road (32) to which the junction road (37) is connected in the determination section (H) including the junction point (34) and set along the traveling direction of the host vehicle (30). ), The connection lane (35) and the guide lane (33) overlap, compared with the case where the connection lane (35) and the guide lane (33) do not overlap in the determination section (H). The degree of attention is determined so as to increase the degree of attention.

With such a configuration, the alerting degree is determined depending on whether or not the connection lane (35) and the guide lane (33) overlap with each other. ) Based on the road shape of the merging point (34) obtained from the road data and the guide lane (33) of the host vehicle (30) without determining the merging vehicle (36) actually traveling The alertness can be changed appropriately.
That is, when the connection lane (35) and the guide lane (33) overlap in the vicinity of the junction (34), the connection road (37) is compared to the case where the connection lane (35) and the guide lane (33) do not overlap. ), When the joining vehicle (36) joins the guide road (32), the possibility that the own vehicle (30) approaches the joining vehicle (36) increases. According to the above configuration, when the connection lane (35) and the guide lane (33) overlap in the determination section (H), the connection lane (35) and the guide lane (33) in the determination section (H). Since the degree of attention is determined so as to increase the degree of attention compared to the case where the and do not overlap, it becomes easier for the driver to judge the degree of attention to the merging road (37), and the merging road to the driver Appropriate attention can be paid to (37).

  In the embodiment of the present invention, the alerting degree determination unit (8) includes the guide road (32) having a plurality of lanes in front of the traveling direction from the junction (34), and the connection lane (35). When the guide lane (33) does not overlap and the lane marking (31) that divides the plurality of lanes of the guide road (32) is a line that prohibits lane change, the lane marking Compared to the case where (31) is a line that allows lane change, it is preferable to lower the alerting degree.

When the lane line (31) of the guide road (32) is a lane change prohibition line that prohibits lane changes, the lane line (31) joins more than when the lane line (31) is a lane change permission line that allows lane changes. The probability that the vehicle (36) travels in the connection lane (35) increases, and conversely, the probability that the joining vehicle (36) enters and travels in a lane other than the connection lane (35) decreases. Therefore, when the connection lane (35) and the guide lane (33) do not overlap and the lane marking (31) at the junction (34) is a lane change prohibited line, the lane marking (31) The degree of alerting the driver to the merging vehicle (36) can be made lower than when the is a lane change permission line.
According to said structure, when a lane marking (31) is a lane change prohibition line, compared with the case where the said lane marking (31) is a lane change permission line, a connection lane (35) and guidance Since the alerting degree when the lane (33) does not overlap is configured to be low, the alerting degree is set according to the type of the lane section line and the guidance lane (33) of the host vehicle (30). Can be changed and set appropriately. As a result, the driver can be appropriately alerted to the junction road (37).

  Further, in the embodiment of the present invention, the alerting degree determination unit (8) guides by the traffic light when the traffic period of the vehicle between the guide road (32) and the junction road (37) is divided by the traffic light. It is preferable to lower the alerting degree as compared with the case where the vehicle traffic periods of the road (32) and the junction road (37) are not divided.

  When the traffic period of the vehicle between the guide road (32) and the junction road (37) is divided by the traffic signal installed at the junction (34), than when no traffic signal is installed at the junction (34) However, the possibility that the joining vehicle (36) approaches the host vehicle (30) is reduced. According to the above configuration, when the traffic period of the vehicle between the guide road (32) and the junction road (37) is divided by a traffic light, the traffic between the guide road (32) and the junction road (37) is Compared with the case where the vehicle passage periods are not divided, the degree of alerting is configured to be low, so that the degree of alerting can be appropriately changed and set according to the presence or absence of a traffic light. As a result, the driver can be appropriately alerted to the junction road (37).

  Moreover, in embodiment of this invention, the alertness determination part (8) has the number of lanes of the guide road (32) ahead of the advancing direction from the junction (34) before the junction (34). The total number of lanes, which is the sum of the number of lanes of the guide road (32) and the number of lanes of the junction road (37), is greater than the total number of lanes, and the connection lane (35) and the guide lane (33) overlap in the determination section (H). If not, the alerting degree is lowered in the determination section (H) as compared with the case where the number of lanes of the guide road (32) in the traveling direction ahead of the junction (34) is less than the total number of lanes. When the connection lane (35) and the guide lane (33) overlap, compared to the case where the number of lanes of the guide road (32) in the traveling direction ahead of the junction (34) is less than the total number of lanes, Alertness The higher is preferred.

When the number of lanes of the guide road (32) increases more than the number of lanes of the merge road (37) at the junction (34), the number of lanes of the guide road (32) does not increase at the junction (34). The probability that the joining vehicle (36) travels in the connection lane (35) is high, and conversely, the probability that the joining vehicle (36) enters and travels in a lane other than the connection lane (35) is low. In front of the junction point (34), the guide lane (33) is set to a lane that does not overlap the connection lane (35), and the host vehicle (30) also has a connection lane (35) that increases at the junction point (34). ) Is not driving. Therefore, when the guide lane (33) is not changed so as to overlap the connection lane (35) at the junction (34), the number of lanes of the guide road (32) does not increase at the junction (34). The degree of alerting the driver to the joining vehicle (36) can be reduced. On the other hand, when the guidance lane (33) is changed from the state where it does not overlap the connection lane (35) at the junction (34) so as to overlap the connection lane (35), the guidance road at the junction (34). It is necessary to increase the degree of alerting the driver to the merging vehicle (36) than when the number of lanes (32) does not increase.
According to said structure, the number of lanes of the guide road (32) ahead of the advancing direction rather than a junction (34) is more than a total number of lanes, Comprising: A connection lane (35) and a guide lane in the determination area (H) When (33) does not overlap, the degree of alerting is lowered compared to the case where the number of lanes is less than the total number of lanes, and the connection lane (35) and the guide lane (33) are determined in the determination section (H). When the number of lanes overlaps, the number of lanes is less than the total number of lanes, so the degree of alerting is increased, so the number of lanes on the guide road (32) at the junction (34) increases. Depending on whether or not the connection lane (35) and the guidance lane (33) overlap in the determination section (H), the degree of attention can be appropriately changed and set. As a result, the driver can be appropriately alerted to the junction road (37).

  The various technical features of the driving support system described above can also be applied to driving support methods and driving support programs.

  The present invention can be suitably used for a driving support system, a driving support method, and a driving support program that support driving by the driver of the host vehicle.

1: driving support system 2: information terminal device 5: own vehicle position acquisition unit 6: road data acquisition unit 7: route search unit 8: attention raising degree determination unit 9: attention raising execution unit 20: position detection device 21: road database 22: Speaker 23: Display device 30: Own vehicle 31: Lane marking 32: Guide road 33: Guide lane 34: Junction point 35: Junction lane 36: Junction vehicle 37: Junction road 40: Warning mark H: Determination section

Claims (6)

A driving support system for supporting driving by a driver of the own vehicle,
A host vehicle position acquisition unit that acquires a current position of the host vehicle;
A road data acquisition unit that acquires road data including road connection information and lane arrangement information;
A route for searching a guidance route that is a route for guiding the vehicle to the destination, including a guidance lane that is a lane of the road to be guided, based on the current position, the road data, and the set destination. A search unit;
Based on the guide route and the road data, when there is a junction road that merges with the guide road that is the road on which the guide route is set, the degree of alerting the driver of the host vehicle regarding the junction road An alerting degree determining unit for determining an alerting degree;
In a state where the current position is in front of the junction point between the guide road and the junction road, an alert execution unit that performs alerting according to the alert degree,
With
The attention level determination unit includes a connection lane that is a lane of the guide road to which the merging road is connected and the guidance in a determination section that is set along the traveling direction of the host vehicle including the merging point. When the lane overlaps, the driving support system determines the degree of attention so that the degree of attention is increased compared to the case where the connection lane and the guide lane do not overlap in the determination section.   The alerting degree determination unit is a case where the guide road has a plurality of lanes in front of the traveling direction from the merging point, and the connection lane and the guide lane do not overlap with each other. The caution level is lowered when a lane marking that divides a plurality of lanes is a line that prohibits lane change, compared to a case where the lane marking is a line that allows lane change. The driving support system described in 1.   When the traffic duration of the vehicle between the guide road and the junction road is divided by a traffic light, the attention degree determination unit divides the traffic period of the vehicle between the guide road and the junction road according to the traffic light. The driving assistance system according to claim 1 or 2, wherein the degree of alerting is lowered as compared with a case where the warning is not performed.   The alerting degree determination unit is configured such that the number of lanes of the guide road ahead of the direction of travel from the junction is the sum of the number of lanes of the guide road and the number of lanes of the junction road before the junction. If the connection lane and the guide lane do not overlap in the determination section, the number of lanes of the guide road ahead of the direction of travel is greater than the total lane. Compared to the case where the number is less than the number, the alerting degree is lowered, and when the connection lane and the guide lane overlap each other in the determination section, the guide road in the traveling direction is ahead of the junction. The driving assistance system according to any one of claims 1 to 3, wherein the degree of alerting is increased compared to a case where the number of lanes is less than the total number of lanes. Beam. A driving support method for supporting driving by a driver of the own vehicle,
Arithmetic processing unit
A vehicle position acquisition step of acquiring a current position of the vehicle;
A road data acquisition step for acquiring road data including road connection information and lane arrangement information;
A route for searching a guidance route that is a route for guiding the vehicle to the destination, including a guidance lane that is a lane of the road to be guided, based on the current position, the road data, and the set destination. A search step;
Based on the guide route and the road data, when there is a junction road that merges with the guide road that is the road on which the guide route is set, the degree of alerting the driver of the host vehicle regarding the junction road A degree of attention determination step for determining a certain degree of attention;
In a state where the current position is in front of the junction point of the guide road and the junction road, performing an alert execution step of performing an alert according to the alert degree,
In the alerting degree determination step, a connection lane that is a lane of the guide road to which the merging road is connected and the guidance in a determination section that is set along the traveling direction of the host vehicle including the merging point. When the lane overlaps, the driving support method of determining the degree of attention so that the degree of attention is increased compared to the case where the connection lane and the guidance lane do not overlap in the determination section. A driving support program for causing a computer to realize a driving support function that supports driving by a driver of the own vehicle,
A vehicle position acquisition function for acquiring a current position of the vehicle;
A road data acquisition function for acquiring road data including road connection information and lane arrangement information;
A route for searching a guidance route that is a route for guiding the vehicle to the destination, including a guidance lane that is a lane of the road to be guided, based on the current position, the road data, and the set destination. Search function,
Based on the guide route and the road data, when there is a junction road that merges with the guide road that is the road on which the guide route is set, the degree of alerting the driver of the host vehicle regarding the junction road An alerting degree determining function for determining an alerting degree;
In a state where the current position is in front of the junction point between the guide road and the junction road, the computer executes a warning execution function for calling attention according to the warning level,
In the alerting degree determination function, a connection lane that is a lane of the guide road to which the merging road is connected and the guidance in a determination section that is set along the traveling direction of the host vehicle including the merging point. When the lane overlaps, the driving support program for determining the alerting degree so that the alerting degree is higher than in the case where the connection lane and the guide lane do not overlap in the determination section.

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