JP2017058774A - Driving assistance device system, driving assistance device, and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving assistance device system, a driving assistance device, and a computer program with which it is possible to provide driving assistance for safely stopping at an intersection when turning right or left at the intersection.SOLUTION: A driving assistance device 50 acquires information on a traffic light installed at an intersection, information on vehicle speed, and information on vehicle position, and transmits the acquired vehicle speed information to an information provision device 10. The information provision device 10 comprises a reception unit for receiving the vehicle speed information, a storage unit 13 for storing speed information pertaining to a traveling vehicle that has traveled down a turn-right lane or a turn-left lane, a specification unit 14 for specifying a traveling lane, and a transmission unit for transmitting information pertaining to the traveling lane to the driving assistance device. The driving assistance device 50 comprises a determination unit 55 for determining whether or not the vehicle can turn right or turn left at the intersection before a red signal begins when the traveling lane is a turn-right lane or a turn-left lane, and an output unit 58 for outputting driving assistance information when the vehicle cannot turn right or turn left.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a driving support apparatus system that supports driving of a vehicle, a driving support apparatus that constitutes the driving support system, and a computer program for realizing the driving support apparatus.

  Many technologies are applied to driving support for vehicles, such as technology relating to stop control for decelerating and stopping a running vehicle, technology relating to dilemma control considering signal switching time, and technology for detecting the position of the vehicle. .

  For example, from a communication device installed upstream of an intersection, the signal switching timing information of the intersection and the distance to the intersection stop line (or stop line position information) are acquired by the in-vehicle device, and the vehicle enters the dilemma zone. A safety speed providing method for providing a limit traveling speed for escape from the dilemma zone is disclosed (see Patent Document 1).

JP 2006-139707 A

  However, the method of Patent Document 1 deals with whether the vehicle can safely stop before the intersection or pass through the intersection, and the situation where the vehicle turns right or left at the intersection is clearly described. Absent. When the vehicle makes a right or left turn at an intersection, if the vehicle driver does not know the timing of signal switching (eg, yellow signal start time, red signal start time, etc.), he or she accelerates trying to force a right or left turn. However, there is a high possibility of performing an acceleration / deceleration operation in which the brake pedal is suddenly depressed because the signal turns red at the next moment.

  In such a situation, if there is a following vehicle, the driver of the following vehicle often accelerates itself as the preceding vehicle accelerates. In particular, when the following vehicle goes straight through the intersection, it often accelerates more rapidly. For this reason, if the vehicle in front depresses the brake suddenly at the next moment, the vehicle collides with the vehicle in front. For this reason, driving assistance for safely stopping at the intersection when turning right or left at the intersection has been desired.

  The present invention has been made in view of such circumstances, and configures a driving support apparatus system capable of performing driving support for safely stopping at an intersection when making a right or left turn at an intersection, and the driving support system. An object of the present invention is to provide a driving support apparatus that performs the above and a computer program for realizing the driving support apparatus.

  A driving support system according to an embodiment of the present invention includes a driving support device that supports driving of a vehicle traveling toward an intersection on a road having at least one of a right turn lane and a left turn lane, and the driving support device. A driving support system including a communicable information providing device, wherein the driving support device acquires a signal information acquisition unit that acquires signal information of a traffic signal installed at the intersection, and a vehicle speed acquisition that acquires vehicle speed information of the vehicle A position information acquisition unit that acquires position information of the vehicle, and a support device transmission unit that transmits the vehicle speed information acquired by the vehicle speed acquisition unit to the information providing device, the information providing device including the vehicle speed A receiving unit that receives information, a storage unit that stores speed information related to a traveling vehicle that has traveled on the right turn lane or the left turn lane, vehicle speed information that is received by the receiving unit, and the memory A specifying unit that specifies a travel lane on which the vehicle travels based on speed information stored in the unit, and a transmission unit that transmits information related to the travel lane specified by the specifying unit to the driving support device. The support device further acquires the signal information when the support device receiving unit that receives information related to the travel lane and the travel lane based on the information received by the support device reception unit are a right turn lane or a left turn lane. Whether or not the vehicle can turn right or left at the intersection before the start of the red light based on the signal information acquired by the vehicle, the vehicle speed acquired by the vehicle speed acquisition unit, and the position information acquired by the position information acquisition unit A determination unit that determines whether or not the determination unit can make a right turn or a left turn, and an output unit that outputs predetermined driving support information.

  A driving support apparatus according to an embodiment of the present invention is a driving support apparatus that supports driving of a vehicle that travels toward an intersection on a road having at least one of a right turn lane and a left turn lane. A storage unit that stores speed information related to a traveling vehicle that has traveled on a lane or a left turn lane, a signal information acquisition unit that acquires signal information of a traffic signal installed at the intersection, and a vehicle speed acquisition unit that acquires the vehicle speed of the vehicle; A distance information acquisition unit that acquires distance information to the intersection of the vehicle, a vehicle speed acquired by the vehicle speed acquisition unit, and a travel lane in which the vehicle travels is specified based on the speed information stored in the storage unit When the specific part and the driving lane specified by the specific part are a right turn lane or a left turn lane, the signal information acquired by the signal information acquisition part, the vehicle speed acquired by the vehicle speed acquisition part And a determination unit that determines whether the vehicle can turn right or left at the intersection before the start of a red signal based on the distance information acquired by the distance information acquisition unit, and a right or left turn at the determination unit. And an output unit that outputs predetermined driving support information when it is determined that the driving cannot be performed.

  A computer program according to an embodiment of the present invention is a computer program for causing a computer to support driving of a vehicle traveling toward an intersection on a road having at least one of a right turn lane and a left turn lane, The computer identifies a traveling lane on which the vehicle travels based on the vehicle speed and speed information relating to the traveling vehicle traveling on the right turn lane or the left turn lane, and the traveling lane identified by the identifying unit Is a right turn lane or a left turn lane, based on the signal information of the traffic light installed at the intersection, the vehicle speed of the vehicle and the distance information to the intersection of the vehicle, the vehicle is A determination unit that determines whether the intersection can be turned right or left, and the determination unit cannot turn right or left When it is determined to function as a generation unit for generating a predetermined driving support information.

  According to the present invention, it is possible to perform driving support for safely turning right or left at an intersection and passing through the intersection.

It is a schematic diagram which shows an example of the intersection vicinity which implements the driving assistance by the driving assistance system of 1st Embodiment. It is a block diagram which shows an example of a structure of the driving assistance system of 1st Embodiment. It is a schematic diagram which shows an example of the position and speed distribution for every traveling lane. It is a schematic diagram which shows an example of the speed information which concerns on the traveling vehicle for every traveling lane memorize | stored in a memory | storage part. It is a schematic diagram which shows an example of the driving | running | working condition at the time of a vehicle turning right at an intersection. It is a schematic diagram which shows an example of the driving | running | working condition at the time of a vehicle turning left at an intersection. It is a flowchart which shows an example of the process sequence of the driving assistance device of 1st Embodiment. It is a flowchart which shows an example of the process sequence of the information provision apparatus of 1st Embodiment. It is a block diagram which shows an example of a structure of the driving assistance device of 2nd Embodiment.

[Description of Embodiment of Present Invention]
A driving support system according to an embodiment of the present invention includes a driving support device that supports driving of a vehicle traveling toward an intersection on a road having at least one of a right turn lane and a left turn lane, and the driving support device. A driving support system including a communicable information providing device, wherein the driving support device acquires a signal information acquisition unit that acquires signal information of a traffic signal installed at the intersection, and a vehicle speed acquisition that acquires vehicle speed information of the vehicle A position information acquisition unit that acquires position information of the vehicle, and a support device transmission unit that transmits the vehicle speed information acquired by the vehicle speed acquisition unit to the information providing device, the information providing device including the vehicle speed A receiving unit that receives information, a storage unit that stores speed information related to a traveling vehicle that has traveled on the right turn lane or the left turn lane, vehicle speed information that is received by the receiving unit, and the memory A specifying unit that specifies a travel lane on which the vehicle travels based on speed information stored in the unit, and a transmission unit that transmits information related to the travel lane specified by the specifying unit to the driving support device. The support device further acquires the signal information when the support device receiving unit that receives information related to the travel lane and the travel lane based on the information received by the support device reception unit are a right turn lane or a left turn lane. Whether or not the vehicle can turn right or left at the intersection before the start of the red light based on the signal information acquired by the vehicle, the vehicle speed acquired by the vehicle speed acquisition unit, and the position information acquired by the position information acquisition unit A determination unit that determines whether or not the determination unit can make a right turn or a left turn, and an output unit that outputs predetermined driving support information.

  A driving support apparatus according to an embodiment of the present invention is a driving support apparatus that supports driving of a vehicle that travels toward an intersection on a road having at least one of a right turn lane and a left turn lane. A storage unit that stores speed information related to a traveling vehicle that has traveled on a lane or a left turn lane, a signal information acquisition unit that acquires signal information of a traffic signal installed at the intersection, and a vehicle speed acquisition unit that acquires the vehicle speed of the vehicle; A distance information acquisition unit that acquires distance information to the intersection of the vehicle, a vehicle speed acquired by the vehicle speed acquisition unit, and a travel lane in which the vehicle travels is specified based on the speed information stored in the storage unit When the specific part and the driving lane specified by the specific part are a right turn lane or a left turn lane, the signal information acquired by the signal information acquisition part, the vehicle speed acquired by the vehicle speed acquisition part And a determination unit that determines whether the vehicle can turn right or left at the intersection before the start of a red signal based on the distance information acquired by the distance information acquisition unit, and a right or left turn at the determination unit. And an output unit that outputs predetermined driving support information when it is determined that the driving cannot be performed.

  A computer program according to an embodiment of the present invention is a computer program for causing a computer to support driving of a vehicle traveling toward an intersection on a road having at least one of a right turn lane and a left turn lane, The computer identifies a traveling lane on which the vehicle travels based on the vehicle speed and speed information relating to the traveling vehicle traveling on the right turn lane or the left turn lane, and the traveling lane identified by the identifying unit Is a right turn lane or a left turn lane, based on the signal information of the traffic light installed at the intersection, the vehicle speed of the vehicle and the distance information to the intersection of the vehicle, the vehicle is A determination unit that determines whether the intersection can be turned right or left, and the determination unit cannot turn right or left When it is determined to function as a generation unit for generating a predetermined driving support information.

  The driving support device includes a signal information acquisition unit that acquires signal information of a traffic signal installed at an intersection, a vehicle speed acquisition unit that acquires vehicle speed information, a position information acquisition unit that acquires vehicle position information, and a vehicle speed acquisition unit. A support device transmitting unit that transmits the acquired vehicle speed information to the information providing device is provided. The vehicle position information may be an absolute position such as latitude and longitude, or may be a relative position based on an intersection. The position information can also include distance information to the intersection.

  The information providing device includes a receiving unit that receives vehicle speed information, a storage unit that stores speed information relating to a traveling vehicle that has traveled in a right turn lane or a left turn lane, vehicle speed information that is received by the receiving unit, and a speed that is stored in the storage unit. A specifying unit that specifies a travel lane in which the vehicle travels based on the information, and a transmission unit that transmits information related to the travel lane specified by the specifying unit (travel lane specification result) to the driving support device.

  The speed information related to the traveling vehicle is, for example, information on the speed range or speed distribution obtained by collecting the speeds of a plurality of traveling vehicles that have traveled in the right turn lane or the left turn lane in the past. Can do. In other words, because the speed information is different between the right turn lane and the left turn lane, if the speed information is known, it is specified whether the driving lane on which the vehicle is driving is a right turn lane or a left turn lane. Can do.

  The driving support device is further acquired by the signal information acquisition unit when the driving lane based on the information received by the support device receiving unit and the information received by the supporting device receiving unit is a right turn lane or a left turn lane. A determination unit that determines whether the vehicle can turn right or left at the intersection before the start of the red signal, based on the signal information, the vehicle speed acquired by the vehicle speed acquisition unit, and the position information acquired by the position information acquisition unit, When the determination unit determines that the vehicle cannot make a right turn or a left turn, an output unit that outputs predetermined driving support information is provided.

  For example, if the vehicle cannot turn right or left at the intersection before the start of the red light, the vehicle may accelerate while attempting to make a right or left turn at the intersection, but may switch to a red light and step on the brake suddenly. In order to avoid such a situation, the time until the start of a red signal is output as predetermined driving support information. As a result, the driver can grasp the time until switching to the red signal, so that the driver can gradually decelerate without stopping suddenly and stop the vehicle before the intersection. Alternatively, as the predetermined driving support information, information indicating that the vehicle stops before the intersection can be output by voice or text. Thereby, when making a right turn or a left turn at the intersection, it is possible to perform driving support for safely stopping at the intersection.

  In the driving support system according to the embodiment of the present invention, the storage unit stores speed information associated with the distance to the intersection, and the support device transmission unit is acquired by the position information acquisition unit. The position information is transmitted to the information providing device, the receiving unit receives the position information, and the specifying unit is further configured based on a distance to the intersection obtained from the position information received by the receiving unit. The travel lane in which the vehicle travels is specified.

  The assistance device transmission unit of the driving assistance device transmits the position information acquired by the position information acquisition unit to the information providing device. The storage unit of the information providing apparatus stores speed information associated with the distance to the intersection. In other words, the storage unit stores speed information in association with positions where the distance to the intersection is different. The receiving unit of the information providing apparatus receives position information. The identifying unit further identifies a traveling lane in which the vehicle travels based on the distance to the intersection obtained from the position information received by the receiving unit. For example, when the distance to the intersection of the vehicles is different, the specifying unit specifies the traveling lane based on speed information corresponding to the distance.

  As a result, even when the speed information related to the traveling vehicle differs depending on the distance to the intersection, the speed information corresponding to the distance to the intersection is known, so regardless of the position information of the vehicle, that is, in the traveling lane of the vehicle. Regardless of the position, the travel lane in which the vehicle travels can be specified.

  In the driving support system according to the embodiment of the present invention, the support device transmission unit acquires the position information acquired by the position information acquisition unit when the distance to the intersection of the vehicle is equal to or less than a predetermined distance threshold. Is transmitted to the information providing apparatus.

  The support device transmission unit transmits the position information acquired by the position information acquisition unit to the information providing device when the distance to the intersection of the vehicle is equal to or less than a predetermined distance threshold. The right turn lane is often provided with a lane separated at a branch point at a required distance from the intersection. Further, on the further upstream side (the direction away from the intersection) from the branch point, there is no difference in speed information even if the lane is different. However, on the downstream side (direction approaching the intersection) from the branch point, there is a difference in speed information depending on the traveling lane (right turn lane or left turn lane). Therefore, when the distance to the intersection of the vehicle is equal to or less than a predetermined distance threshold (distance from the intersection to the branching point), the traveling lane can be accurately identified by transmitting the position information to the information providing apparatus. .

  In the driving support system according to the embodiment of the present invention, the information providing device is a probe that acquires probe information including position information and speed information of the probe vehicle provided by a plurality of probe vehicles turning right or left at the intersection. An information acquisition unit; and a calculation unit that calculates a statistical value of speed information related to a traveling vehicle that has traveled on the right turn lane or the left turn lane based on the probe information acquired by the probe information acquisition unit, and the storage The unit stores a statistical value of the speed information calculated by the calculation unit.

  The information providing apparatus is based on probe information acquired by a probe information acquisition unit and probe information acquisition unit that acquires probe information including position information and speed information of probe vehicles provided by a plurality of probe vehicles that turn right or left at an intersection. And a calculating unit that calculates a statistical value of speed information related to the traveling vehicle that has traveled in the right turn lane or the left turn lane. The storage unit stores the statistical value of the speed information calculated by the calculation unit.

  Based on the position information included in the probe information, it is possible to identify a plurality of probe vehicles that have traveled on the right turn lane and turned right at the intersection. Similarly, a plurality of probes that have traveled on the left turn lane and turned left at the intersection A vehicle can be identified. Collect the speed information of multiple probe vehicles that have made a right turn, perform statistical processing on the collected speed information (for example, calculate the average value, median value, and mode value), and speed related to the vehicle that has traveled on the right turn lane Statistical values of information can be calculated. Similarly, the speed information of a plurality of probe vehicles that have made a left turn is collected, the collected speed information is statistically processed (for example, the average value, the median value, and the mode value calculation process), and then travels on the left turn lane. A statistical value of speed information related to the vehicle can be calculated.

  In the driving support system according to the embodiment of the present invention, the support device transmission unit transmits the position information acquired by the position information acquisition unit to the information providing device, and the reception unit receives the position information. The information providing device includes a travel locus identifying unit that identifies a travel locus of a traveling vehicle that has traveled on the right turn lane or the left turn lane, and the identifying unit includes the position information and the travel locus identification received by the reception unit. A travel lane in which the vehicle travels is identified based on the travel locus identified by the unit.

  The assistance device transmission unit of the driving assistance device transmits the position information acquired by the position information acquisition unit to the information providing device. The receiving unit of the information providing apparatus receives the position information. The information providing apparatus includes a travel locus identifying unit that identifies a travel locus of a traveling vehicle that has traveled in a right turn lane or a left turn lane. The identifying unit identifies a traveling lane in which the vehicle travels based on the position information received by the receiving unit and the traveling locus identified by the traveling locus identifying unit.

  The travel locus can be specified based on, for example, steering operation information or yaw rate information of a traveling vehicle that has traveled on a right turn lane or a left turn lane in the past. As a result, the traveling locus of the traveling vehicle traveling on the right turn lane is identified, and the traveling locus of the traveling vehicle traveling on the left turn lane is identified, so which traveling locus the vehicle position information is closest to. Accordingly, the travel lane can be specified, and the specific accuracy of the travel lane can be improved.

  In the driving support system according to an embodiment of the present invention, the driving support device is configured such that the vehicle travels based on an image obtained by imaging a road ahead of the vehicle with an imaging device mounted on the vehicle. A traveling lane determining unit that determines a traveling lane to be performed.

  The driving support device includes a travel lane determination unit that determines a travel lane on which the vehicle travels based on an image obtained by capturing an image of a road ahead of the vehicle with an imaging device mounted on the vehicle. For example, a white line recognition, a road shoulder recognition, a median strip recognition, etc. are performed using an imaging device, and a travel lane in which the vehicle travels is specified. Thereby, the specific precision of a driving lane can be improved.

  In the driving support system according to the embodiment of the present invention, the driving support device includes a peripheral vehicle speed acquisition unit that acquires the speed of a peripheral vehicle existing around the right side of the vehicle, and a relative relationship between the vehicle and the peripheral vehicle. And a right turn lane determining unit that determines that the travel lane on which the vehicle travels is a right turn lane when the speed is equal to or greater than a predetermined speed threshold.

  The driving support device includes a peripheral vehicle speed acquisition unit that acquires the speed of a surrounding vehicle that exists in the vicinity of the right side of the vehicle. Is provided with a right turn lane determining unit for determining that is a right turn lane. When traveling on the right turn lane, the relative speed between the vehicle and the oncoming vehicle traveling on the right side of the vehicle is relatively large. Therefore, by comparing the relative speed with a predetermined speed threshold, the vehicle turns right. It can be determined whether or not the vehicle is traveling on the lane. Thereby, the specific precision of a driving lane can be improved.

[Details of the embodiment of the present invention]
(First embodiment)
Hereinafter, a driving support system, a driving support device, and a computer program according to embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram illustrating an example of the vicinity of an intersection where driving assistance is performed by the driving assistance system of the first embodiment. As shown in FIG. 1, four roads intersect at the intersection, and one of the roads has a plurality of (three lanes in the example of FIG. 1) travel lanes. More specifically, the road of 2 lanes is separated into 3 lanes at the junction of the required distance from the intersection, straight lane / left turn lane (left turn lane) A1, straight lane A2, right turn lane (right turn lane) A3 It has become.

  Although not shown, a communication device or the like is installed at a distance of an appropriate distance along the road from the intersection (for example, 200 m to 1000 m from the intersection). The communication device can be realized by, for example, an optical beacon, a radio beacon, a DSRC (Dedicated Short Range Communication), an ITS (Intelligent Transport Systems) wireless device, and the like, and driving assistance in which predetermined information is mounted on the vehicle at a communication point with the vehicle Send to device. Here, the predetermined information includes, for example, position information (for example, communication point position information, intersection position information, for example, distance to the stop line, absolute position of the stop line, etc.), right turn position (for example, intersection information) , Near the center of the intersection, where the oncoming straight vehicle stops passing and waits for a right turn), or at the left turn position (for example, before the pedestrian crossing on the crossing road, stop pedestrian crossing) And the signal information of the traffic signal 200 (for example, red signal start time, red signal time, etc.).

  FIG. 2 is a block diagram illustrating an example of the configuration of the driving support system 100 according to the first embodiment. The driving support system 100 includes a driving support device 50, an information providing device 10, and the like. The driving support device 50 is mounted on a vehicle and supports driving of the vehicle traveling toward an intersection on a road having at least one of a right turn lane and a left turn lane. The information providing device 10 can communicate with the driving support device 50.

  As shown in FIG. 1, the driving support device 50 includes a CPU 51 that controls the entire device, a communication unit 52, a positioning unit 53, a map database 54, a right / left turn determination unit 55, an interface unit 56, an operation unit 57, an output unit 58, A storage unit 59 and the like are provided. The positioning unit 53 includes a GPS (Global Positioning System) 531, a vehicle speed sensor 532, a gyro sensor 533, a distance meter 534 that measures a travel distance, and the like. In addition, a camera 41 and an external sensor 42 mounted on the vehicle are connected to the driving support device 50 via an interface unit 56. The external sensor 42 includes, for example, a radar, an ultrasonic sensor, a millimeter wave sensor, and the like.

  The driving support device 50 is not only a dedicated device but also a personal computer, a tablet, a smartphone, or the like, which can be used for other purposes on the ground by being removed and has a function of each unit described above in a portable device that can be carried. It can also be configured in this way.

  The communication unit 52 has a narrow-area communication function such as an optical beacon, a radio wave beacon, and a DSRC, and has a communication function for performing road-to-vehicle communication with the above-described communication device. The communication unit 52 includes communication functions such as a mobile phone, PHS, multiplex FM broadcasting, and Internet communication as wide area communication, and can send and receive information to and from the information providing apparatus 10. In addition, the communication unit 52 has a communication function in the UHF band, the VHF band, or the like as the mid-range communication.

  The communication part 52 has a function as a signal information acquisition part, and acquires the signal information of the traffic light 200 installed in the intersection. Further, the communication unit 52 has a function as a support device transmission unit, and transmits vehicle speed information acquired by a positioning unit 53 described later to the information providing device 10. In addition, the communication unit 52 has a function as a support device reception unit, and receives information related to the travel lane (travel lane identification result) transmitted by the information providing device 10.

  The positioning unit 53 receives radio waves from a plurality of GPS satellites by the GPS 531 and measures the position of the vehicle. In addition, the positioning unit 53 determines the position of the vehicle based on the signals output from the vehicle speed sensor 532 and the gyro sensor 533 in order to reduce the error of the position where the radio wave from the GPS satellite does not reach or the position measured by the GPS 531. By estimating and collating with the road data in the map database 54, the position of the vehicle is determined with higher accuracy. In addition to the GPS 531, a DGPS (differential GPS) can be mounted. The DGPS can receive FM broadcasts or medium waves transmitted from a reference station whose position is known in advance, can correct the positional deviation calculated by the GPS, and can improve the accuracy of the position of the vehicle.

  The positioning unit 53 has a function as a vehicle speed acquisition unit, and acquires vehicle speed information of the vehicle. The positioning unit 53 has a function as a position information acquisition unit, and acquires vehicle position information. The vehicle position information may be an absolute position such as latitude and longitude, or may be a relative position based on an intersection. The position information can also include distance information to the intersection.

  The operation unit 57 includes various operation panels and functions as a user interface between the driver and the driving support device 50. For example, the operation unit 57 receives an operation for starting or stopping the operation of the driving support device 50 by an operation of the driver.

  The output unit 58 is configured by a windshield display or a head-up display, or a liquid crystal display panel such as a car navigation system or a rear monitoring monitor, and can display driving support information generated by the CPU 51. The output unit 58 includes a speaker and outputs the driving support information generated by the CPU 51 by voice.

  The storage unit 59 is information received via the communication unit 52, character information, symbols or images constituting preset driving support information, vehicle position information acquired by the positioning unit 53, vehicle speed information, or travel history. Memorize etc.

  The right / left turn determination unit 55 has a function as a determination unit, and determines whether the vehicle can turn right or left at the intersection before the start of the red light. The details of the right / left turn determination unit 55 will be described later.

  As shown in FIG. 1, the information providing apparatus 10 includes a control unit 11 that controls the entire apparatus, a communication unit 12, a storage unit 13, a travel lane specifying unit 14, a statistical value calculation unit 15, and the like. The information providing apparatus 10 is, for example, a global telematics server, collects probe information from a probe vehicle, performs necessary processing on the collected probe information, and accumulates processing results. Further, the information providing apparatus 10 transmits a driving lane identification result described later to the driving support apparatus 50 in response to a request from the driving support apparatus 50. The information providing apparatus 10 can also transmit recommended travel route information or road traffic information to the driving support apparatus 50.

  The communication unit 12 includes communication functions such as a mobile phone, PHS, multiple FM broadcasting, and Internet communication as wide area communication, and can transmit and receive information between the driving support device 50 and a probe vehicle (not shown). . In addition, the communication part 12 can also be provided with a narrow region communication function or a middle region communication function. Further, the communication unit 12 has a function as a receiving unit, and receives vehicle speed information transmitted by the driving support device 50. The communication unit 12 has a function as a transmission unit, and transmits information related to the travel lane identified by the travel lane identification unit 14 (travel lane identification result) to the driving support device 50.

  The memory | storage part 13 memorize | stores the speed information which concerns on the traveling vehicle which drive | worked the lane for right turn or the lane for left turn. Hereinafter, speed information relating to the traveling vehicle will be described.

  FIG. 3 is a schematic diagram showing an example of the position / speed distribution for each traveling lane. In FIG. 3, the horizontal axis indicates the distance to the intersection, and the vertical axis indicates the speed of the vehicle. FIG. 3 is a plot of positions of a plurality of probe vehicles that have traveled in a straight / left turn lane (left turn lane) A1, a straight lane A2, and a right turn lane (right turn lane) A3, and the speeds at the positions.

  That is, the communication unit 12 has a function as a probe information acquisition unit, and acquires probe information including position information and speed information of probe vehicles provided by a plurality of probe vehicles that turn right, turn left, and go straight at the intersection. FIG. 3 is a plot of the positions and speeds of a plurality of probe vehicles for each traveling lane based on the probe information acquired by the communication unit 12.

  Also, as can be seen from FIG. 3, when the distance to the intersection is greater than a certain value, there is no significant difference in the speed distribution in each lane, but when the distance to the intersection is less than a certain value, A noticeable difference appears in the velocity distribution in the lane. From this, if the speed of the vehicle is known, it is possible to specify which lane the vehicle is traveling on.

  The statistical value calculation unit 15 has a function as a calculation unit, and calculates a statistical value of speed information related to a traveling vehicle that has traveled in one traveling lane based on the probe information acquired by the communication unit 12. For example, only the probe information of the probe vehicle that has traveled on the right turn lane A3 is extracted from a lot of probe information. Probe information having the same distance to the intersection is further extracted from the extracted probe information, and a statistical value of speed information (speed) included in the extracted probe information is calculated. The statistical value can be, for example, an average value, a median value, a mode value, or the like. Thereby, speed information (statistical value) when the distance from the intersection is the same can be obtained. Similarly, even when the distance from the intersection is different, speed information (statistical value) can be obtained for each different distance. The same processing can be performed for the left turn lane A1 and the straight lane A2.

  As described above, based on the position information included in the probe information, it is possible to identify a plurality of probe vehicles that have traveled on the right turn lane and turned right at the intersection. A plurality of probe vehicles that have made a left turn can be identified. Collect the speed information of multiple probe vehicles that have made a right turn, perform statistical processing on the collected speed information (for example, calculate the average value, median value, and mode value), and speed related to the vehicle that has traveled on the right turn lane Statistical values of information can be calculated. Similarly, the speed information of a plurality of probe vehicles that have made a left turn is collected, the collected speed information is statistically processed (for example, the average value, the median value, and the mode value calculation process), and then travels on the left turn lane. A statistical value of speed information related to the vehicle can be calculated.

  The storage unit 13 stores the statistical value of the speed information calculated by the statistical value calculation unit 15.

  FIG. 4 is a schematic diagram illustrating an example of speed information relating to a traveling vehicle for each traveling lane stored in the storage unit 13. In FIG. 4, the horizontal axis indicates the distance to the intersection, and the vertical axis indicates the speed of the vehicle. As shown in FIG. 3 described above, the positions of the plurality of probe vehicles that have traveled on the straight / left turn lane (left turn lane) A1, the straight lane A2, and the right turn lane (right turn lane) A3 and the distribution of speeds at the positions. It can be seen that there is a difference. By performing statistical processing of speed information for each distance from the intersection, the speed information of the probe vehicle that has traveled on the straight / left turn lane (left turn lane) A1, straight ahead lane A2, and right turn lane (right turn lane) A3 is classified. It becomes possible.

  That is, the straight line / left turn lane (left turn lane) A1 and the right turn lane (right turn lane) A3 can be separated by the boundary line S1, and the straight line / left turn lane (left turn lane) A1 goes straight by the boundary line S2. Lane A2 can be separated. That is, if the speed of the vehicle is known, the travel lane in which the vehicle travels can be specified. In the example of FIG. 4, the boundary lines S1 and S2 are literally lines, but the boundary can be divided by a region with a required width. In addition, when there are a plurality of intersections that are subject to driving assistance, speed information (speed distribution) as shown in FIG. 4 can be stored for each intersection.

  Next, a method for specifying a travel lane by the information providing apparatus 10 will be described. First, the control unit 11 specifies the road on which the vehicle is traveling and the intersection of the traveling destination of the vehicle based on the vehicle position information acquired by the communication unit 12. For example, when there are a plurality of intersections that are subject to driving assistance, it is necessary to specify which intersection the vehicle is traveling toward.

  The travel lane specifying unit 14 has a function as a specifying unit, and specifies the travel lane in which the vehicle travels based on the vehicle speed information received by the communication unit 12 and the speed information stored in the storage unit 13.

  As described above, the speed information related to the traveling vehicle is, for example, the speed range or speed distribution obtained by collecting the speeds of a plurality of traveling vehicles that have traveled in the right turn lane or the left turn lane in the past. It can be information. In other words, because the speed information is different between the right turn lane and the left turn lane, if the speed information is known, it is specified whether the driving lane on which the vehicle is driving is a right turn lane or a left turn lane. Can do.

  For example, as shown in FIG. 4, a travel lane in which the vehicle travels depending on whether the vehicle speed is above or below the boundary lines S <b> 1 and S <b> 2 when the vehicle exists at a point where the distance to the intersection is L <b> 0. Can be identified as either a straight / left turn lane (left turn lane) A1, a straight turn lane A2, or a right turn lane (right turn lane) A3. Note that the range of the distance L0 ± ΔL may be treated as the distance L0 in consideration of the processing time and the like. Further, the distance L0 can be a position where the speed distribution for each traveling lane becomes significant (for example, a branch point of a right turn lane). If the distance to the intersection is L0 or less, the traveling lane can be specified with high accuracy.

  As described above, the information providing apparatus 10 identifies the travel lane and transmits the travel lane identification result to the driving support apparatus 50. Next, details of the right / left turn determination in the driving support device 50 will be described.

  The right / left turn determination unit 55 acquires the signal information acquired by the communication unit 52 and the positioning unit 53 when the travel lane based on the information received by the communication unit 52 (travel lane identification result) is a right turn lane or a left turn lane. Based on the vehicle speed and position information, it is determined whether the vehicle can turn right or left at the intersection before the start of the red light.

  When the output unit 58 determines that the right or left turn determination unit 55 cannot make a right turn or a left turn, the output unit 58 outputs predetermined driving support information.

  Hereinafter, the case of a right turn will be described first. FIG. 5 is a schematic diagram illustrating an example of a traveling situation when the vehicle 1 makes a right turn at an intersection. FIG. 4 shows a situation where the vehicle 1 is traveling toward the intersection at a relatively low speed in order to make a right turn at the intersection. The vehicle speed (average speed) is V, the distance between the vehicle and the intersection (more precisely, the stop line) is L0, and the distance between the stop line and the right turn position P1 is L1. Here, the right turn position P1 is, for example, a position near the center of the intersection where the opposite straight vehicle stops passing and waits for a right turn. Also, let t be the time until the red signal starts. Note that the right turn position is not limited to the position illustrated in FIG. 5 and varies near the center of the intersection depending on the driving characteristics of the vehicle driver, road conditions near the intersection, traffic conditions, vehicle type, and the like. To do.

  In this case, when the equation represented by (L0 + L1) / V> t is satisfied, the vehicle cannot reach the right turn position P1 by the start of the red signal. In this situation, if the driver of the vehicle did not know the timing of the signal change (for example, the red light start time), he tried to forcibly turn right and tried to enter the intersection. There is a high possibility that an acceleration / deceleration operation will be performed in which the brake is suddenly depressed because the signal becomes red. If there is a following vehicle, the driver of the following vehicle often accelerates as the vehicle ahead (accelerating the vehicle) accelerates. In particular, when a following vehicle goes straight through an intersection, it often accelerates more rapidly. For this reason, if the vehicle in front steps on the brake suddenly at the next moment, the vehicle collides with the vehicle in front, and it can be said that the vehicle is in a dangerous driving state.

  Since the timing for outputting the predetermined driving support information is too late immediately before the red signal, for example, it is desirable to perform the timing when the position of the vehicle becomes the distance L0 from the intersection or slightly after that time. In addition, the content of the predetermined driving support information is, for example, “You will not be able to make a right turn because it will soon be a red light. Please stop in front of the intersection.” Please stop in front of the intersection. ”,“ You will turn red in xx seconds. You cannot turn right, so stop in front of the intersection. ”

  In the above-described example, it is configured to determine whether the vehicle 1 can reach the right turn position P1 by the start of the red signal or not, but is not limited to this. . For example, as shown in FIG. 5, whether the vehicle 1 can turn right can be determined based on whether the vehicle 1 can reach the outflow position P2 before the start of the red signal. The outflow position P2 is a position where the vehicle 1 makes a right turn and enters a road in the right turn direction. In this case, whether or not a right turn is possible is determined based on whether or not an expression represented by (L0 + L1 + α) / V> t holds. Here, α is a travel distance from the right turn position P1 to the outflow position P2. α can be calculated in advance with reference to the distance L2.

  Next, the case of a left turn will be described. FIG. 6 is a schematic diagram illustrating an example of a traveling situation when the vehicle 1 makes a left turn at an intersection. FIG. 6 shows a situation where the vehicle 1 is traveling toward the intersection at a relatively low speed in order to turn left at the intersection. The vehicle speed (average speed) is V, the distance between the vehicle and the stop line is L0, and the distance between the stop line and the left turn position P3 is L3. Here, the left turn position P3 is, for example, a position before a pedestrian crossing on a crossing road and a position where the pedestrian crosses and waits. Also, let t be the time until the red signal starts. Note that the left turn position P3 is not limited to the position illustrated in FIG. 6, and is determined from the stop line position depending on the driving characteristics of the vehicle driver, road conditions near the intersection, traffic conditions, vehicle type, and the like. Fluctuates in the width direction of the intersecting road.

  In this case, when the equation represented by (L0 + L3) / V> t is established, the vehicle cannot reach the left turn position P3 by the start of the red signal. In this case, as in the case of a right turn, it can be said that the vehicle is in a dangerous driving state.

  Since the timing for outputting the predetermined driving support information is too late immediately before the red signal, for example, it is desirable to perform the timing when the position of the vehicle becomes the distance L0 from the intersection or slightly after that time. In addition, the content of the predetermined driving support information is, for example, “You will not be able to turn left because it will soon be a red light. Please stop in front of the intersection.” Please stop in front of the intersection. ”,“ It will turn red in xx seconds. You cannot turn left, so stop in front of the intersection. ”

  In the above-described example, it is configured to determine whether or not the vehicle 1 can reach the left turn position P3 by the start of the red signal and whether or not the right turn is possible, but is not limited thereto. . For example, as shown in FIG. 6, whether the vehicle 1 can reach the outflow position P <b> 4 by the start of the red signal or not can be determined as to whether a left turn is possible. The outflow position P4 is a position where the vehicle 1 makes a left turn and enters a road in the left turn direction. In this case, whether or not a left turn is possible is determined based on whether or not an expression represented by (L0 + L3 + β) / V> t is satisfied. Here, β is a travel distance from the left turn position P3 to the outflow position P4.

  As described above, by outputting the time until the start of the red signal as the driving support information, the driver can grasp the time until switching to the red signal, so the vehicle gradually decelerates without stepping on the sudden brake. The vehicle can be stopped before the intersection. Further, as the driving support information, information indicating that the vehicle stops before the intersection can be output by voice or text. Thereby, when making a right turn or a left turn at the intersection, it is possible to perform driving support for safely stopping at the intersection.

  In addition, the communication unit 52 transmits the acquired vehicle position information to the information providing apparatus 10. The storage unit 13 of the information providing apparatus 10 stores speed information associated with the distance to the intersection. That is, as illustrated in FIG. 4, the storage unit 13 stores speed information in association with positions where the distance to the intersection is different.

  The communication unit 12 of the information providing apparatus 10 receives position information. The travel lane identification unit 14 identifies the travel lane in which the vehicle travels based on the distance to the intersection obtained from the position information received by the communication unit 12. For example, when the distance to the intersection of the vehicles is different, the travel lane specifying unit 14 specifies the travel lane based on the speed information corresponding to the distance.

  For example, in the example of FIG. 4, even if the position of the vehicle is an arbitrary point between the intersection and the position where the distance is L0, the speed information (speed distribution) for each lane depends on the distance to the intersection. Thus, the traveling lane can be specified based on the speed of the vehicle regardless of the position of the vehicle.

  As a result, even when the speed information related to the traveling vehicle differs depending on the distance to the intersection, the speed information corresponding to the distance to the intersection is known, so regardless of the position information of the vehicle, that is, in the traveling lane of the vehicle. Regardless of the position, the travel lane in which the vehicle travels can be specified.

  The communication unit 52 transmits the acquired position information to the information providing apparatus 10 when the distance to the intersection of the vehicle is equal to or less than a predetermined distance threshold under the control of the CPU 51. The travel lane identification unit 14 identifies the travel lane in which the vehicle travels based on the distance to the intersection obtained from the position information received by the communication unit 12.

  The right turn lane is often provided with a lane separated at a branch point at a required distance from the intersection. Further, as illustrated in FIGS. 3 and 4, there is no difference in speed information even if the lane is different on the upstream side (direction away from the intersection) from the branch point. However, on the downstream side (direction approaching the intersection) from the branch point, there is a difference in speed information depending on the traveling lane (right turn lane or left turn lane). Therefore, when the distance to the intersection of the vehicle is equal to or less than a predetermined distance threshold (distance from the intersection to the branch point), it is possible to specify the traveling lane with high accuracy by transmitting the position information to the information providing apparatus 10. it can.

  In addition to the vehicle speed information, it is also possible to specify a travel lane in consideration of past travel trajectories. That is, the communication unit 52 transmits vehicle position information to the information providing apparatus 10. The communication unit 12 of the information providing apparatus 10 receives the position information.

  The control unit 11 has a function as a traveling locus specifying unit, and identifies a traveling locus of a traveling vehicle that has traveled on a right turn lane or a left turn lane. The identified past travel locus of the vehicle can be stored in the storage unit 13. The travel lane identifying unit 14 identifies a travel lane in which the vehicle travels based on the position information received by the communication unit 12 and the travel locus identified by the control unit 11.

  The travel locus can be specified based on, for example, steering operation information or yaw rate information of a traveling vehicle that has traveled on a right turn lane or a left turn lane in the past. As a result, the traveling locus of the traveling vehicle traveling on the right turn lane is identified, and the traveling locus of the traveling vehicle traveling on the left turn lane is identified, so which traveling locus the vehicle position information is closest to. Accordingly, the travel lane can be specified, and the specific accuracy of the travel lane can be improved.

  Moreover, the following driving | running | working lane identification methods can also be used together. For example, the CPU 51 has a function as a travel lane determination unit and travels on which the vehicle travels based on an image obtained by capturing an image of a road ahead of the vehicle with a camera 41 as an imaging device mounted on the vehicle. Determine the lane. For example, white line recognition, road shoulder recognition, median strip recognition, and the like are performed using the camera 41, and the travel lane in which the vehicle travels is specified. Thereby, the specific precision of a driving lane can be improved.

  The external sensor 42 has a function as a peripheral vehicle speed acquisition unit, and acquires the speed of a peripheral vehicle existing around the right side of the vehicle. The CPU 51 has a function as a right turn lane determination unit, and determines that the travel lane on which the vehicle travels is a right turn lane when the relative speed between the vehicle and the surrounding vehicle is equal to or greater than a predetermined speed threshold.

  When traveling on the right turn lane, the relative speed between the vehicle and the oncoming vehicle traveling on the right side of the vehicle is relatively large. Therefore, by comparing the relative speed with a predetermined speed threshold, the vehicle turns right. It can be determined whether or not the vehicle is traveling on the lane. Thereby, the specific precision of a driving lane can be improved.

  As another method, when there is a road structure such as a median strip or guardrail, a vehicle in the opposite lane (opposite lane) cannot be detected, so LIDAR (Laser Imaging Detection and Ranging) is used. The road lane may be determined by detecting the road structure. When the map database 54 includes high-precision map information, the vehicle lane measured by the positioning unit 53 and the map database 54 may be collated to determine the traveling lane. Moreover, the above-mentioned methods can be arbitrarily combined. Thereby, the identification accuracy of the traveling lane can be further increased.

  Next, operation | movement of the driving assistance system 100 of 1st Embodiment is demonstrated. FIG. 7 is a flowchart illustrating an example of a processing procedure of the driving support device 50 according to the first embodiment. For the sake of simplicity, the processing subject will be described as the CPU 51 below. The CPU 51 acquires vehicle position information, vehicle speed information, and signal information (S11), and determines whether or not the distance to the intersection of the vehicle is equal to or less than a predetermined distance threshold (for example, L0) (S12).

  If the distance to the vehicle intersection is not less than or equal to the predetermined distance threshold value (NO in S12), the CPU 51 continues the processing from step S11. When the distance to the intersection of the vehicle is equal to or less than the predetermined distance threshold (YES in S12), the CPU 51 transmits the vehicle position information and vehicle speed information to the information providing device 10 (S13).

  The CPU 51 determines whether or not the travel lane identification result has been received from the information providing apparatus 10 (S14). If the travel lane identification result has not been received (NO in S14), the CPU 51 performs the processing after step S13. When the traveling lane identification result is received (YES in S14), the CPU 51 determines whether the intersection can be turned right or left by the start of the red signal (S15). In this case, if the travel lane identification result is a right turn lane, it is determined whether a right turn is possible. If the travel lane identification result is a left turn lane, it is determined whether a left turn is possible.

  When a right turn or a left turn is not possible (NO in S15), the CPU 51 outputs driving support information (S16), and performs a process of step S17 described later. When a right turn or a left turn is possible (YES in S15), the CPU 51 performs the process of step S17 described later without performing the process of step S16.

  The CPU 51 determines whether or not the vehicle has passed the intersection (S17). When the vehicle has not passed the intersection (NO in S17), the processing after step S15 is continued. If the vehicle has passed the intersection (YES in S17), the CPU 51 ends the process.

  FIG. 8 is a flowchart illustrating an example of a processing procedure of the information providing apparatus 10 according to the first embodiment. For the sake of simplicity, the processing subject will be described as the control unit 11 below. The control unit 11 determines whether or not vehicle position information and vehicle speed information have been received from the driving support device 50 (S31). If the vehicle position information and vehicle speed information have not been received (NO in S31), the step is performed. The process of S31 is continued.

  When the vehicle position information and vehicle speed information are received (YES in S31), the control unit 11 identifies the intersection and the inflow path (road) of the intersection based on the vehicle position information (S32), and the vehicle intersection. The travel lane (right turn lane or left turn lane) is specified based on the distance to the vehicle and the vehicle speed (S33).

  The control unit 11 transmits the travel lane identification result to the driving support device 50 (S34), and ends the process.

  The driving support device 50 according to the present embodiment can be realized using a general-purpose computer including a CPU (processor), a RAM, and the like. That is, as shown in FIG. 7, a computer program that defines the procedure of each process is loaded into a RAM provided in the computer, and the computer program is executed by a CPU (processor) so that the driving support device 50 is executed on the computer. Can be realized.

(Second Embodiment)
FIG. 9 is a block diagram showing an example of the configuration of the driving support device 50 of the second embodiment. In the first embodiment, the information providing device 10 is configured to specify the travel lane based on the vehicle position information and the vehicle speed information, but the present invention is not limited to this. In the second embodiment, the driving support device 50 identifies the travel lane based on the vehicle position information and the vehicle speed information.

  That is, the difference from the first embodiment is that the driving support device 50 includes a travel lane specifying unit 60. The travel lane identification unit 60 has the same function as the travel lane identification unit 14. In addition, the storage unit 59 stores speed information related to the traveling vehicle that has traveled in the right turn lane or the left turn lane, which is stored in the storage unit 13. As in the first embodiment, parts are denoted by the same reference numerals and description thereof is omitted.

  According to the second embodiment, similarly to the first embodiment, by outputting the time until the start of the red signal as the driving support information, the driver can grasp the time until switching to the red signal. The vehicle can be decelerated gradually without stepping on the sudden brake and the vehicle can be stopped before the intersection. Further, as the driving support information, information indicating that the vehicle stops before the intersection can be output by voice or text. Thereby, when making a right turn or a left turn at the intersection, it is possible to perform driving support for safely stopping at the intersection.

  In the above-described embodiment, a case has been described in which driving of a vehicle traveling toward an intersection on a road having a straight / left turn lane A1, a straight lane A2, and a right turn lane A3 has been described. It is not limited. For example, a road having only straight / left turn lane A1 and straight lane A2, or a road having only straight / left turn lane A1 and right turn lane A3, or a road having only straight lane A2 and right turn lane A3 toward the intersection The present embodiment can also be applied to a traveling vehicle.

  The disclosed embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

DESCRIPTION OF SYMBOLS 10 Information provision apparatus 11 Control part 12 Communication part 13 Storage part 14 Travel lane identification part 15 Statistical value identification part 41 Camera 42 External field sensor 50 Driving assistance apparatus 51 CPU
52 Communication unit 53 Positioning unit 531 GPS
532 Vehicle speed sensor 533 Gyro sensor 534 Distance meter 54 Map database 55 Right / left turn determination unit 56 Interface unit 57 Operation unit 58 Output unit 59 Storage unit 60 Driving lane identification unit

Claims (9)

A driving support system comprising: a driving support device that supports driving of a vehicle traveling toward an intersection on a road having at least one of a right turn lane and a left turn lane; and an information providing device that can communicate with the driving support device. There,
The driving support device includes:
A signal information acquisition unit for acquiring signal information of a traffic light installed at the intersection;
A vehicle speed acquisition unit for acquiring vehicle speed information of the vehicle;
A position information acquisition unit for acquiring position information of the vehicle;
A support device transmitting unit that transmits the vehicle speed information acquired by the vehicle speed acquiring unit to the information providing device,
The information providing apparatus includes:
A receiver for receiving the vehicle speed information;
A storage unit that stores speed information related to a traveling vehicle that has traveled in the right turn lane or the left turn lane;
A specifying unit for specifying a travel lane in which the vehicle travels based on the vehicle speed information received by the receiving unit and the speed information stored in the storage unit;
A transmission unit that transmits information related to the driving lane identified by the identification unit to the driving support device,
The driving support device includes:
And a support device receiving unit that receives information related to the travel lane;
When the traveling lane based on the information received by the support device receiving unit is a right turn lane or a left turn lane, the signal information acquired by the signal information acquisition unit, the vehicle speed acquired by the vehicle speed acquisition unit, and the position information acquisition unit A determination unit that determines whether the vehicle can turn right or left at the intersection before the start of a red light, based on the position information acquired in
A driving support system comprising: an output unit that outputs predetermined driving support information when the determination unit determines that the vehicle cannot make a right turn or a left turn. The storage unit
Speed information associated with the distance to the intersection is stored;
The support device transmitting unit
Transmitting the position information acquired by the position information acquisition unit to the information providing device;
The receiver is
Receiving the location information;
The specific part is:
Furthermore, the driving assistance system of Claim 1 which identifies the driving | running lane which the said vehicle drive | works based on the distance to the said intersection obtained from the positional information received by the said receiving part. The support device transmitting unit
The driving support system according to claim 2, wherein when the distance to the intersection of the vehicle is equal to or less than a predetermined distance threshold, the position information acquired by the position information acquisition unit is transmitted to the information providing device. The information providing apparatus includes:
A probe information acquisition unit that acquires probe information including position information and speed information of the probe vehicle provided by a plurality of probe vehicles that turn right or left at the intersection;
A calculation unit that calculates a statistical value of speed information related to a traveling vehicle that has traveled in the right turn lane or the left turn lane based on the probe information acquired by the probe information acquisition unit;
The storage unit
The driving support system according to any one of claims 1 to 3, wherein a statistical value of speed information calculated by the calculation unit is stored. The support device transmitting unit
Transmitting the position information acquired by the position information acquisition unit to the information providing device;
The receiver is
Receiving the location information;
Information providing device
A travel locus identifying unit for identifying a travel locus of a traveling vehicle that has traveled on the right turn lane or the left turn lane;
The specific part is:
The driving support system according to claim 4, wherein a driving lane in which the vehicle travels is specified based on the position information received by the receiving unit and the driving locus specified by the driving locus specifying unit. The driving support device includes:
6. A travel lane determination unit that determines a travel lane on which the vehicle travels based on an image obtained by capturing an image of a road ahead of the vehicle with an imaging device mounted on the vehicle. The driving support system according to any one of the preceding items. The driving support device includes:
A peripheral vehicle speed acquisition unit that acquires the speed of a peripheral vehicle existing around the right side of the vehicle;
7. A right turn lane determination unit that determines that a travel lane on which the vehicle travels is a right turn lane when a relative speed between the vehicle and a surrounding vehicle is equal to or greater than a predetermined speed threshold value. The driving support system according to any one of the preceding items. A driving support device that supports driving of a vehicle traveling toward an intersection on a road having at least one of a right turn lane and a left turn lane,
A storage unit that stores speed information related to a traveling vehicle that has traveled in the right turn lane or the left turn lane;
A signal information acquisition unit for acquiring signal information of a traffic light installed at the intersection;
A vehicle speed acquisition unit for acquiring the vehicle speed;
A distance information acquisition unit for acquiring distance information to the intersection of the vehicle;
A specifying unit for specifying a travel lane on which the vehicle travels based on the vehicle speed acquired by the vehicle speed acquisition unit and the speed information stored in the storage unit;
When the driving lane specified by the specifying unit is a right turn lane or a left turn lane, the signal information acquired by the signal information acquisition unit, the vehicle speed acquired by the vehicle speed acquisition unit, and the distance information acquired by the distance information acquisition unit A determination unit that determines whether or not the vehicle can turn right or left at the intersection before the start of the red light,
A driving support device comprising: an output unit that outputs predetermined driving support information when the determination unit determines that the vehicle cannot make a right turn or a left turn. A computer program for causing a computer to support driving of a vehicle traveling toward an intersection on a road having at least one of a right turn lane and a left turn lane,
Computer
A specifying unit for specifying a traveling lane in which the vehicle travels based on a vehicle speed, and speed information relating to a traveling vehicle that has traveled in the right turn lane or the left turn lane;
When the driving lane specified by the specifying unit is a right turn lane or a left turn lane, based on signal information of a traffic signal installed at the intersection, vehicle speed of the vehicle, and distance information to the intersection of the vehicle, A determination unit that determines whether the vehicle can turn right or left before the start of the red light; and
A computer program that functions as a generation unit that generates predetermined driving support information when the determination unit determines that a right or left turn cannot be made.

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