JP2017191471A - Driving support method and driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support method for teaching a driver a timing at which: when a vehicle enters an intersection, situations of the right and left sides of the intersection invisible from the driver's seat become detectable by periphery situation sensors installed on the front of the vehicle.SOLUTION: A driving support method for detecting situations of the right and left sides of an intersection when a vehicle enters the intersection by periphery situation sensors installed on the front side of the driver's seat of the vehicle and displaying the situations of the right and left sides of the intersection in a display part provided thereto includes: a step (S2) of detecting a road shape of the intersection when the vehicle enters the intersection; steps (S3-S5) of determining a timing at which the situations of the right and left sides of the intersection become detectable by the periphery situation sensors on the basis of the road shape of the intersection; and a step (S6) of teaching the determined timing to the driver.SELECTED DRAWING: Figure 13

Description

  The present invention relates to a driving support method and a driving support device.

  Conventionally, when entering an intersection with poor visibility such as entering a wide road from a narrow road, it is not possible to see directly from the passenger seat with the naked eye of the passenger by the camera provided at the front of the vehicle A technique is known in which the left and right road conditions are captured in advance, and the captured image is displayed on a monitor (see Patent Document 1).

JP 2010-140109 A

  However, the technique described in Patent Document 1 does not consider the timing at which the left and right road conditions at the intersection can be captured in advance by the camera. For this reason, an occupant may miss the display on the monitor of the image previously captured by the camera, and may not be able to grasp the road conditions on the left and right of the intersection at an early stage.

  In view of the above problems, the present invention detects the situation of the left and right of the intersection when the own vehicle enters the intersection by the surrounding situation sensor provided in front of the passenger seat of the own vehicle, and the situation of the left and right of the intersection It is the driving assistance method provided with the display part which displays. The present invention relates to a driving support method and a driving support that teach a passenger when the surrounding vehicle can detect a road condition on the left and right of an intersection that is not visible from the passenger seat when the host vehicle enters the intersection. An object is to provide an apparatus.

  According to one aspect of the present invention, the road shape of the intersection is detected when the host vehicle enters the intersection. The surrounding situation sensor provided in front of the passenger seat of the own vehicle determines the timing at which the own vehicle can detect the situation on the left and right of the intersection using the detected road shape. A driving support method and a driving support device are provided in which the determined timing is taught to the occupant.

  According to the present invention, when the host vehicle enters the intersection, the occupant can be notified of the timing at which the surrounding situation sensor can detect the road conditions on the left and right of the intersection that are not visible from the passenger seat. You will be able to check the left and right situation at the right time. Therefore, it is possible to provide a driving support method and a driving support device that allow the occupant to easily check the left and right road conditions of the intersection displayed on the display unit.

It is a block diagram which shows an example of the driving assistance device which concerns on the 1st Embodiment of this invention. It is the schematic which shows the example of arrangement | positioning of the surrounding condition sensor of the own vehicle which concerns on the 1st Embodiment of this invention. It is the schematic which shows an example of a mode that the own vehicle which concerns on the 1st Embodiment of this invention approachs an intersection. It is the schematic which shows an example of a mode that the own vehicle which concerns on the 1st Embodiment of this invention approachs an intersection. FIG. 5A and FIG. 5B are schematic diagrams illustrating an example of a state in which the host vehicle according to the first embodiment of the present invention enters an intersection. FIG. 6A and FIG. 6B are schematic views illustrating an example of a state in which the host vehicle according to the first embodiment of the present invention enters an intersection. It is the schematic which shows an example of a mode that the own vehicle which concerns on the 1st Embodiment of this invention approachs an intersection. It is the schematic which shows an example of a mode that the own vehicle which concerns on the 1st Embodiment of this invention approachs an intersection. It is the schematic which shows an example of a mode that the own vehicle which concerns on the 1st Embodiment of this invention approachs an intersection. It is the schematic which shows an example of the display image of the display part which concerns on the 1st Embodiment of this invention. It is the schematic which shows an example of the display image of the display part which concerns on the 1st Embodiment of this invention. It is a timing chart for demonstrating the warning sound of the speaker which concerns on the 1st Embodiment of this invention. It is a flowchart for demonstrating an example of the driving assistance method which concerns on the 1st Embodiment of this invention. FIG. 14A and FIG. 14B are schematic views illustrating an example of a state in which the host vehicle according to the first modification of the first embodiment of the present invention enters an intersection. It is the schematic which shows an example of a mode that the own vehicle which concerns on the 2nd modification of the 1st Embodiment of this invention approachs an intersection. FIG. 16A and FIG. 16B are schematic views illustrating an example of a state in which the host vehicle according to the third modification of the first embodiment of the present invention enters an intersection. It is the schematic which shows an example of a mode that the own vehicle which concerns on the 3rd modification of the 1st Embodiment of this invention approachs an intersection. FIG. 18A and FIG. 18B are schematic views illustrating an example of a state in which the host vehicle according to the fourth modification example of the first embodiment of the present invention enters the intersection. It is the schematic which shows an example of a mode that the own vehicle which concerns on the 4th modification of the 1st Embodiment of this invention approachs an intersection. FIG. 20A and FIG. 20B are schematic diagrams illustrating an example of a state in which the host vehicle according to the fifth modification example of the first embodiment of the present invention enters the intersection. It is the schematic which shows the example of arrangement | positioning of the surrounding condition sensor of the own vehicle which concerns on the 2nd Embodiment of this invention. It is the schematic which shows an example of a mode that the own vehicle which concerns on the 2nd Embodiment of this invention approachs an intersection. It is the schematic which shows an example of a mode that the own vehicle which concerns on the 2nd Embodiment of this invention approachs an intersection. It is the schematic which shows an example of a mode that the own vehicle which concerns on the 2nd Embodiment of this invention approachs an intersection. It is the schematic which shows an example of the display image of the display part which concerns on the 2nd Embodiment of this invention. It is the schematic which shows an example of the display image of the display part which concerns on the 2nd Embodiment of this invention.

  Hereinafter, first and second embodiments of the present invention will be described with reference to the drawings. In the following description of the drawings, the same or similar parts are affixed with the same or similar reference numerals. However, it should be noted that the drawings are schematic, and the relationship between the thickness and the planar dimensions, the ratio of the thickness, and the like are different from the actual ones. Moreover, it is a matter of course that portions having different dimensional relationships and ratios are included between the drawings. Further, the following embodiments exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention is the material, shape, structure, and arrangement of components. Etc. are not specified as follows. The technical idea of the present invention can be variously modified within the technical scope defined by the claims described in the claims.

(First embodiment)
As shown in FIG. 1, the driving support apparatus according to the first embodiment of the present invention includes a control device 1, a vehicle position acquisition unit 2, an ambient condition sensor 3, a vehicle speed sensor 4, a speaker 5, and a display unit 6. . The ambient condition sensor 3 is a device that can be mounted on a vehicle, including a front sensor 30, a left sensor 31, and a right sensor 32 so as to detect the ambient condition of the host vehicle.

  The own vehicle position acquisition unit 2 is a GPS receiver that receives GPS signals from, for example, a navigation device or a global positioning system (GPS). The own vehicle position acquisition unit 2 acquires the current position on the map of the own vehicle. In addition, you may make it the own vehicle position acquisition part 2 acquire a own vehicle position using road-to-vehicle communication and vehicle-to-vehicle communication.

  As shown in FIG. 2, the front sensor 30, the left sensor 31, and the right sensor 32 are provided near the front bumper at the front end of the host vehicle 20. Note that the positions at which the front sensor 30, the left sensor 31, and the right sensor 32 in FIG. 2 are provided are examples, and are not particularly limited thereto. For example, the front sensor 30 may be provided on the upper part of the windshield of the host vehicle 20.

  As the front sensor 30, the left sensor 31, and the right sensor 32, for example, a laser radar, a millimeter wave radar, a standing wave radar, a CCD camera, or the like can be used. The front sensor 30, the left sensor 31, and the right sensor 32 may be of the same type or different types. The number of each of the front sensor 30, the left sensor 31, and the right sensor 32 is not limited to one, and may be composed of two or more of the same type of sensors or different types of sensors.

  The front sensor 30 detects the situation in front of the host vehicle 20. The front sensor 30 detects, for example, the road shape around the intersection in front of the host vehicle 20 when the host vehicle 20 enters the intersection. The road shape around the intersection that can be detected by the front sensor 30 is the shape of a shield such as a wall or a building located at the corner of the intersection, the shape of a guardrail or a sidewalk along the intersection road of the intersection, and the vehicle 20 travels. Including the angle between the road and the intersection road. Instead of the ambient condition sensor 3, the ambient condition acquired by a sensor provided outside the vehicle may be acquired by wireless communication.

As shown in FIG. 2, the left sensor 31 has a radial left detection area A1 defined by the solid angle phi _L to detect the left side with respect to the forward direction of the vehicle 20. When entering the intersection, the left sensor 31 detects the situation of the intersection road on the left side of the intersection. Right sensor 32 has a radial right detection area A2 defined by the solid angle phi _R to detect the right side with respect to the forward direction of the vehicle 20. When entering the intersection, the right sensor 32 detects the situation of the intersection road on the right side of the intersection.

  Since the left side sensor 31 and the right side sensor 32 are provided in front of the passenger seat of the host vehicle 20, when entering the intersection, the left and right situations at the intersection of the intersection road that cannot be seen from the passenger seat are displayed. It can be detected in advance. In FIG. 2, the optical axes a1 and a2 of the left sensor 31 and the right sensor 32 face the left and right sides that are orthogonal to the traveling direction of the host vehicle 20, respectively. You may face diagonally forward with respect to the direction. The positions where the left sensor 31 and the right sensor 32 are provided are closer to the front of the passenger seat and closer to the front end of the vehicle, so that the left and right conditions can be confirmed earlier when the vehicle enters the intersection.

  The vehicle speed sensor 4 shown in FIG. 1 detects the speed of the host vehicle 20 and outputs it to the control device 1. The speaker 5 is installed in the vehicle interior and is controlled by the control device 1. The display unit 6 is a display such as a liquid crystal display and is controlled by the control device 1. It is installed in a position where it can be easily seen by passengers such as instrument panels in the passenger compartment.

  The control device 1 can be constituted by an electronic control unit (ECU) including, for example, a logical operation processing device 7 and a storage device 8. As the logical processing unit 7, a central processing unit (CPU) or the like can be used. As the storage device 8, a semiconductor storage device, a magnetic storage device, an optical storage device, or the like can be used. The storage device 8 may be a register or the like provided in the logical operation processing device 7, and may include a cache memory or the like. The storage device 8 may further be a virtual memory set in a secondary storage device, a secondary storage device, or the like.

  The logical operation processing device 7 functions as an intersection determination unit 11, a boundary detection unit 12, a posture detection unit 13, a timing determination unit (detectable position determination unit) 14, a teaching unit 15, an image generation unit 16, and a moving body detection unit 17. Be prepared. The intersection determination unit 11 determines whether or not there is an intersection with poor visibility in front of the host vehicle 20 based on the current position on the map of the host vehicle 20 acquired by the host vehicle position acquisition unit 2. Information on intersections with poor visibility may be read from a database of a navigation device such as the vehicle position acquisition unit 2 or the like, for example.

  The boundary detection unit 12 detects a left boundary point and a right boundary point on the front left side and the right side of the host vehicle 20 using the road shape and the like ahead of the host vehicle 20 detected by the front sensor 30. The left boundary point is a point (position) serving as a boundary where the left sensor 31 can detect or cannot detect the situation on the left side of the intersection where the traveling road R1 intersects the intersection road R2. The right boundary point is a point (position) serving as a boundary where the right sensor 32 can detect or cannot detect the situation on the right side of the intersection where the traveling road R1 intersects the intersection road R2.

  For example, as illustrated in FIG. 3, the boundary detection unit 12 detects an edge position P <b> 11 of a shield 41 such as a building located at the left corner before the intersection as a left boundary point. The boundary detection unit 12 further detects the edge position P12 of the shielding object 42 located at the right corner before the intersection as a right boundary point.

  The boundary detection unit 12 may detect the left boundary point and the right boundary point in consideration of the height of the shield based on the height information of the surrounding situation detected by the front sensor 30. For example, when it is determined that the height of the shielding objects 41 and 42 shown in FIG. 3 is equal to or higher than a predetermined threshold (for example, 1 m), the line of sight of the intersection is shielded by the shielding objects 41 and 42. 42 edge positions P11 and P12 may be detected as a left boundary point and a right boundary point.

  On the other hand, when it is determined that the height of the shielding objects 41 and 42 is less than the predetermined threshold, the intersection can be seen through the shielding objects 41 and 42, so that the edge positions P11 and P12 of the shielding objects 41 and 42 are set to the left boundary point and the right side. It may not be detected as a boundary point. The predetermined threshold value may be set in advance in the storage device 8 of the control device 1 or may be appropriately adjusted according to the height of the viewpoint of the driver's occupant detected by a camera provided in the passenger compartment. Also good.

  The posture detection unit 13 detects the position and posture of the host vehicle 20 using the surrounding conditions of the host vehicle 20 detected by the front sensor 30, the left sensor 31, and the right sensor 32. The position and orientation of the host vehicle 20 include, for example, the position and orientation of the host vehicle 20 in the traveling road R1 on which the host vehicle 20 travels, and the yaw angle of the host vehicle 20. The positions and orientations of the left sensor 31 and the right sensor 32 provided in the host vehicle 20, the ranges of the left detection area A1 and the right detection area A2, and the like are known.

  When the timing determination unit 14 enters the intersection based on the left boundary point P11 and the right boundary point P12 detected by the boundary detection unit 12, the position and posture of the host vehicle 20 detected by the posture detection unit 13, and the like. In addition, the timing (position) at which the situation on the left and right of the intersection can be detected by the surrounding situation sensor 3 of the host vehicle 20 is determined. Here, the timing determined by the timing determination unit 14 (hereinafter, left and right detection timing) is the situation of the left and right of the place where the intersection road R2 that is not visible to the passenger's naked eyes from the passenger seat of the host vehicle 20 in the traveling road R1. Is set at a position where it can be detected in advance by the left sensor 31 and the right sensor 32 or in the vicinity thereof. The left / right detection timing means a position suitable for stopping once so that the occupant can confirm the left / right situation at the intersection detected by the left sensor 31 and the right sensor 32 and displayed on the display unit 6.

  For example, as shown in FIG. 4, the host vehicle 20 goes straight from the current position, and the boundaries of the left detection area A1 and the right detection area A2 of the left sensor 31 and the right sensor 32 are in contact with the left boundary point P11 and the right boundary point P12. I will explain when. The timing determination unit 14 determines the position P0 in the traveling direction of the host vehicle 20 when the left sensor 31 and the right sensor 32 can detect the left and right situations at the intersection located before the left boundary point P11 and the right boundary point P12. The left / right detection timing is determined. Note that the position of the host vehicle 20 in FIG. 4 is a virtual position for explaining a method of determining the left / right detection timing P0, and the actual current position of the host vehicle 20 is behind the left / right detection timing P0. In FIG. 4, the front sensor 30 is not shown for convenience.

FIG. 4 exemplifies a situation in which the host vehicle 20 is traveling in the center position in the width direction of the traveling road R1 and the positions of the left boundary point P11 and the right boundary point P12 in the traveling direction of the traveling road R1 are common. ing. For this reason, the position P0 (left) in the traveling direction of the host vehicle 20 when the boundary of the left detection area A1 of the left sensor 31 is in contact with the left boundary point P11 and the boundary of the right detection area A2 of the right sensor 32 are the right boundary points. The position P0 (right) in the traveling direction of the host vehicle 20 when contacting the P12 is common:
P0 (left) = P0 (right) = P0

  Further, the position in the traveling direction of the host vehicle 20 when the boundary of the left detection area A1 of the left sensor 31 touches the left boundary point P11 and the boundary of the right detection area A2 of the right sensor 32 touch the right boundary point P12. When the positions in the traveling direction of the host vehicle 20 are different from each other, the timing determination unit 14 determines one of the positions as the left / right detection timing with priority.

  For example, when the vehicle 20 travels toward the left side in the width direction of the traveling road R1, the boundary of the right detection area A2 of the right sensor 32 is the right boundary point as shown in FIG. The position P1 of the host vehicle 20 when contacting the P12 and the position P2 of the host vehicle 20 when the boundary of the left detection area A1 of the left sensor 31 contacts the left boundary point P11 as shown in FIG. . That is, the timing at which the boundary of the right detection area A2 of the right sensor 32 shown in FIG. 5A comes into contact with the right boundary point P12 comes first.

  In this case, the timing determination unit 14 is, for example, the timing of the host vehicle 20 when the boundary of the right detection area A2 of the right sensor 32 illustrated in FIG. The position (that is, the position that is relatively close to the current position of the host vehicle 20 and far from the intersection) P1 may be preferentially determined as the left / right detection timing. As a result, the occupant can quickly know when to check the left and right situations.

  In addition, the timing determination unit 14 is the timing of the left sensor 31 that is a timing that can be detected by both the left sensor 31 and the right sensor 32, although the timing is relatively late as illustrated in FIG. 5B. Preferentially left and right detection of the position P2 of the host vehicle 20 when the boundary of the left detection area A1 touches the left boundary point P11 (that is, a position relatively close to the current position of the host vehicle 20 and far from the intersection) P2. The timing may be determined. As a result, the occupant can know the timing at which both the left and right situations can be confirmed.

  Further, the timing determination unit 14 determines that the position P1 of the host vehicle 20 when the boundary of the right detection area A2 of the right sensor 32 touches the right boundary point P12 and the boundary of the left detection area A1 of the left sensor 31 are the left boundary point P11. A position (for example, a position equidistant from both) between the position P2 of the host vehicle 20 when contacting the vehicle may be determined as the left / right detection timing.

  In addition, the timing determination unit 14 determines the position P1 of the host vehicle 20 when the boundary of the right detection area A2 of the right sensor 32 illustrated in FIG. And the position P2 of the host vehicle 20 when the boundary of the left detection area A1 of the left sensor 31 shown in FIG. 5 (b) is in contact with the left boundary point P11 is determined as the second left / right detection timing in two stages. The left / right detection timing may be determined.

  Next, for example, when the vehicle 20 is traveling obliquely with respect to the traveling direction of the traveling road R1, the boundary of the right detection area A2 of the right sensor 32 is on the right side as shown in FIG. A position P1 of the host vehicle 20 when contacting the boundary point P12, and a position P2 of the host vehicle 20 when the boundary of the left detection area A1 of the left sensor 31 contacts the left boundary point P11 as shown in FIG. Are different from each other. That is, the timing at which the boundary of the right detection area A2 of the right sensor 32 shown in FIG. 6A comes into contact with the right boundary point P12 comes first.

  Also in this case, for example, the timing determination unit 14 determines the position of the host vehicle 20 when the boundary of the right detection area A2 of the right sensor 32 shown in FIG. The position near the current position of the host vehicle 20 and far from the intersection) P1 may be determined as the left / right detection timing. In addition, the timing determination unit 14 determines the position of the host vehicle 20 when the boundary of the left detection area A1 of the left sensor 31 illustrated in FIG. P2 may be determined as the left / right detection timing.

  Further, the timing determination unit 14 determines that the position P1 of the host vehicle 20 when the boundary of the left detection area A1 of the left sensor 31 is in contact with the left boundary point P11 and the boundary of the right detection area A2 of the right sensor 32 are the right boundary point P12. A position (for example, a position equidistant from both) between the position P2 of the host vehicle 20 when contacting the vehicle may be determined as the left / right detection timing.

  In addition, the timing determination unit 14 determines, for example, the position P1 of the host vehicle 20 when the boundary of the right detection region A2 of the right sensor 32 illustrated in FIG. And the position P2 of the host vehicle 20 when the boundary of the left detection area A1 of the left sensor 31 shown in FIG. 6B is in contact with the left boundary point P11 is determined as the second left and right detection timing, and in two stages. The left / right detection timing may be determined.

  Further, for example, as illustrated in FIG. 7, the timing determination unit 14 advances the left sensor 31 and the right sensor 32 itself, and the left boundary point P11 and the right boundary point P12 with reference to the left sensor 31 and the right sensor 32 itself. You may determine the position P0 which corresponds in a direction as a left-right detection timing.

  For example, as shown in FIG. 8, when the optical axes a1 and a2 of the left sensor 31 and the right sensor 32 are tilted forward of the host vehicle 20 with respect to the vehicle width direction, the timing determination unit 14 The position P0 in the traveling direction of the host vehicle 20 when the optical axes a1 and a2 of the sensor 31 and the right sensor 32 are in contact with the left boundary point P11 and the right boundary point P12 may be determined as the left and right detection timing.

  Further, as shown in FIG. 9, when one side (right side) ahead of the host vehicle 20 has a good line of sight and the shield 41 is present only on one side (left side) ahead of the host vehicle 20, the boundary detection unit 12 Only the boundary point P11 may be detected. At this time, the timing determination unit 14 can determine the position P0 in the traveling direction of the host vehicle 20 when the boundary of the left detection area A1 of the left sensor 31 is in contact with the left boundary point P11 as the left / right detection timing.

  The image generation unit 16 illustrated in FIG. 1 can be recognized by the occupant using the situation ahead of the host vehicle 20 detected by the front sensor 30 and the left / right detection timing determined by the timing determination unit 14. An image indicating the left / right detection timing is generated. The image generation unit 16 generates an image I1 indicating the left / right detection timing P0, for example, as shown in the center portion of FIG. Although the image I1 illustrated in FIG. 10 illustrates a bird's-eye view image from above the host vehicle 20, a front image or the like showing the front of the host vehicle 20 may be used.

  When the front sensor 30 is an imaging device such as a CCD camera, the image generation unit 16 may generate an image in which the left and right detection timing P0 is superimposed on the captured image. When the front sensor 30 is a laser radar or the like, the image generation unit 16 may generate a virtual image (CG image) indicating the left / right detection timing P0. For example, as shown in FIG. 5A and FIG. 5B, when the two-stage first left / right detection timing P1 and second left / right detection timing P2 are determined by the timing determination unit 14, The image generation unit 16 may generate an image indicating the first left / right detection timing P1 and the second left / right detection timing P2.

  The image generation unit 16 further continuously detects the left sensor 31 immediately after the host vehicle 20 reaches the left / right detection timing P0 or immediately before the host vehicle 20 reaches the left / right detection timing P0, as shown in FIG. 10 together with the image I1. The image I3 including the left side situation detected by the right sensor 32 and the right side situation detected by the right sensor 32 is generated. In the illustration of FIG. 10, since the host vehicle 20 has not reached the left / right detection timing P0, the images 41 and 42 and the traveling road R1 on which the host vehicle 20 travels are reflected in the images I2 and I3.

  10 illustrates the case where the images I1, I2, and I3 are individually generated. For example, the road condition in front of the host vehicle 20 detected by the front sensor 30 and the left side detected by the left sensor 31 are illustrated. The situation and the right situation detected by the right sensor 32 may be combined so as to include the left and right detection timing P0 to generate one image.

  As shown in FIG. 11, after the host vehicle 20 reaches the left / right detection timing P <b> 0, the image I <b> 2 generated by the image generation unit 16 shows the situation of the intersection road R <b> 2 on the left side of the intersection detected by the left sensor 31. Reflect. In addition, the situation of the intersection road R2 on the right side of the intersection detected by the right sensor 32 is reflected in the image I3. In FIG. 11, the image I1 indicating the left and right detection timing P0 is also generated. However, after the host vehicle 20 reaches the left and right detection timing P0, the image I1 indicating the left and right detection timing P0 is not generated and the image I1 is generated. Only I2 and I3 may be generated.

  The teaching unit 15 shown in FIG. 1 teaches the occupant the left / right detection timing P0 determined by the timing determination unit 14 before the host vehicle 20 reaches the left / right detection timing P0. The teaching unit 15 controls, for example, the display unit 6 to display the image I1 indicating the left / right detection timing P0 generated by the image generation unit 16 as shown in FIG. 10 and teach the occupant of the left / right detection timing P0. .

  The teaching unit 15 may further teach the occupant of the left / right detection timing P0 determined by the timing determination unit 14 by controlling the speaker 5 using a warning sound. For example, as shown in FIG. 12, the intermittent sound period is shortened as the host vehicle 20 approaches the left / right detection timing P0, and the left / right detection timing P0 is taught. In FIG. 12, the period of the intermittent sound is divided into two stages, and the period of the intermittent sound of less than 10 m is shorter than the period of the intermittent sound of 10 m or more from the left / right detection timing P0. The warning sound from the speaker 5 may be music or sound capable of teaching that the left and right detection timing P0 is approaching and has reached, instead of the intermittent sound.

  Note that the teaching unit 15 may teach the left / right detection timing based on only one of the display on the display unit 6 and the warning on the speaker 5. Alternatively, the teaching unit 15 may teach the left / right detection timing both on the display of the display unit 6 and on the warning on the speaker 5.

  The teaching unit 15 calculates the width of the traveling road R1 on which the host vehicle 20 travels based on the surrounding conditions of the host vehicle 20 detected by the front sensor 30, the left sensor 31, and the right sensor 32, and the width of the traveling road R1 is calculated. The narrower the timing, the earlier the timing to start teaching the left / right detection timing P0 may be set earlier. For example, when the width of the traveling road R1 is 5 m, teaching of the left and right detection timing starts from 5 m before the left and right detection timing P0, and when the width of the traveling road R1 is relatively narrow at 3 m, the left and right detection timing The teaching of the left / right detection timing P0 may be started from an early position 10 m before P0.

  The teaching unit 15 predicts the arrival time of the host vehicle 20 to the left / right detection timing P0 based on the speed of the host vehicle 20 detected by the vehicle speed sensor 4, the distance to the left / right detection timing P0 of the host vehicle 20, and the like. The teaching of the left / right detection timing P0 may be started according to the predicted arrival time. For example, when the width of the traveling road R1 is 5 m, teaching of the left / right detection timing P0 is started 2 seconds before the predicted arrival time, and when the width of the traveling road R1 is relatively narrow as 3 m, The teaching of the left / right detection timing P0 may be started at an early timing from 5 seconds before the predicted arrival time.

  Based on the speed of the host vehicle 20 detected by the vehicle speed sensor 4, the teaching unit 15 may increase the timing at which teaching of the left / right detection timing P <b> 0 starts as the speed of the host vehicle 20 increases. For example, when the speed of the host vehicle 20 is 10 km / h, the teaching of the left / right detection timing P0 is started 5 m before the left / right detection timing or 2 seconds before the predicted arrival time, and the speed of the host vehicle 20 is relatively In the case of a high speed of 30 km per hour, the teaching of the left / right detection timing P0 may be started 10 m before the left / right detection timing, which is a relatively early timing, or 5 seconds before the predicted arrival time.

  The moving body detection unit 17 determines whether or not a moving body such as another vehicle or a passerby exists on the intersection road R <b> 2 from the left and right situations at the intersection detected by the left sensor 31 and the right sensor 32. When it is determined that the moving body exists, the image generation unit 16 generates images I2 and I3 including the left and right situations at the intersection so as to highlight the moving body. For example, as shown in FIG. 11, the other vehicle 21 reflected in the image I3 is detected as a moving body, and the other vehicle 21 is highlighted by surrounding the other vehicle 21 with a frame-shaped mark.

  Next, an example of the driving support method according to the first embodiment of the present invention will be described with reference to the flowchart of FIG. Note that the series of processes in the flowchart of FIG. 13 can be repeatedly executed at a predetermined control cycle.

  In step S <b> 1, based on the current position on the map of the host vehicle 20 acquired by the host vehicle position acquisition unit 2, the intersection determination unit 11 has an intersection with poor visibility in front of the traveling road R <b> 1 of the host vehicle 20. It is determined whether or not. If it is determined that there is an intersection with a poor view, the process proceeds to step S2. In addition, the procedure of this step S1 is not essential, and you may perform the procedure of the following driving assistance method in all the intersections.

  In step S <b> 2, the front sensor 30, the left sensor 31, and the right sensor 32 detect a road condition near the intersection of the traveling road R <b> 1 ahead of the host vehicle 20. In step S <b> 3, the boundary detection unit 12 detects the front left boundary point P <b> 11 of the host vehicle 20 using, for example, a road condition near the intersection detected by the front sensor 30 as shown in FIG. 3. In step S <b> 4, the boundary detection unit 12 detects the front right boundary point P <b> 12 of the host vehicle 20 using the road conditions near the intersection detected by the front sensor 30.

  In step S <b> 5, the posture detection unit 13 detects the position and posture of the host vehicle 20 in the traveling road R <b> 1 from the surroundings of the host vehicle 20 detected by the front sensor 30, the left sensor 31, and the right sensor 32.

  In step S6, the timing determination unit 14 uses the left boundary point P11 and the right boundary point P12 detected by the boundary detection unit 12 and the position and posture of the host vehicle 20 detected by the posture detection unit 13, for example. As shown in FIG. 4, the left / right detection timing P0 of the host vehicle 20 is determined.

  In step S <b> 7, the image generation unit 16 generates an image I <b> 1 indicating the left / right detection timing P <b> 0 determined by the timing determination unit 14. The teaching unit 15 controls the display unit 6 to display the image I1 generated by the image generation unit 16. Further, the teaching unit 15 controls the speaker 5 so as to output a warning sound for teaching the left / right detection timing P0.

  In step S <b> 8, the teaching unit 15 specifies the relative position of the host vehicle 20 with respect to the left / right detection timing P <b> 0 from the position and posture of the host vehicle 20 detected by the posture detection unit 13. In step S9, the teaching unit 15 determines whether or not the host vehicle 20 has reached the left / right detection timing P0. If it is determined that the host vehicle 20 has not reached the left-right detection timing P0, the process returns to step S8. On the other hand, if it is determined in step S9 that the host vehicle 20 has reached the left / right detection timing P0, the process proceeds to step S10.

  In step S <b> 10, the teaching unit 15 stops teaching the left / right detection timing P <b> 0 using the speaker 5 and the display unit 6. In step S <b> 11, the image generation unit 16 generates images I <b> 2 and I <b> 3 including the left and right situations at the intersection detected by the left sensor 31 and the right sensor 32 as shown in FIG. 11 and displays them on the display unit 6. The display by the display unit 6 is continued until the host vehicle 20 passes an intersection, for example.

  In step S12, the moving body detection unit 17 determines whether or not a moving body such as another vehicle or a passerby exists on the intersection road R2 from the left and right situations at the intersection detected by the left sensor 31 and the right sensor 32. To do. If it is determined that there is a moving object, the process proceeds to step S9. In step S <b> 13, the image generation unit 16 generates the images I <b> 2 and I <b> 3 so as to highlight the moving object, and displays the images on the display unit 6. An alarm may be output from the speaker 5.

  The driving support program according to the first embodiment of the present invention causes the computer constituting the control device 1 to execute the procedure of the driving support method shown in FIG. That is, the driving support program according to the embodiment of the present invention uses the procedure for detecting the road shape of the intersection when the host vehicle enters the intersection, and the left and right detection timing of the host vehicle using the detected road shape. Procedures for determining, procedures for instructing the occupant on the determined left / right detection timing, procedures for detecting the left / right situation of the intersection by the surrounding situation sensor provided in front of the passenger seat of the own vehicle, and for the left / right of the detected intersection The computer which comprises the control apparatus 1 is made to perform the procedure etc. which display a condition on a display part. The driving support program according to the embodiment of the present invention can be stored in, for example, the storage device 8.

  As described above, according to the first embodiment of the present invention, when the own vehicle 20 enters the intersection, the road shape of the intersection where the traveling road R1 and the intersection road R2 intersect with each other and the traveling of the own vehicle 20 are performed. Using the position and orientation on the road R1, the left and right sensors 31 and the right sensor 32 are used to teach the occupant the left and right detection timing of the host vehicle 20 when the left and right situations at the intersection can be detected in advance. If the left and right detection timing of the host vehicle 20 is instructed to the occupant, the occupant can easily perceive the timing when the left and right sensors 32 and the right sensor 32 can detect the left and right situations at the intersection in advance.

  Therefore, the occupant can confirm without overlooking the image displayed on the display unit 6 at an early stage while the left and right situations at the intersection of the intersection road R2 intersecting the traveling road R1 are not visually recognized. After that, after being visible with the naked eye, confirmation of the display unit 6 can be stopped, the actual scenery can be visually confirmed, and the left and right situations at the intersection of the intersection road R2 intersecting the traveling road R1 can be confirmed.

  Further, the left and right detection timing corresponding to the position and posture of the host vehicle 20 can be determined by detecting the position and posture of the host vehicle 20 and determining the left and right detection timing using the position and posture of the host vehicle 20. it can.

  Further, for example, as shown in FIGS. 5A and 5B, the left and right positions P11 and P12 of the host vehicle 20 when the right and left situations of the intersection can be detected by the surrounding situation sensor 3 are calculated on the left and right sides, respectively. By determining the position P12 close to the current position of the host vehicle 20 as the left and right detection timing among the left and right positions P11 and P12, the right side condition of the intersection road R2 can be detected in advance by one right sensor 32. The passenger can easily perceive the timing when

  Further, as shown in FIG. 10, an image I1 indicating the left / right detection timing P0 is displayed on the display unit 6, or as shown in FIG. The timing when the left and right situations at the intersection can be detected in advance by the sensor 31 and the right sensor 32 can be easily perceived by the occupant.

  Further, by setting the position where the left and right detection timing P0 starts to be taught to the occupant as the width of the traveling road R1 until approaching the intersection is narrower or the speed of the host vehicle 20 is higher, the timing is set earlier (earlier timing). The teaching of timing when the left sensor 31 and the right sensor 32 can detect the left and right situations at the intersection in advance can be started at an appropriate timing according to the width of the traveling road R1 or the speed of the host vehicle 20.

<First Modification>
As a first modification of the first embodiment of the present invention, as shown in FIG. 14 (a), the edge positions P11, O11 of the shields 41, 42 in the traveling direction of the traveling road R1 on which the host vehicle 20 travels. The case where P12 has shifted | deviated is demonstrated. In FIG. 14A, the edge position P11 of the shield 41 is closer to the intersection than the edge position P12 of the shield 42. Therefore, as shown in FIG. 14A, the position P12 of the host vehicle 20 when the boundary of the right detection area A2 of the right sensor 32 touches the right boundary point P12, and as shown in FIG. The position P11 of the host vehicle 20 when the boundary of the left detection area A1 of the left sensor 31 touches the left boundary point P11 is different from each other.

  In this case, for example, the timing determination unit 14 determines the position of the host vehicle 20 when the boundary of the right detection area A2 of the right sensor 32 illustrated in FIG. The position (P1) near the current position of the host vehicle 20 and far from the intersection may be determined as the left / right detection timing. Further, the timing determination unit 14 determines the position of the host vehicle 20 when the boundary of the left detection area A1 of the left sensor 31 shown in FIG. P2 may be determined as the left / right detection timing.

  Further, the timing determination unit 14 determines that the position P1 of the host vehicle 20 when the boundary of the right detection area A2 of the right sensor 32 touches the right boundary point P12 and the boundary of the left detection area A1 of the left sensor 31 are the left boundary point P11. Between the position P2 of the host vehicle 20 when contacting the vehicle (for example, positions at equal intervals from both) may be determined as the left / right detection timing.

  In addition, the timing determination unit 14 determines, for example, the position P1 of the host vehicle 20 when the boundary of the right detection area A2 of the right sensor 32 shown in FIG. 14B, the position P2 of the host vehicle 20 when the boundary of the left detection area A1 of the left sensor 31 shown in FIG. 14B is in contact with the left boundary point P11 is determined as the second left / right detection timing. The left / right detection timing may be determined.

<Second Modification>
In the first embodiment of the present invention, the case where the traveling road R1 on which the vehicle 20 travels is orthogonal to the intersection road R2 has been described. However, as a second modification, A case where the traveling road R1 on which the host vehicle 20 travels obliquely intersects will be described.

  As shown in FIG. 15, even when the intersection road R2 and the traveling road R1 on which the vehicle 20 travels obliquely intersect, the timing at which the boundary of the left detection area A1 of the left sensor 31 contacts the left boundary point P11 and the right sensor The timings at which the boundaries of the 32 right detection areas A2 are in contact with the right boundary point P12 are different from each other. That is, as shown in FIG. 15, when the traveling road R1 inclines to the right and crosses the intersection road R2, the timing at which the boundary of the left detection area A1 of the left sensor 31 comes into contact with the left boundary point P11 comes first.

  In this case, for example, the timing determination unit 14 determines the position of the host vehicle 20 when the boundary of the left detection area A1 of the left sensor 31 illustrated in FIG. P1 near the current position and far from the intersection) P1 may be determined as the left / right detection timing. Although not shown, the position of the host vehicle 20 when the boundary of the right detection area A2 of the right sensor 32 touches the right boundary point P12 (that is, relatively close to the current position of the host vehicle 20 and from the intersection). A position far from the eye) may be determined as the left / right detection timing.

<Third Modification>
As a third modification of the first embodiment of the present invention, a case will be described in which the left / right detection timing is determined in consideration of a sidewalk or guardrail present at an intersection. For example, as shown in FIG. 16A, when the guard rails 61 and 62 along the intersection road R2 and the white lines 51 to 54 that define the sidewalk exist, the boundary detection unit 12 moves the tip of the shields 41 and 42. Alternatively, the edge positions P11 and P12 of the white lines 51 and 52 positioned at may be detected in a pseudo manner as the left boundary point and the right boundary point.

  Note that the boundary detection unit 12 detects the edge positions of the white lines 53 and 54 in front of the white lines 51 and 52 positioned ahead of the shields 41 and 42 as a left boundary point and a right boundary point. Also good. Further, the boundary detection unit 12 may detect the edge positions P11 and P12 of the guardrails 61 and 62 as the left boundary point and the right boundary point as shown in FIG.

  Further, as shown in FIG. 17, the boundary detection unit 12 may detect the edge position P11 of the white line 51 as the left boundary point, and may detect the edge position P12 of the guardrail 62 as the right boundary point. That is, the boundary detection unit 12 may detect the left boundary point P11 and the right boundary point P12 for different types of objects. The detection target by the boundary detection unit 12 can be appropriately selected according to the road shape of the intersection.

  According to the third modified example of the first embodiment of the present invention, the left and right detection timing is determined in consideration of the sidewalk and guardrail present at the intersection, so that the sidewalk and guardrail 61 defined by the white lines 51 to 54 are determined. , 62, the left boundary point P11 and the right boundary point P12 are set, and the left / right detection timing can be determined.

<Fourth Modification>
As a fourth modification of the first embodiment of the present invention, a case will be described in which the left / right detection timing is determined only from the surroundings of the host vehicle 20 regardless of the position and posture of the host vehicle 20.

  As shown in FIG. 18A, the boundary detection unit 12 detects the edge position P11 of the shielding object 41 as the left boundary point, and detects the edge position P12 of the shielding object 42 as the right boundary point. The timing determination unit 14 may determine the left and right detection timing P0 on a line that virtually connects the left boundary point P11 and the right boundary point P12. As shown in FIG. 18 (b), even when the left boundary point P11 and the right boundary point P12 are in a position shifted in the traveling direction of the traveling road R1, the timing determination unit 14 performs the left boundary point P11 and the right boundary point P12. May be taught as the left / right detection timing P0.

  In addition, as shown in FIG. 19, when the left boundary point P11 and the right boundary point P12 are in a position shifted in the traveling direction of the traveling road R1, the timing determination unit 14 makes a straight line between the left boundary point P11 and the right boundary point P12. Instead of connecting with the left and right boundary points, one of the straight lines P1 and P2 passing through the left boundary point P11 and the right boundary point P12 and parallel to the width direction of the traveling road R1 may be taught as the left and right detection timing. Note that the straight line P1 may be determined in two steps as the first left / right detection timing, and the straight line P2 may be determined as the second left / right detection timing.

  According to the fourth modification of the first embodiment of the present invention, a straight line connecting the left boundary point P11 and the right boundary point P12 is determined as the left / right detection timing P0, or the left boundary point P11 and the right boundary point By determining the straight line passing through P12 as the left and right detection timings P1 and P2, the left and right detection timings P0, P1 and P2 can be easily determined regardless of the position and orientation of the host vehicle 20.

<Fifth Modification>
As a fifth modification of the first embodiment of the present invention, a case where the detection area (display area) A1 of the left sensor 31 and the detection area (display area) A2 of the right sensor 32 are corrected in the height direction will be described. .

  For example, as shown in FIG. 20A, the host vehicle 20 has passed on the left / right detection timing, and the left sensor 31 and the right sensor 32 detect the left / right situation of the intersection road R2. The image generation unit 16 calculates the left slope and the right slope of the intersection road R2 from the infinity point (horizon line) included in the left and right situations of the intersection road R2 detected by the left sensor 31 and the right sensor 32.

  The image generator 16 further detects the detection area (display area) A1 of the left sensor 31 and the left sensor 31 of the right sensor 32 based on the left slope and the right slope of the intersection road R2, as shown in FIG. The detection area (display area) A2 of the right sensor 32 is corrected so that a moving body on the intersection road R2 can be detected.

  The left detection area A1 of the left sensor 31 and the right detection area A2 of the right sensor 32 are detected in a wider range than the left detection area A1 and the right detection area A2, and a part of the detection result is cut out to detect the left detection area A1. And the right detection area A2, the image generation unit 16 may correct the positions where the left detection area A1 and the right detection area A2 are cut out. Note that the positions of the left sensor 31 and the right sensor 32 themselves may be adjusted so as to correct the left detection area A1 and the right detection area A2.

  According to the fifth modification of the first embodiment of the present invention, by correcting the detection area (display area) A1 of the left sensor 31 and the detection area (display area) A2 of the right sensor 32, the intersection road R2 Detection areas (display areas) A1 and A2 can be set in accordance with the gradient.

(Second Embodiment)
As shown in FIG. 21, the driving support device according to the second exemplary embodiment of the present invention has a surrounding situation sensor 3 that can detect surrounding situations including the front, left side, and right side of the host vehicle 20 in front of the host vehicle 20. 2 is different from the configuration of the driving support apparatus according to the first embodiment of the present invention having the front sensor 30, the left sensor 31, and the right sensor 32 shown in FIG.

As the ambient condition sensor 3, for example, a laser radar such as a laser range finder (LRF) or a wide-angle camera can be used. The ambient condition sensor 3 has a radial detection area A0 defined by a solid angle φ _F so as to detect the situation in front of the host vehicle 20, the situation on the left side, and the situation on the right side. The detection area A0 has, for example, an optical axis a0 parallel to the forward direction of the host vehicle 20, and has a range of about 180 ° in the horizontal direction. Since the surrounding state sensor 3 is provided in front of the passenger seat of the host vehicle 20, when the host vehicle 20 enters the intersection, the situation of the left and right of the intersection that the passenger cannot see with the naked eye from the passenger seat is detected. It can be detected in advance.

  For example, as shown in FIG. 22, the boundary detection unit 12 shown in FIG. 1 uses a situation in front of the host vehicle 20 detected by the surrounding situation sensor 3, and is located at a corner on the left side before the intersection. The edge position P11 of the shield 41 is detected as the left boundary point. The boundary detection unit 12 further detects the edge position P12 of the shielding object 42 located at the right corner before the intersection as the right boundary point using the situation in front of the host vehicle 20 detected by the surrounding situation sensor 3. To do.

  When the timing determination unit 14 enters the intersection based on the left boundary point P11 and the right boundary point P12 detected by the boundary detection unit 12, the position and posture of the host vehicle 20 detected by the posture detection unit 13, and the like. The left and right detection timing of the host vehicle 20 is determined. For example, as shown in FIG. 23 (a), the timing determination unit 14 determines that the surrounding state sensor 3 travels the left boundary point P11, the right boundary point P12, and the traveling road R1 when the host vehicle 20 travels straight from the current position. The matching position P0 is determined as the left / right detection timing.

  When the positions of the left boundary point P11 and the right boundary point P12 are shifted in the traveling direction of the traveling road R1, the timing determination unit 14 determines that the position of the surrounding situation sensor 3 is the left boundary point P11 and the right boundary point P12. A position on a straight line to be connected, a position on one of two straight lines passing through the left boundary point P11 and the right boundary point P12 and parallel to the width direction of the road R, etc. may be determined as the left / right detection timing. .

  Further, when the host vehicle 20 moves forward from the position shown in FIG. 23A, the situation on the left and right of the intersection behind the position of the surrounding situation sensor 3 does not enter the detection area A0 of the surrounding situation sensor 3. come. Further, depending on the type and position of the ambient condition sensor 3, occlusion due to the vehicle body of the host vehicle 20 (vignetting by the front bumper) may occur.

  In such a case, for example, as shown in FIG. 23B, the timing determination unit 14 determines that the surrounding situation sensor 3 has the left boundary point P11 and the right boundary point P12 when the host vehicle 20 travels straight from the current position. The position P0 that is a predetermined distance D1 before the position P3 that coincides with the traveling direction of the traveling road R1 may be determined as the left / right detection timing.

  Further, for example, as illustrated in FIG. 24, the timing determination unit 14 determines that the angle θ formed by the ambient condition sensor 3 and each of the left boundary point P11 and the right boundary point P12 is equal to or greater than a predetermined threshold (for example, 90 °) The position P0 of the host vehicle 20 may be determined as the left / right detection timing.

  The image generation unit 16 illustrated in FIG. 1 detects the left and right of the occupant using the surrounding situation including the front of the host vehicle 20 detected by the surrounding situation sensor 3 and the left and right detection timing determined by the timing determination unit 14. An image indicating the left / right detection timing is generated so that the timing can be recognized.

  For example, as shown in FIG. 25, the image generation unit 16 generates an image I0 indicating the situation ahead of the host vehicle 20 detected by the surrounding situation sensor 3 and the left / right detection timing P0. Further, after the host vehicle 20 reaches the left / right detection timing P0, the image generation unit 16 uses the surrounding situation including the left and right situations at the intersection detected by the surrounding situation sensor 3, as shown in FIG. The image I0 including the situation in front of and the situation on the left and right is generated. In FIG. 26, the other vehicle 21 on the left side of the intersection is highlighted by being surrounded by a frame line M1.

  Other configurations and driving support methods of the driving support apparatus according to the second embodiment of the present invention are the same as the driving support apparatus and driving support method according to the first embodiment of the present invention.

  According to the second embodiment of the present invention, as in the first embodiment of the present invention, when the host vehicle 20 enters the intersection, the road shape of the intersection and the position and posture of the host vehicle 20 are determined. Using the left sensor 31 and the right sensor 32, the left and right detection timing P0 of the host vehicle 20 when the left and right situations at the intersection can be detected in advance is taught to the occupant. If the left and right detection timing P0 of the host vehicle 20 is instructed to the occupant, the occupant can easily perceive the timing when the left and right sensors 32 and the right sensor 32 can detect the left and right situations at the intersection in advance.

  Therefore, the occupant can confirm the image displayed on the display unit 6 without overlooking the image at an early stage while the left and right situation at the intersection cannot be visually recognized with the naked eye. After that, after being visible with the naked eye, the confirmation of the display unit 6 can be stopped, and the situation on the left and right at the intersection can be confirmed by visually recognizing the actual scenery.

  Further, the left and right detection timing P0 corresponding to the position and posture of the host vehicle 20 is determined by detecting the position and posture of the host vehicle 20 and determining the left and right detection timing using the position and posture of the host vehicle 20. Can do.

  Further, the left sensor 31 and the right sensor 32 intersect each other by displaying the image I0 indicating the left and right detection timing, or by teaching the left and right detection timing P0 by voice so as to shorten the intermittent sound as the left and right detection timing P0 is approached. It is possible to make the occupant easily perceive the timing when it becomes possible to detect the left and right situations in advance.

  Further, by setting the position where the left and right detection timing P0 starts to be taught to the occupant as the width of the traveling road R1 until approaching the intersection is narrower or the speed of the host vehicle 20 is higher, the timing is set earlier (earlier timing). The teaching of timing when the left sensor 31 and the right sensor 32 can detect the left and right situations at the intersection in advance can be started at an appropriate timing according to the width of the traveling road R1 or the speed of the host vehicle 20.

(Other embodiments)
As described above, the present invention has been described according to the first and second embodiments. However, it should not be understood that the descriptions and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  For example, in the first and second embodiments of the present invention, a T-shaped road is exemplified as an intersection, but the intersection may be a portion where two or more roads intersect with a road, and a three-way road such as a Y-shaped road. Alternatively, it may be a four-way such as a crossroad.

  In addition, the teaching unit 15 exemplifies the case where the occupant is instructed to detect the left and right detection timings P0, P1, and P2 by displaying them on the display unit 6 or generating a warning sound with the speaker 5. May be taught. For example, tactile teaching such as vibrating an actuator embedded in the steering wheel may be used, and the left and right detection timings P0, P1, and P2 themselves are not displayed by causing the light emitting unit embedded in the steering wheel to emit light. May be taught visually.

  In addition, the timing determination unit 14 is configured to detect the left and right situations at the intersection that cannot be visually recognized from the passenger seat by the occupant's naked eyes, in advance by the left sensor 31 and the right sensor 32, that is, the left sensor 31 and the right sensor. 32, the start of the section that can be detected in advance is determined as the left and right detection timings (primary left and right detection timings) P0, P1, and P2. Further, the position that can be visually recognized from the passenger seat with the naked eyes of the passenger, that is, the left side The end of the section that can be detected in advance by the sensor 31 and the right sensor 32 may be determined as the secondary left / right detection timing.

  For example, the position when the position of the passenger seat of the host vehicle 20 is on a straight line connecting the left boundary point and the right boundary point can be determined as the secondary left / right detection timing. The teaching unit 15 teaches the occupant of the secondary left / right detection timing, so that the occupant can easily perceive that the section in which the display on the display unit 6 is valid has ended, and confirms the display unit 6 at an appropriate timing. You can stop and focus on the real landscape.

  In the first and second embodiments of the present invention, the case where both the left boundary point and the right boundary point are detected when there are obstacles on both the left and right sides is illustrated. It is not necessary to detect both of the boundary points. That is, either the left boundary point or the right boundary point is detected, and left and right detection is performed using the detected left boundary point or right boundary point so that the detected left boundary point side or right boundary point side can be detected. Timing may be determined.

  As described above, the present invention naturally includes various embodiments not described herein. Therefore, the technical scope of the present invention is defined only by the invention specifying matters according to the scope of claims reasonable from the above description.

DESCRIPTION OF SYMBOLS 1 ... Control apparatus 2 ... Own vehicle position acquisition part 3 ... Ambient condition sensor 4 ... Vehicle speed sensor 5 ... Speaker 6 ... Display part 7 ... Logical operation processing apparatus 8 ... Memory | storage device 11 ... Intersection determination part 12 ... Boundary detection part 13 ... Posture Detection unit 14 ... timing determination unit (detectable position determination unit)
DESCRIPTION OF SYMBOLS 15 ... Teaching part 16 ... Image generation part 17 ... Moving body detection part 20 ... Own vehicle 30 ... Front sensor 31 ... Left sensor 32 ... Right sensor 41, 42 ... Shielding objects 51-54 ... White line 61, 62 ... Guardrail

Claims (11)

Provided with a display unit that detects the left and right situations of the intersection when the own vehicle enters the intersection by a surrounding situation sensor provided in front of the passenger seat of the own vehicle, and displays the left and right situations of the intersection In the driving support method,
Detecting the road shape of the intersection when the host vehicle enters the intersection;
Determining a timing at which the situation on the left and right of the intersection can be detected by the surrounding situation sensor based on the road shape of the intersection;
Teaching the determined timing to the passenger;
A driving support method comprising: Determining the timing comprises:
Detecting the position and posture of the vehicle,
The driving support method according to claim 1, wherein the timing is determined using the position and orientation of the host vehicle and the detected road shape. Determining the timing comprises:
A first position of the host vehicle when the situation on the left side of the intersection can be detected by the ambient condition sensor, and a second position of the host vehicle when the situation on the right side of the intersection can be detected. Respectively,
The driving support method according to claim 1 or 2, wherein one of the first and second positions that is close to a current position of the host vehicle is determined as the timing. Determining the timing comprises:
Detecting the left boundary position and the right boundary position of the intersection,
The driving support method according to claim 1 or 2, wherein a straight line connecting the left boundary position and the right boundary position is determined as the timing. Determining the timing comprises:
The driving support method according to claim 1 or 2, wherein the timing is determined based on a shape of a sidewalk or a guardrail along the intersection road of the intersection. Teaching the occupant of the timing includes:
Generating an image showing the timing;
The driving support method according to any one of claims 1 to 5, wherein the generated image is displayed on the display unit. Teaching the occupant of the timing includes:
The driving support method according to any one of claims 1 to 6, wherein the timing is taught by a warning sound of a speaker. Teaching the occupant of the timing includes:
The driving support method according to any one of claims 1 to 7, wherein the timing teaching is started earlier as the width of the road on which the host vehicle before the intersection is traveling is narrower. Teaching the occupant of the timing includes:
The driving support method according to any one of claims 1 to 8, wherein the timing is started earlier as the speed of the host vehicle is higher.   10. The method according to claim 1, further comprising a step of detecting a horizontal line of the intersection road of the intersection and adjusting a height direction of a right and left situation of the intersection displayed on the display unit. The driving support method described in 1. An ambient condition sensor that is provided on the front side of the passenger seat of the own vehicle and detects the road shape of the intersection and the situation of the left and right of the intersection when the own vehicle enters the intersection;
Using the detected road shape, a timing determination unit that determines the timing at which the situation on the left and right of the intersection can be detected;
A teaching unit that teaches the occupant the determined timing;
A driving support device, comprising: a display unit configured to display a left and right situation of the detected intersection.

Images