JP2018005386A - Travel support device, travel support method, imaging apparatus, and vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support safe driving when a vehicle cannot continue forward movement, while passing by an oncoming vehicle without coming into contact with the oncoming vehicle on a narrow road.SOLUTION: A travel support device 20 includes: a communication interface 21 for receiving, when a vehicle 4 travels, the position of the vehicle 4 and travel path information on a road on which the vehicle is travelling; a memory 23 for associating the position of the vehicle 4 with the travel path information at the position of the vehicle and storing them as travel history information; and a processor 22 for extracting, when detecting an oncoming vehicle 104 with respect to the vehicle 4, a region where the vehicle 4 and the oncoming vehicle 104 can pass by each other on the basis of the travel history information stored in the memory 23, and for outputting first positional information including the position of the region.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a driving support device, a driving support method, an imaging device, and a vehicle.

  2. Description of the Related Art Conventionally, devices and systems that support driving by providing information about obstacles that may come into contact with the host vehicle to vehicles traveling on a road are known.

  For example, can the vehicle driving support apparatus described in Patent Literature 1 pass along the side of an object based on the width of the own vehicle and the width of an object such as a parked vehicle when the vehicle travels on a narrow road? Determine whether or not.

JP 2005-182753 A

  However, the above-described conventional methods are intended to assist a driver on a narrow road so that the driver can drive safely without touching an obstacle or another vehicle. For this reason, when the vehicle continues to move forward on a narrow road, it is impossible to support safe driving when the vehicle is in contact with the oncoming vehicle.

  Accordingly, an object of the present invention made by paying attention to these points is to provide a driving support device and a vehicle that support safe driving when the vehicle cannot keep moving forward without touching the oncoming vehicle. is there.

  A travel support device that achieves the above object includes a communication interface that receives the position of the vehicle and travel path information about the road on which the vehicle is traveling, and the position of the vehicle and the travel path information at the position of the vehicle. When a memory that is associated and stored as travel history information and an oncoming vehicle of the vehicle is detected, an area in which the vehicle and the oncoming vehicle can pass is extracted based on the travel history information stored in the memory And a processor for outputting first position information including the position of the area.

  The driving support method for achieving the above object is a driving support method executed by a driving support device, and the driving support device receives the position of the vehicle and driving path information related to the road on which the vehicle is driving when the vehicle is driving. A step, a step in which the travel support device associates the position of the vehicle with travel path information at the position of the vehicle and stores it as travel history information, and the travel support device detects an oncoming vehicle of the vehicle, Extracting a region where the vehicle and the oncoming vehicle can pass each other based on the travel history information stored in the memory, and outputting first position information including the position of the region. .

  An image pickup apparatus that achieves the above object includes a lens, an image pickup device, a communication interface that receives information on a position of the vehicle and road information about a road on which the vehicle is traveling, and the position of the vehicle and the position of the vehicle. When the oncoming vehicle of the vehicle is detected and the memory that associates the traveling road information with the vehicle and stores it as the travel history information, the vehicle and the oncoming vehicle pass each other based on the travel history information stored in the memory. And a processor that extracts first position information including the position of the region, and a driving support device.

  A vehicle that achieves the above-described object includes a lens, an image sensor, a communication interface that receives the position of the vehicle and road information about the road on which the vehicle is traveling, and the position of the vehicle and the position of the vehicle. When a memory that associates the travel route information and stores it as travel history information and an oncoming vehicle of the vehicle is detected, the vehicle and the oncoming vehicle pass each other based on the travel history information stored in the memory. A processor that extracts a possible area and outputs first position information including the position of the area; and a display device that displays the first position information output by the processor. .

  According to an embodiment of the present invention, it is possible to support safe driving when it is impossible to keep moving forward without passing on an oncoming vehicle on a narrow road.

It is a figure which shows schematic structure of the driving assistance system mounted in the vehicle. It is a functional block diagram of the driving assistance system shown in FIG. It is a schematic diagram which shows the road where a vehicle drive | works. It is a conceptual diagram which shows an example of the driving history information which a memory memorize | stores. It is a flowchart which shows the processing flow of the driving assistance system in 1st Embodiment. It is a functional block diagram of the driving assistance system in a 2nd embodiment. It is a flowchart which shows the processing flow of the driving assistance system in 2nd Embodiment. It is a functional block diagram of the driving assistance system in a 3rd embodiment. It is a flowchart which shows the processing flow of the driving assistance system in 3rd Embodiment.

<First Embodiment>
A first embodiment of the present invention will be described below with reference to the drawings.

  As shown in FIG. 1, the driving support system 1 according to this embodiment includes a camera (imaging device) 10 mounted on a vehicle 4, a driving support device 20, a display device 30, and the like. The camera 10 and the display device 30 are each connected to the driving support device 20 via a communication cable or the like to transmit and receive information. The travel support device 20 is connected to an unillustrated ECU (Engine Control Unit) via a communication cable or the like to transmit and receive information. Here, the “vehicle” in the present application means a vehicle that travels on a road, such as a passenger car, a truck, and a bus.

  The camera 10 is installed so as to image the front of the vehicle 4. Moreover, the camera 10 may be installed so that it may image back and left and right directions. As shown in FIG. 2, the camera 10 includes an optical system 11, an image sensor 12, a signal processing unit 13, a communication interface 14, and the like.

  The optical system 11 is a lens that collects light so that the light incident on the optical system 11 is imaged by the imaging device 12. The optical system 11 may be composed of, for example, a fisheye lens or a super wide angle lens. The optical system 11 may be composed of a single lens or a plurality of lenses.

  The image sensor 12 is a solid-state image sensor that captures an image formed by the optical system 11. The solid-state imaging device includes a charge-coupled device (CCD) image sensor and a complementary metal oxide semiconductor (CMOS) image sensor.

  The signal processing unit 13 is a processor that processes an image, for example, a dedicated microprocessor formed to execute a specific function or a processor that executes a specific function by reading a specific program.

  The signal processing unit 13 generates an image signal representing an image formed by the image sensor 12. Further, the signal processing unit 13 may perform arbitrary processing such as distortion correction, brightness adjustment, contrast adjustment, and gamma correction on the image.

  The communication interface 14 outputs the image signal generated by the signal processing unit 13 to the driving support device 20. The communication interface 14 can be a physical connector, a wireless communication device, or the like. Physical connectors include electrical connectors, optical connectors, and electromagnetic connectors. Further, the wireless communication device includes a wireless communication device compliant with each standard including Bluetooth (registered trademark) and IEEE802.11, and an antenna.

  The driving support device 20 includes a communication interface 21, a processor 22, a memory 23, and the like.

  The communication interface 21 receives an image signal output from the camera 10. Further, the communication interface 21 outputs the information acquired, calculated, and extracted by the processor 22 to the display device 30. As with the communication interface 14, the communication interface 21 can be a physical connector, a wireless communication device, or the like.

  The processor 22 is a processor for processing an image signal. For example, a dedicated microprocessor formed to execute a specific function or a general-purpose CPU (central processing unit) that executes a specific function by reading a specific program. : Central Processing Unit).

  The processor 22 acquires travel history information about the road on which the vehicle 4 is traveling. The travel history information includes each position on the road on which the vehicle 4 has traveled and travel path information at each position. The travel path information is information related to the road. For example, the road width W1 of the road, the object width W2 that is the width of an object such as another vehicle on the road, an obstacle, or a power pole, and the width that can be passed on the road W3, a steering angle that is an angle at which the steering wheel is steered, an image captured by the camera 10, and the like are included.

  Specifically, the processor 22 acquires the road width W1 based on the number of pixels in the horizontal direction of the pixels representing the road in the image captured by the camera 10 and received by the communication interface 21. Further, the processor 22 may acquire the road width W <b> 1 using sonar sensors provided on the left and right side surfaces of the vehicle 4. The processor 22 can acquire the road width W1 by an arbitrary method without being limited to these methods.

  Further, the processor 22 detects an object based on the parallax between the two images captured by the two cameras 10, and acquires the object width W2. The processor 22 can acquire the object width W2 by any method without being limited to this method.

  Further, the processor 22 calculates the passable width W3 based on the acquired road width W1 and object width W2. For example, the processor 22 calculates W1-W2 as a traversable width W3 obtained by subtracting the object width W2 from the road width W1. Further, the processor 22 may calculate W1- (W2 + W4) obtained by subtracting the object width W2 and the margin width W4 from the road width W1 as the passable width W3.

Processor 22, road width W1 obtained as described above is equal to or less than a predetermined threshold value W1 _th. When the processor 22 determines that the road width W1 is less than the predetermined threshold value W1 _th, it is assumed that the vehicle 4 starts to travel on a narrow road, and the road on which the vehicle 4 travels is at a predetermined interval (for example, an interval of 2 m), As described above, the road width W1, the object width W2, and the passable width W3 are acquired and stored in the memory 23. Further, when the vehicle 4 starts to travel on a narrow road, the processor 22 starts to store the image captured by the camera 10 in the memory 23 in association with the position P where the image is captured.

For example, the case where the vehicle 4 travels on a road as shown in FIG. 3 will be described as an example. First, it is assumed that the vehicle 4 is traveling on the road shown in the lower part of FIG. 3 toward the left side of the page (see (1) in FIG. 3). In this case, the processor 22 acquires the road width W1 at the position A as 10.0 m. Further, the processor 22 determines whether or not the road width W1 is less than a predetermined threshold value W1 _th of 5.0 m. At the position A, the road width W1 is _{equal to} or greater than the threshold value _W1th , and thus the road width W1 is acquired while traveling.

And if the vehicle 4 turns right after passing the position A (refer (2) of FIG. 3), the processor 22 will acquire road width W1 as 4.0 m about the position B where the vehicle 4 drive | works. Then, the processor 22 determines whether or not the road width W1 of 4.0 m is less than 5.0 m which is a predetermined threshold value W1 _th . At position B, since the road width W1 is less than the threshold _{W1 th,} since the processor 22, as described above, at predetermined intervals, the road width W1, to obtain the object width W2, and passable width W3. Alternatively, the processor 22 starts to store the image captured by the camera 10 in the memory 23.

  Further, as shown in FIG. 4, the processor 22 stores the road width W <b> 1, the object width W <b> 2, and the passable width W <b> 3 at the position P in the memory 23 in association with the position P of the vehicle 4. The position of the vehicle 4 is represented, for example, by a travel distance x from a position where the road width W1 is first determined to be less than a predetermined threshold. The method for representing the position of the vehicle 4 is not limited to this. For example, the vehicle 4 may include a GPS receiver, and the position of the vehicle 4 may be represented by coordinates for identifying the position specified by the GPS receiver.

Further, when it is determined that the road width W1 is less than the predetermined threshold value W1 _th , the processor 22 starts to store the image captured by the camera 10 at the position P in the memory 23 in association with the position P as travel path information. .

  Further, the processor 22 acquires the steering angle of the steering wheel of the vehicle 4 measured by a steering angle sensor or the like and input to the ECU for controlling the vehicle 4 from the ECU. Then, the processor 22 may store the steering angle in the memory 23 together with the road width W1, the object width W2, and the passable width W3 in association with the position P of the vehicle 4.

When the processor 22 determines that the vehicle 4 has finished traveling on the narrow road, the processor 22 ends the processing for storing the travel path information such as the road width W1, the object width W2, the passable width W3, the steering angle, and the image in the memory 23. To do. For example, when the road width W1 equal to or greater than a predetermined threshold value W1 _th is continuously acquired a predetermined number of times (N times) or more, the processor 22 determines that the vehicle 4 starts to travel on a wide road and travels on a narrow road. Is determined to have ended.

The end of the process for storing the travel route information will be described again using the example shown in FIG. For the position D where the vehicle 4 travels, the processor 22 acquires the road width W1 as 8.0 m and the object width W2 as 0 m, and thereby acquires the passable width W3 as 8.0 m. Then, the processor 22 determines that the road width W1 of 8.0 m is equal to or greater than 5.0 m, which is a predetermined threshold value W1 _th . Thereafter, if it is determined that the road width W1 is equal to or greater than the threshold value W1 _th continuously for a predetermined number of times or more, the processor 22 ends the process of acquiring the object width W2 and the passable width W3 and the process of storing the image. , N> 3, in this example, a road width W1 of 8.0 m is acquired at the subsequent positions E and F, and further, the road width W1 is acquired as 4.0 m shorter than the threshold value W1 _th at the next position G. Therefore, the process of storing the travel route information is continued.

  Further, the processor 22 detects the oncoming vehicle 104 when the vehicle 4 starts to travel on the narrow road. Specifically, the processor 22 detects the oncoming vehicle 104 based on an image captured by the camera 10 and received by the communication interface 21. For example, the processor 22 may detect the vehicle 4 captured in the image by using pattern matching or the like, or the oncoming vehicle based on the two images having parallax captured by the two cameras 10. 104 may be detected. Moreover, the processor 22 can detect the oncoming vehicle 104 by arbitrary methods, without being restricted to these methods.

  If the oncoming vehicle 104 is not detected, the processor 22 continues to acquire the road width W1, the object width W2, and the passable width W3 and store them in the memory 23.

  When the oncoming vehicle 104 is detected, the processor 22 performs a passing determination to determine whether or not it can pass the oncoming vehicle 104. Specifically, the processor 22 calculates the width W5 of the oncoming vehicle 104 based on an image captured by the camera 10. Furthermore, the processor 22 determines whether or not it can pass the oncoming vehicle 104 based on the passable width W3, the width W5 of the oncoming vehicle 104, and the width W6 of the vehicle 4. For example, the processor 22 determines whether or not the passing width which is the sum of the width W5 of the oncoming vehicle 104 and the width W6 of the vehicle 4 is less than the passable width W3. The processor 22 determines that the vehicle 4 can pass the oncoming vehicle 104 when the total is less than the passable width W3. Further, the processor 22 determines that the vehicle 4 cannot pass the oncoming vehicle 104 when the total is equal to or larger than the passable width W3.

  When the processor 22 determines that the vehicle 4 cannot pass the oncoming vehicle 104, the processor 22 extracts the passable width W <b> 3 that is equal to or greater than the pass width from the travel history information stored in the memory 23.

  Furthermore, when the passable width W3 that is equal to or greater than the passing width is extracted, the processor 22 determines whether or not the position P that is equal to or greater than the passing width is continuous over a length that is equal to or greater than the entire length of the vehicle 4. The processor 22 extracts a region including the continuous position as a passable region when the position of the passing width or more is continuous over the length of the vehicle 4 or more. This passing area corresponds to an area such as an intersection, a T-junction, and a retreat space in the real space.

Further, the processor 22 outputs and displays the first passable position P _p1 included in the passable area on the display device 30 via the communication interface 21. When the vehicle 4 moves backward from the current position to the first passable position P _p1 , the processor 22 moves to the position P when the vehicle 4 moves backward and reaches each position P stored in the memory 23. The steering angle stored in association with P may be extracted and output to the display device 30 via the communication interface 21. In this case, the steering angle output to the display device 30 is displayed. Further, the processor 22 may output the steering angle to the ECU of the vehicle 4 via the communication interface 21. Thereby, for example, when the vehicle 4 moves backward and reaches each position P, the ECU can support driving based on the steering angle of each position output from the communication interface 21.

  As shown in FIG. 4, the memory 23 stores the position P of the vehicle 4 and the travel route information of the position P in association with each other as travel history information. As described above, the road information includes the road width W1, the object width W2, and the passable width W3 at the position P. Further, although not shown in FIG. 4, the memory 23 stores an image captured at the position P as travel path information. Further, the travel path information may include the steering angle of the steering wheel of the vehicle 4 at the position P. In the example shown in FIG. 4, the memory 23 can pass through at a position where the vehicle 4 travels 2 (m) from the reference position by a road width W1 of 4.0 (m) and an object width W2 of 1.0 (m). It is stored that the width W3 is 3.0 (m) and the steering angle is 0 °.

  The display device 30 includes a communication interface 31, a display processor 32, a display panel 33, and the like.

The communication interface 31 travels from the current position of the vehicle 4 output from the driving support device 20 via the communication interface 21, the first passable position _Pp1, and the current position to the first passable position _Pp1. Receive distance L1. The communication interface 31 is stored in association with the position P output from the travel support device 20 via the communication interface 21 when the vehicle 4 starts to reverse and reaches the position P stored in the memory 23. You may receive the rudder angle. As with the communication interface 14, the communication interface 31 can be a physical connector, a wireless communication device, or the like.

The display processor 32 includes a current position of the vehicle 4 input by the communication interface 31, a first passable position _Pp1 , a travel distance L1 from the current position to the first passable position _Pp1, and the like. Information is displayed on the display panel 33. The display processor 32 may display the steering angle at each position P up to the first passable position P _p1 on the display panel 33.

Based on the control of the display processor 32, the display panel 33 displays the current position of the vehicle 4, the first passable position _Pp1 , the distance from the current position to the first passable position _Pp1 , the steering angle, and the like. To do.

  Then, the driving | running | working assistance method of the driving assistance system 1 of 1st Embodiment is demonstrated with reference to FIG.

  First, during travel of the vehicle 4, the processor 22 of the travel support device 20 acquires the road width W1 of the road on which the vehicle 4 is traveling based on the image captured by the camera 10 (step S11).

When the road width W1 is obtained in step S11, the processor 22, the road width W1 is equal to or less than a predetermined threshold value _{W1 th} (step S12).

When the road width W1 is determined to be less than a predetermined threshold value W1 _th at step S12, the memory 23, the image captured by the camera 10, the image begins to store in association with the position P captured (step S13) . If it is determined in step S12 that the road width W1 is _{equal to} or greater than the predetermined threshold value W1th, the process returns to step S11, and the processor 22 acquires the road width W1 again.

Further, when the road width W1 is determined to be less than a predetermined threshold value W1 _th at step S12, the processor 22, a road width W1 for road traveling of the vehicle 4 at a predetermined interval, the object width W2, and the passable width W3 It is acquired and stored in the memory 23 (step S14).

  When the road width W1, the object width W2, and the passable width W3 start to be stored in step S14, the processor 22 performs a process of detecting the oncoming vehicle 104 and determines whether the oncoming vehicle 104 is detected (step S15). .

  When the oncoming vehicle 104 is not detected in step S15, the processes in step S14 and step S15 are repeated. When the oncoming vehicle 104 is detected in step S15, the processor 22 determines whether or not the vehicle 4 can pass the oncoming vehicle 104 (step S16).

  If it is determined in step S16 that the vehicle can pass the oncoming vehicle 104, the processor 22 returns to step S14 and repeats the process. At this time, the processor 22 may output to the display device 30 that it can pass, and the display device 30 may display it. Thereby, the driver of the vehicle 4 referring to the display of the display device 30 drives to travel forward so as to pass the oncoming vehicle 104.

When it is determined in step S16 that it is impossible to pass the oncoming vehicle 104, the passable width W3 that is equal to or greater than the passing width from the travel history information stored in the memory 23, and the position P stored in association therewith. To extract. Further, the processor 22 determines that the position P where the passable width W3 is equal to or greater than the passing width is continuous with the position P where the position P where the passing width is equal to or greater than the entire length of the vehicle 4 is continuous. Extracted as the first passable position P _p1 included in the included passable area, the display device 30 displays the first passable position P _p1 (step S17).

Here, the processor 22 outputs an image captured while the vehicle 4 travels forward from the first passable position P _p1 to the current position and stores the image on the display device 30 for display. May be. In addition, the processor 22 reads the steering angle stored in the memory 23 in association with each position P at the timing when the vehicle 4 starts moving backward and reaches each position P, and outputs the steering angle to the display device 30 for display. You may let them.

As described above, in the first embodiment, when the vehicle 4 travels, the memory 23 stores the position of the vehicle 4 and the travel route information at the position in association with each other as travel history information. When the oncoming vehicle 104 is detected, the first passable position P _p1 is extracted based on the travel history information in the memory 23. Therefore, when the oncoming vehicle 104 appears on a narrow road and the vehicle 4 moves backward, the first passable position P _p1 is displayed to the driver based on the situation of the road on which the vehicle 4 actually travels. Can do. Accordingly, the driver can grasp at an early stage a position where the driver can surely pass the oncoming vehicle 104, and can perform an operation for moving the vehicle 4 backward with peace of mind.

In the first embodiment, the processor 22 extracts the first passable position P _p1 based on the width of the oncoming vehicle 104 and the width and length of the vehicle 4. Therefore, a position where the oncoming vehicle 104 and the vehicle 4 can reliably pass each other can be grasped. For example, it is possible to avoid a situation where the width or length of the vehicle 4 does not fit within the evacuation area and cannot pass again, and a position where the vehicle can pass can be re-examined, and the first passable position P _p1 can be efficiently achieved. Can move.

Moreover, in 1st Embodiment, the image imaged when the vehicle 4 is drive | working the narrow road is memorize | stored. Therefore, when the vehicle 4 detects the oncoming vehicle 104 and moves backward, an image representing the surrounding situation from the current position to the first passable position P _p1 can be displayed. Accordingly, the driver can move backward after grasping the surrounding situation, and can perform safer driving.

Further, in the first embodiment, since the steering angle information indicating the steering angle at each position of the vehicle 4 is displayed when the vehicle 4 is traveling, the vehicle 4 detects the oncoming vehicle 104 and detects the first passing position P. _When reversing to _p1, it is possible to grasp how much and what position should be steered, and it is possible to perform safer driving.

In the first embodiment, when the processor 22 continuously acquires a road width W1 that is a predetermined number of times or more and a predetermined threshold value W1 _th or more, the road width W1, the object width W2, the passable width W3, the steering angle Then, the process of storing the image or the like in the memory 23 is terminated. In this case, it is presumed that the vehicle 4 has finished traveling on a narrow road, that is, is traveling on a wide road, and does not store information for assisting driving while passing the oncoming vehicle 104. Therefore, the storage capacity of the memory 23 can be saved.

<Second Embodiment>
Subsequently, a second embodiment of the present invention will be described with reference to the drawings.

  As illustrated in FIG. 6, the driving support system 2 according to the second embodiment includes a camera 10, a driving support device 20, a display device 30, and the like, similar to the driving support system 1 according to the first embodiment. Consists of.

  The driving support apparatus 20 of the second embodiment includes a communication interface 21, a processor 22, a memory 23, and the like.

  The communication interface 21 of the second embodiment receives the image signal output by the camera 10 and outputs the information acquired, calculated, and extracted by the processor 22 to the display device 30. Although it is the same as the interface 21, it differs in the point which transmits / receives information via the communication interface 121 of the driving assistance apparatus 120 with which the oncoming vehicle 104 is equipped similarly, and a vehicle-to-vehicle communication network.

Specifically, the communication interface 21 detects the current position of the oncoming vehicle 104 and the second passable position P _p2, which is a position that can be passed when the oncoming vehicle 104 moves backward, extracted by the processor 122 of the oncoming vehicle 104. Is received from the communication interface 121. In addition, the communication interface 21 transmits passing information including the first passable position P _p1 that is a passable position when the vehicle 4 moves backward to the communication interface 121.

  Further, the processor 22 of the second embodiment has the same function as the processor 22 of the first embodiment.

Furthermore, if the processor 22 of the second embodiment detects the oncoming vehicle 104 and determines that it is impossible to pass, the processor 4 determines whether the vehicle 4 moves forward or backward, or advances or retreats. That is, the processor 22 according to the second embodiment determines whether the first passing possible position P _p1 or the second passing possible position P _p2 passes the oncoming vehicle 104.

Specifically, the processor 22 has a travel distance L1 from the current position of the vehicle 4 to the first passable position _Pp1, and a travel distance L2 from the current position of the oncoming vehicle 104 to the second passable position _Pp2. To determine whether or not the travel distance L1 is equal to or greater than the travel distance L2. When the processor 22 determines that the travel distance L1 is equal to or greater than the travel distance L2, the vehicle 4 moves forward and outputs information indicating that the oncoming vehicle 104 should move backward to the display device 30. When the processor 22 determines that the travel distance L1 is less than the travel distance L2, the processor 22 outputs information indicating that the vehicle 4 moves backward and the oncoming vehicle 104 moves forward to the display device 30.

  Since other configurations and operations in the second embodiment are the same as those in the first embodiment, the same or corresponding components are denoted by the same reference numerals and description thereof is omitted.

  Then, the driving | running | working assistance method of the driving assistance system 2 of 2nd Embodiment is demonstrated with reference to FIG.

  First, during travel of the vehicle 4, the processor 22 of the travel support device 20 acquires the road width W1 of the road on which the vehicle 4 is traveling based on the image captured by the camera 10 (step S21).

When the road width W1 is obtained in step S21, the processor 22, the road width W1 is equal to or less than a predetermined threshold value _{W1 th} (step S22).

When the road width W1 is determined to be less than a predetermined threshold value W1 _th at step S22, the memory 23, the image captured by the camera 10, the image begins to store in association with the position P captured (step S23) . If it is determined in step S22 that the road width W1 is _{equal to} or greater than the predetermined threshold value W1th, the process returns to step S21, and the processor 22 acquires the road width W1 again.

When the road width W1 is determined to be less than a predetermined threshold value _{W1 th} at step S22, the processor 22 is running for a predetermined distance for road vehicles 4 (e.g., 2m intervals) road width at W1, the object width W2, and traffic The possible width W3 is acquired and stored in the memory 23 (step S24).

  When the road width W1, the object width W2, and the passable width W3 are acquired in step S24, the processor 22 performs a process of detecting the oncoming vehicle 104, and determines whether the oncoming vehicle 104 is detected (step S25). .

  When the oncoming vehicle 104 is not detected in step S25, the processes in step S24 and step S25 are repeated. When the oncoming vehicle 104 is detected in step S25, the processor 22 determines whether or not the vehicle 4 can pass the oncoming vehicle 104 (step S26).

If it is determined in step S26 that the vehicle can pass the oncoming vehicle 104, the processor 22 returns to step S24 and repeats the process. At this time, the communication interface 21 may output to the display device 30 that the passing is possible and the display device 30 may display it. If it is determined in step S <b> 26 that it is impossible to pass the oncoming vehicle 104, the processor 22 can perform the first passing when the vehicle 4 moves backward based on the travel history information stored in the memory 23. The position P _p1 is extracted, and the travel distance L1 from the current position to the first passable position P _p1 is calculated (step S27).

If it is determined in step S26 that it is impossible to pass the oncoming vehicle 104, the communication interface 21 notifies the travel support device 120 of the oncoming vehicle 104 to the current position of the vehicle 104 and the second passable position. The passing information including P _p2 is requested and received (step S28). Further, in response to a request from the driving support device 120, the communication interface 21 transmits passing information including the current position of the vehicle 4 and the first passable position P _p1 extracted in step S26 (step S28). .

When the passing information is received from the oncoming vehicle 104 in step S28, the processor 22 allows the second driving distance L1 from the current position of the vehicle 4 to the first passable position _Pp1 from the current position of the oncoming vehicle 104. It is determined whether or not the travel distance L2 to the position _Pp2 is longer (step S29).

  If it is determined in step S <b> 29 that the travel distance L <b> 1 is longer than the travel distance L <b> 2, the processor 22 outputs information indicating that the vehicle 4 moves forward to the display device 30 via the communication interface 21. Information is displayed (step S30). When information is displayed by the display device 30 in step S30, the process returns to step S24 and the process is repeated.

  On the other hand, if it is determined in step S29 that the travel distance L1 is equal to or less than the travel distance L2, the processor 22 determines whether or not the travel distance L1 is less than the travel distance L2 (step S31).

  If it is determined in step S <b> 31 that the travel distance L <b> 1 is less than the travel distance L <b> 2, the processor 22 outputs information indicating that the vehicle 4 moves backward to the display device 30 via the communication interface 21. Displays information (step S32).

When the information is displayed on the display device 30 in step S32, the processor 22 outputs the first passable position P _p1 to the display device 30 via the communication interface 21, and the display device 30 displays the first information. The possible passing position P _p1 is displayed (step S33).

If it is determined in step S31 that the travel distance L1 is not less than the travel distance L2, that is, the travel distance L1 and the travel distance L2 are equal, the communication interface 21 can pass from the oncoming vehicle 104 at the second passable position _Pp2 . receiving the width W32, the processor 22 determines whether the passable width W31 is longer than the passable width W32 of the first passing possible position _{P p1} (step S34).

  When it is determined in step S34 that the passable width W31 is longer than the passable width W32, the processor 22 outputs information indicating that the vehicle 4 moves backward to the display device 30 via the communication interface 21, and the display device 30 displays information (step S32).

  If it is determined in step S34 that the passable width W31 is less than the passable width W32, information indicating that the vehicle 4 moves forward is output to the display device 30 via the communication interface 21, and the display device 30 outputs the information. Display (step S30).

In step S34, if the passable width W31 is determined to be equal to passable width W32, the processor 22, for each position P on the travel path from the current position of the vehicle 4 to the first passing positionable P _p1 statistics passing possible width W3 (mean, median, etc.) is longer than the statistics of the passable width W3 of each position P in the travel path from the current position of the oncoming vehicle 104 to the second pass-possible position P _p2 Whether the vehicle 4 is advancing or retracting may be determined based on whether or not the vehicle 4 is moving.

Further, in step S34, the processor 22 determines that the statistical value (average value, median value, etc.) of the passable width W3 of each position P on the travel path from the current position of the vehicle 4 to the first passable position _Pp1 . It may be determined whether or not the current value of the oncoming vehicle 104 is longer than the statistical value of the passable width W3 of each position P on the travel path from the second passable position _Pp2 . Here, if it is determined that the statistic is equal, based on the W32 in passing possible width W31 and passing possible position P _p2 at passing possible position P _p1, it may determine the forward and backward of the vehicle 4 .

  Further, the processor 22 is not limited to these methods, and may determine advance / retreat by any method.

  In addition, when the communication interface 21 transmits the passing information of the vehicle 4 to the driving support device 120 in step S28, the driving support device 120 of the oncoming vehicle 104 is similarly moved forward and backward based on the driving distance L1 and the driving distance L2. Judgment can be made.

As described above, according to the second embodiment, when the oncoming vehicle 104 is detected on a narrow road and the vehicle 4 moves backward, the processor 22 is based on the situation of the road on which the vehicle 4 has actually traveled. Thus, the first passable position P _p1 can be extracted. Accordingly, the driver can grasp the position where the driver can surely pass the oncoming vehicle 104 at an early stage, and can perform an operation for reversing the vehicle 4 with the same effect as in the first embodiment. can get.

Further, according to the second embodiment, when the vehicle 4 detects the oncoming vehicle 104, is the vehicle 4 moved backward and the oncoming vehicle 104 moved forward, or the vehicle 4 moved forward and the oncoming vehicle 104 moved backward? _Is determined based on the travel distances L1 and L2 from the current position to the first and second passable positions P _p1 and P _p2 , respectively. Therefore, it is possible to grasp the smaller one of the travel distance L1 in which the vehicle 4 moves backward and the travel distance L2 in which the oncoming vehicle 104 moves backward. For this reason, it is possible to display a moving method with a small amount of backward movement, and the vehicle 4 and the oncoming vehicle 104 smoothly move to the first passable position P _p1 or the second passable position P _p2. You can pass each other.

<Third Embodiment>
Subsequently, a third embodiment of the present invention will be described with reference to the drawings.

  As shown in FIG. 8, the driving support system 1 according to the third embodiment includes a camera 10, a driving support device 20, a display device 30, and the like, similarly to the driving support system 2 according to the second embodiment. Consists of.

  The driving support device 20 of the third embodiment includes a communication interface 21, a processor 22, a memory 23, and the like.

  Similar to the communication interface 21 of the second embodiment, the communication interface 21 of the third embodiment receives an image output by the camera 10 and sends information acquired, calculated, and extracted by the processor 22 to the display device 30. Output. Moreover, the communication interface 21 transmits and receives information via the communication interface 121 of the driving assistance apparatus 120 with which the oncoming vehicle 104 is similarly provided and the inter-vehicle communication network.

  Furthermore, the communication interface 21 transmits and receives information via the communication interface 221 of the driving support apparatus 220 similarly provided in the following vehicle 204 and the inter-vehicle communication network.

  The processor 22 according to the third embodiment determines whether there is a subsequent vehicle 204 traveling in the same direction as the vehicle 4 travels. The method for determining whether or not the following vehicle 204 is present may be any method, for example, based on an image captured by a camera that captures the rear of the vehicle 4.

Further, when the processor 22 determines that it cannot pass the oncoming vehicle 104 and determines that the subsequent vehicle 204 exists, the communication interface 21 determines that the current position of the subsequent vehicle 204 and the driving support device 220 are present. The driving support device 220 of the following vehicle 204 is requested to transmit the passing information including the third passable position P _p3 detected when the subsequent vehicle 204 moves backward. Receive.

Further, the processor 22 determines advance / retreat based on the passing information received from the driving support device 120 of the oncoming vehicle 104 and the passing information received from the driving support device 220 of the following vehicle 204. That is, the processor 22 determines whether the vehicle 4 passes the oncoming vehicle 104 at the first passable position P _p1, the third passable position P _p3 , or the second passable position P _p2. .

Specifically, the processor 22 calculates a travel distance L2 from the current position of the oncoming vehicle 104 included in the passing information received from the driving support device 120 to the second passable position P _p2 . Similarly, the processor 22 calculates a travel distance L3 from the current position of the succeeding vehicle 204 to the third passable position _Pp3 . Then, the processor 22 determines whether the vehicle 4 moves forward or backward based on the travel distance L1, the travel distance L2, and the travel distance L3 from the current position of the vehicle 4 to the first passable position _Pp1 . Determine.

  For example, the processor 22 determines whether or not the sum of the travel distance L1 and the travel distance L3 is equal to or greater than the travel distance L2. When the processor 22 determines that the sum of the travel distance L1 and the travel distance L3 is equal to or greater than the travel distance L2, the processor 22 informs the display device 30 that the vehicle 4 and the following vehicle 204 are moving forward and the oncoming vehicle 104 is moving backward. Output. Further, when the processor 22 determines that the sum of the travel distance L1 and the travel distance L3 is less than the travel distance L2, the display device displays information that the vehicle 4 and the following vehicle 204 move backward and the oncoming vehicle 104 moves forward. Output to 30. The algorithm used for the processor 22 to determine advance / retreat based on the travel distances L1, L2, and L3 is not limited to this, and the processor 22 may perform the determination using an arbitrary algorithm.

  Since other configurations and operations in the third embodiment are the same as those in the second embodiment, the same or corresponding components are denoted by the same reference numerals and description thereof is omitted.

  Then, the driving | running | working assistance method of the driving assistance system 3 of 3rd Embodiment is demonstrated with reference to FIG.

  First, during the traveling of the vehicle 4, the processor 22 of the traveling support device 20 acquires the road width W1 of the road on which the vehicle 4 is traveling based on the image captured by the camera 10 (step S41).

When the road width W1 is obtained in step S41, the processor 22, the road width W1 is equal to or less than a predetermined threshold value _{W1 th} (step S42).

When the road width W1 is determined to be less than a predetermined threshold value _{W1 th} at step S42, the memory 23 starts to store the image captured by the camera 10 (step S43).

  When the image starts to be stored in the memory 23 in step S43, the processor 22 acquires the road width W1, the object width W2, and the passable width W3 at predetermined intervals (for example, 2 m intervals) for the road on which the vehicle 4 travels, The data is stored in the memory 23 (step S44).

  When the road width W1, the object width W2, and the passable width W3 are acquired in step S44, the processor 22 performs processing for detecting the oncoming vehicle 104 and determines whether the oncoming vehicle 104 has been detected (step S45). .

  When the oncoming vehicle 104 is not detected in step S45, the processes of step S44 and step S45 are repeated. When the oncoming vehicle 104 is detected in step S45, the processor 22 determines whether or not the vehicle 4 can pass the oncoming vehicle 104 (step S46).

  If it is determined in step S46 that the vehicle can pass the oncoming vehicle 104, the processor 22 returns to step S44 and repeats the process. At this time, the processor 22 may output information indicating that it can pass each other to the display device 30 via the communication interface 21, and the display device 30 may display the information.

If it is determined in step S46 that it is impossible to pass the oncoming vehicle 104, the processor 22 can perform the first passing when the vehicle 4 moves backward based on the travel history information stored in the memory 23. The position P _p1 is extracted, and the travel distance L1 from the current position to the first passable position P _p1 is calculated (step S47).

  If it is determined in step S46 that it is impossible to pass the oncoming vehicle 104, the communication interface 21 requests and receives the passing information from the driving support device 120 of the oncoming vehicle 104 (step S48).

  When it is determined in step S46 that it is impossible to pass the oncoming vehicle 104, the processor 22 determines whether or not the following vehicle 204 exists (step S49).

If it is determined in step S49 that the following vehicle 204 exists, the communication interface 21 requests and receives the passing information including the third passing position P _p3 from the driving support device 220 of the following vehicle 204 (step S50). ).

When the passing information is received from the driving support device 220 in step S50, the processor 22 determines that the sum of the driving distance L1 and the driving distance L3 from the current position of the succeeding vehicle 204 to the third passable position P _p3 is the oncoming vehicle. 104 of the oncoming vehicle 104 from the current position is determined is longer or not than the running distance L2 to a second passing positionable _{P p2} when retracted (step S51).

  If it is determined in step S51 that the sum of the travel distance L1 and the travel distance L3 is longer than the travel distance L2, the processor 22 sends information indicating that the vehicle 4 moves forward to the display device 30 via the communication interface 21. The display device 30 displays the information indicating that the vehicle 4 moves forward (step S52). Further, the communication interface 21 transmits information indicating that the vehicle 4 moves forward to the driving support device 120 and the driving support device 220 (step S52). When display and transmission to the effect that the vehicle 4 moves forward is performed in step S52, the process returns to step S44 and the process is repeated.

  If it is determined in step S51 that the sum of the travel distance L1 and the travel distance L3 is equal to or less than the travel distance, the processor 22 determines whether or not the travel distance L1 is less than the travel distance L2 (step S53). .

  When it is determined in step S53 that the sum of the travel distance L1 and the travel distance L3 is less than the travel distance L2, the processor 22 notifies the display device 30 of information indicating that the vehicle 4 moves backward via the communication interface 21. The information is output and the display device 30 displays information (step S54). Further, the communication interface 21 transmits information indicating that the vehicle 4 moves backward to the driving support device 120 and the driving support device 220 (step S54).

In step S54, when the information indicating that the vehicle 4 moves backward is transmitted by the display device 30 via the display and communication interface 21, the processor 22 extracts the first passable position P _p1 . Then, the processor 22 outputs the extracted first passable position P _p1 to the display device 30 via the communication interface 21, and the display device 30 displays the first passable position P _p1 (step). S55).

When it is determined in step S53 that the sum of the travel distance L1 and the travel distance L3 is not less than the travel distance L2, that is, the sum of the travel distance L1 and the travel distance L3 is equal to the travel distance L2, the communication interface 21 from 104 receives the passable width W32 at the second passing positionable _{P p2,} the processor 22 determines whether the passable width W31 is longer than the passable width W32 of the first passing possible position _{P p1} ( Step S56).

  When it is determined in step S56 that the passable width W31 is longer than the passable width W32, the processor 22 outputs information indicating that the vehicle 4 moves backward to the display device 30 via the communication interface 21, and the display device 30 displays information (step S54).

  If it is determined in step S56 that the passable width W31 is less than the passable width W32, information indicating that the vehicle 4 moves forward is output to the display device 30 via the communication interface 21, and the display device 30 outputs the information. Displayed (step S52).

In step S56, if the passable width W31 is determined to be equal to passable width W32, the processor 22, for each position P on the travel path from the current position of the vehicle 4 to the first passing positionable P _p1 statistics passing possible width W3 (mean, median, etc.) is longer than the statistics of the passable width W3 of each position P in the travel path from the current position of the oncoming vehicle 104 to the second pass-possible position P _p2 Whether the vehicle is moving forward or backward may be determined based on whether the vehicle 4 or the oncoming vehicle 104 is in succession.

  Further, the processor 22 may determine whether to advance or retreat based on the number of succeeding vehicles or the statistical value of the possible passing width W3 in step S56. Further, the processor 22 is not limited to these methods, and may determine advance / retreat by any method.

  On the other hand, if it is determined in step S49 that the following vehicle 204 does not exist, the processor 22 determines whether or not the travel distance L1 is longer than the travel distance L2 (step S57).

  If it is determined in step S57 that the travel distance L1 is longer than the travel distance L2, the processor 22 outputs information indicating that the vehicle 4 moves forward to the display device 30 via the communication interface 21, and the display device 30 Information is displayed (step 58). When information indicating that the vehicle 4 moves forward is displayed on the display device 30 in step S58, the process returns to step S44 and the process is repeated.

  On the other hand, if it is determined in step S57 that the travel distance L1 is equal to or less than the travel distance L2, the processor 22 determines whether or not the travel distance L1 is less than the travel distance L2 (step S59).

  If it is determined in step S59 that the travel distance L1 is less than the travel distance L2, the processor 22 outputs information indicating that the vehicle 4 moves backward to the display device 30 via the communication interface 21, and the display device 30 displays the information. Is displayed (step S60).

If it is determined in step S59 that the travel distance L1 is not less than the travel distance L2, that is, the travel distance L1 is equal to the travel distance L2, the communication interface 21 can pass from the oncoming vehicle 104 to the second passable position P _p2 . receives the W32, the processor 22 determines whether the passable width W31 is longer than the passable width W32 of the first passing possible position _{P p1} (step S61).

  When it is determined in step S61 that the passable width W31 is longer than the passable width W32, the processor 22 outputs information indicating that the vehicle 4 moves backward to the display device 30 via the communication interface 21, and the display device 30 displays information (step S60).

  If it is determined in step S61 that the passable width W31 is less than the passable width W32, information indicating that the vehicle 4 moves forward is output to the display device 30 via the communication interface 21, and the display device 30 outputs the information. Display (step 58).

In step S60, when the display device 30 displays that the vehicle 4 is moving backward, the processor 22 extracts the first passable position P _p1 . Then, the processor 22 outputs the extracted first passable position P _p1 to the display device 30 via the communication interface 21, and the display device 30 displays the first passable position P _p1 (step S55). ).

In step S61, if the passable width W31 is determined to be equal to passable width W32, the processor 22, for each position P on the travel path from the current position of the vehicle 4 to the first passing positionable P _p1 statistics passing possible width W3 (mean, median, etc.) is longer than the statistics of the passable width W3 of each position P in the travel path from the current position of the oncoming vehicle 104 to the second pass-possible position P _p2 Whether to advance or retreat may be determined based on whether or not there is a succeeding vehicle in the oncoming vehicle 104. Further, the processor 22 is not limited to these methods, and may determine advance / retreat by any method.

As described above, according to the third embodiment, when the oncoming vehicle 104 appears on a narrow road and the vehicle 4 moves backward, the processor 22 is based on the situation of the road on which the vehicle 4 has actually traveled. Thus, the first passable position P _p1 can be extracted. As a result, the driver can grasp the position where the vehicle can surely pass the oncoming vehicle 104 at an early stage, and can perform an operation for moving the vehicle 4 backward with peace of mind. The same effect as the first embodiment can be obtained. can get.

Further, according to the third embodiment, when the vehicle 4 detects the oncoming vehicle 104 and the following vehicle 204, the vehicle 4 and the following vehicle 204 move backward and the oncoming vehicle 104 moves forward, or the vehicle 4 and the following vehicle. The distance traveled L1 from the position of each vehicle 4, 104, 204 to the first, second, and third passable positions P _p1 , P _p2 , P _p3 , whether 204 moves forward and the oncoming vehicle 104 moves backward, The determination is based on L2 and L3. Therefore, it is possible to grasp a method in which the total amount of movement of the vehicle 4, the oncoming vehicle 104, and the following vehicle 204 is small, and it is possible to pass each other smoothly.

<Fourth Embodiment>
Next, a fourth embodiment of the present invention will be described with reference to the drawings.

  Similar to the driving support system 1 according to the first embodiment shown in FIG. 1, the driving support system 1 according to the fourth embodiment includes a camera 10, a driving support device 20, a display device 30, and the like. The

The travel support device 20 according to the first embodiment acquires the road width W1, the object width W2, and the like acquired when the vehicle 4 travels, and stores the road width information together with the image captured by the camera 10 in the memory 23. And if the driving assistance apparatus 20 of 1st Embodiment detects the oncoming vehicle 104, based on driving | running history information containing each position and driving road information from which the image which concerns on driving road information was imaged, it will be 1st passing. The possible position P _p1 is extracted. However, the driving support device 20 of the fourth embodiment stores in the memory 23 as driving history information including only the road image information captured by the camera 10 and the position where the image is captured when the vehicle 4 is traveling. To do. Then, when detecting the oncoming vehicle 104, the driving support device 20 of the fourth embodiment acquires the road width W1, the object width W2, the passable width W3, and the like based on the image stored in the memory 23, and the first The position P _p1 that can be passed may be extracted.

As described above, according to the fourth embodiment, when the oncoming vehicle 104 appears on a narrow road and the vehicle 4 moves backward, the processor 22 is based on the situation of the road on which the vehicle 4 has actually traveled. Thus, the first passable position P _p1 can be extracted. As a result, the driver can grasp the position where the vehicle can surely pass the oncoming vehicle 104 at an early stage, and can perform an operation for moving the vehicle 4 backward with peace of mind. The same effect as the first embodiment can be obtained. can get.

  Further, according to the fourth embodiment, the processor 22 does not acquire the road width W1, the object width W2, and the like during traveling, and stores only the image captured by the camera 10 in the memory 23. Then, the processor 22 acquires the road width W1, the object width W2, and the like based on the image stored in the memory 23. Thereby, for example, when the processor 22 does not detect the oncoming vehicle 104 while the vehicle 4 is traveling on a narrow road, it is not necessary to perform a process of acquiring the road width W1, the object width W2, and the like. Therefore, the processing load on the processor 22 can be reduced.

  Although the above embodiment has been described as a representative example, it will be apparent to those skilled in the art that many changes and substitutions can be made within the spirit and scope of the invention. Therefore, the present invention should not be construed as being limited by the above-described embodiments and examples, and various modifications and changes can be made without departing from the scope of the claims. For example, a plurality of constituent blocks described in the embodiments and examples can be combined into one, or one constituent block can be divided.

  In the second and third embodiments, the communication interface 21 of the vehicle 4 transmits and receives information via the communication interface 121 of the oncoming vehicle 104 and the communication interface 221 of the following vehicle 204 and the inter-vehicle communication network. Not limited to. For example, the communication interface 21 may transmit / receive information to / from the communication interface 121 and the communication interface 221 via a communication base station.

  In the second and third embodiments, the processor 22 determines whether or not passing is possible, and the passing width which is the sum of the width W5 of the oncoming vehicle 104 and the width W6 of the vehicle 4 is the passable width W3. Although it was determined whether it is less than this, it is not this limitation. The processor 22 may determine whether the sum of the width W5 of the oncoming vehicle 104, the width W6 of the vehicle 4, and the width required between the vehicle 4 and the oncoming vehicle 104 is less than the passable width W3. .

  In the second and third embodiments, the communication interface 21 of the vehicle 4 receives the passing information of the oncoming vehicle 104 output from the communication interface 121 of the oncoming vehicle 104, but this is not restrictive. For example, the communication interface 21 may receive the travel distance L2 calculated by the travel support device 120 of the oncoming vehicle 104. Similarly, in the third embodiment, the communication interface 21 may receive the travel distance L3 calculated by the travel support device 220 of the subsequent vehicle 204 instead of the passing information of the subsequent vehicle 204.

In the second and third embodiments, the display device 30 displays the first passable position P _p1 after the fact that the vehicle 4 moves backward is displayed. However, the present invention is not limited to this. For example, the processor 22 may simultaneously output information indicating that the vehicle 4 is moving backward and the first passable position P _p1 , and the display device 30 may display these simultaneously.

  Further, in the third embodiment, when there are two or more following vehicles 204 behind the vehicle 4, and when there are following vehicles 204 behind the oncoming vehicle 104, the processor 22 determines the following vehicles 204. Based on the information, the advance / retreat may be determined.

  In the above-described embodiment, the camera 10 and the driving support device 20 are configured as separate bodies. However, the camera 10 may include a processor 22 and a memory 23 included in the driving support device 20.

  In the above-described embodiment, the travel path information stored in the memory 23 includes the road width W1, the object width W2, and the passable width W3 at the position P. However, the present invention is not limited to this. For example, the memory 23 may store only the road width W1 and the object width W2 as travel path information. In this case, after detecting the oncoming vehicle 104, the processor 22 calculates the passable width W3 based on the road width W1 and the object width W2 stored in the memory 23, and determines whether it is possible to pass each other. To do.

1, 2, 3 Driving support system 4 Vehicle 10 Camera (imaging device)
DESCRIPTION OF SYMBOLS 11 Optical system 12 Image pick-up element 13 Signal processing part 14 Communication interface 20,120,220 Running support apparatus 21,121,221 Communication interface 22,122,222 Control part 23,123,223 Memory 30 Display apparatus 31 Communication interface 32 For display Processor 33 Display panel 104 Oncoming vehicle 204 Subsequent vehicle

Claims (10)

A communication interface for receiving, when the vehicle is running, the position of the vehicle and the road information about the road on which the vehicle is running;
A memory for associating and storing the vehicle position and travel route information at the vehicle position as travel history information;
When an oncoming vehicle of the vehicle is detected, a region where the vehicle and the oncoming vehicle can pass is extracted based on the travel history information stored in the memory, and a first position including the position of the region is extracted. And a processor that outputs information.   The driving support device according to claim 1, wherein the processor extracts the passable area based on a width of the oncoming vehicle and a width and a length of the vehicle. The communication interface receives an image of the road imaged by a camera;
The processor calculates a width of a road on which the vehicle is traveling based on the image received by the communication interface when the vehicle is traveling.
The memory stores the road width calculated by the processor as the travel route information,
3. The driving support according to claim 1, wherein when the oncoming vehicle is detected, the processor outputs information on the first passable position based on the road width of each position stored in the memory. apparatus. The communication interface receives an image of the road imaged by a camera;
The memory stores the image received by the communication interface as the travel route information,
When the processor detects the oncoming vehicle, the processor calculates a road width at each position of the road on which the vehicle has traveled based on the image included in the travel history information stored in the memory, and the road width at each position. The driving support device according to claim 1, wherein information related to the first passable position is output based on the first position. The communication interface receives input of rudder angle information representing the rudder angle of the vehicle when the vehicle is running,
The memory further stores the steering angle information received by the communication interface in association with the position related to the steering angle information as the traveling road information,
5. The travel according to claim 1, wherein the processor outputs the position from the current position of the vehicle to the first passable position and the steering angle information associated with the position. 6. Support device. When the oncoming vehicle is detected by the processor, the communication interface receives, from the oncoming vehicle, a second passable position that is a passable position when the oncoming vehicle moves backward;
5. The driving support device according to claim 1, wherein the processor determines which of the first passable position and the second passable position is to pass the oncoming vehicle. 6. When the processor determines that the processor cannot pass the oncoming vehicle and a succeeding vehicle of the vehicle is detected, the communication interface and the oncoming vehicle when the succeeding vehicle moves backward from the succeeding vehicle. Receiving passing information including a third passable position that is a passable position with the following vehicle;
The processor, based on the first passable position, the second passable position, and the third passable position, the first passable position and the second passable position, The driving support device according to claim 6, wherein it is determined which of the vehicle and the oncoming vehicle passes. A driving support method executed by the driving support device,
The driving support device receiving a vehicle position and driving road information relating to a road on which the vehicle is running when the vehicle is driving;
The driving support device associates the position of the vehicle with the driving path information at the position of the vehicle and stores it as driving history information;
When the driving support device detects an oncoming vehicle of the vehicle, an area in which the vehicle and the oncoming vehicle can pass is extracted based on the driving history information stored in the memory, Outputting the first position information including the position. A lens,
An image sensor;
A communication interface that receives the position of the vehicle and travel route information relating to the road on which the vehicle is traveling, and a memory that stores the vehicle position and travel route information at the position of the vehicle in association with each other as travel history information; When an oncoming vehicle of the vehicle is detected, a region where the vehicle and the oncoming vehicle can pass is extracted based on the travel history information stored in the memory, and a first position including the position of the region is extracted. A driving support device including a processor that outputs position information;
An imaging apparatus comprising: A lens,
An image sensor;
A communication interface that receives the position of the vehicle and travel route information relating to the road on which the vehicle is traveling, and a memory that stores the vehicle position and travel route information at the position of the vehicle in association with each other as travel history information; When an oncoming vehicle of the vehicle is detected, a region where the vehicle and the oncoming vehicle can pass is extracted based on the travel history information stored in the memory, and a first position including the position of the region is extracted. A driving support device including a processor that outputs position information;
A display device for displaying the first position information output by the processor;
A vehicle comprising:

Images