JP2019015999A5 - - Google Patents

Claims (11)

A driving assistance device that assists driving of the own vehicle passing through an intersection where a branch lane is attached to an oncoming lane,
Imaging means for photographing a predetermined range in front of the host vehicle and including the branch lane,
First determining means for determining a moving direction of a vehicle ahead of the host vehicle based on an image captured by the image capturing means;
Second determining means for determining a driving state of the host vehicle;
The first determining means determines that there is a vehicle moving in the left-right direction and a vehicle moving in the vertical direction in the captured image, and the second determining means determines whether the own vehicle starts or Driving support means for performing predetermined driving support for the driver of the own vehicle when it is determined that traveling has been continued,
A driving assistance device comprising: The first determination unit determines a traveling direction of the host vehicle based on the captured image,
The driving support means performs a predetermined driving support to a driver of the own vehicle when the first determining means determines that the own vehicle runs across the oncoming lane. The driving support device according to claim 1, wherein The first determination unit determines whether the road including the traveling lane of the own vehicle is in a state in which traveling is permitted, based on the captured image,
The driving assistance unit, when the first determination unit determines that traveling on a road including the traveling lane of the host vehicle is permitted, provides predetermined driving assistance to the driver of the host vehicle. The driving assistance device according to claim 1, wherein the driving assistance device is implemented.   4. The method according to claim 1, wherein the first determining unit determines a moving direction of the vehicle ahead of the host vehicle based on a moving state of the vehicle or an optical flow within a predetermined time. 5. The driving support device according to the above.   The said 1st determination means sets the said predetermined range to the range corresponding to the distance which the said own vehicle can stop safely based on the speed of the said own vehicle, The Claims 1 characterized by the above-mentioned. 5. The driving support device according to any one of 4.   The driving assistance device according to any one of claims 1 to 5, wherein the driving assistance unit includes an alarm unit that issues an alarm to the driver.   The driving assistance device according to any one of claims 1 to 6, wherein the driving assistance unit includes a vibration generation unit that draws the driver's attention by vibration.   The driving assistance device according to any one of claims 1 to 7, wherein the driving assistance unit includes a deceleration control unit that reduces a speed of the host vehicle.   The apparatus further includes a raindrop detecting unit and / or a road surface condition checking unit, and the driving support unit changes a timing of performing the driving support according to an output from the raindrop detecting unit and / or the road surface condition checking unit. The driving support device according to any one of claims 1 to 8, wherein: The intersection is a crossing where a right turn lane provided in the oncoming lane and a right turn lane provided in the traveling lane of the own vehicle are arranged to face each other with a traffic light interposed therebetween. The driving support device according to claim 9. The driving support means is configured to provide a predetermined driving support to the driver of the host vehicle when the host vehicle crosses a road including the driving lane of the host vehicle and turns right on a road having a plurality of lanes. The driving support device according to claim 10, wherein: