JP2019064406A - Operation support device and operation support method - Google Patents

Abstract

To cause an operator to perform optimum operation in order to avoid collision with an obstacle.SOLUTION: Provided is an operation support device 400 comprising: an obstacle determination part 404 which determines whether there is an obstacle or not in the front of a vehicle; and a display control part 408 which controls display of a pattern 12 which moves according to an operation of a steering wheel 10, and controls movement of the pattern 12 with respect to movement of the steering wheel 10 when it is determined that there is an obstacle. By this configuration, an operator can perform optimum steering in order to avoid collision with an obstacle.SELECTED DRAWING: Figure 1

Description

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

  Conventionally, in Patent Document 1 below, based on the calculated required steering amount and the detected current steering amount of the steering wheel 1, a visual pattern P2 that moves independently of the operation of the steering wheel is used to steer the vehicle. It is described to move with respect to the visual pattern P1 which moves in conjunction with the operation of the wheel.

  Further, Patent Document 2 described below describes a technology for reliably determining a collision with an approaching object to which the host vehicle approaches even while the host vehicle is stopped or traveling at low speed.

Unexamined-Japanese-Patent No. 2006-298196 JP 2014-149741A

  The technology described in Patent Document 1 calculates the required steering amount required for the host vehicle to travel on the center of the lane from the current lateral displacement of the host vehicle relative to the center of the lane of the traveling lane, and the required steering amount The visual pattern is moved based on a value obtained by subtracting the current steering amount from. However, in such a method, it is difficult for the driver to perform optimal steering in order to avoid a collision with an obstacle.

  Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to enable the driver to perform optimal steering in order to avoid a collision with an obstacle. To provide a new and improved driving support device and driving support method.

  In order to solve the above problems, according to one aspect of the present invention, an obstacle determination unit that determines whether an obstacle exists in front of a vehicle and display of a display that moves according to an operation of a steering wheel And a display control unit configured to control the movement of the display object with respect to the movement of the steering wheel when it is determined that the obstacle is present.

  The display object may be displayed on the steering wheel and moved along the circumference of the steering wheel.

  The display control unit controls the display of the display object so that the movement of the display object is faster than the movement of the steering wheel when it is determined that the obstacle is present. Also good.

  The display control unit may control the angular velocity of the display object with respect to the steering angular velocity when it is determined that the obstacle exists, the steering angular velocity calculating unit calculating the steering angular velocity of the steering wheel. It may be.

  Further, the obstacle judging unit may judge that the obstacle is present when the obstacle is approaching within a predetermined distance in front of the vehicle.

  The display control unit may display the display when the steering angle of the steering wheel is equal to or more than a predetermined value, and control the movement of the display with respect to the movement of the steering wheel.

  The display control unit may control the movement of the display object relative to the movement of the steering wheel such that the display object moves in a direction in which the steering wheel is steered.

  In addition, a warning may be displayed when approaching the obstacle to a distance where collision can not be avoided.

  In addition, a warning sound may be generated when the obstacle is approached to a distance where collision can not be avoided.

  The display object may be displayed on a dash panel or a windshield in front of the driver of the vehicle.

  Further, the obstacle determination unit may determine whether an obstacle exists in front of the vehicle based on environmental information obtained from image information obtained by imaging the front of the vehicle.

  Further, in order to solve the above problems, according to another aspect of the present invention, there is a step of determining whether an obstacle exists in front of the vehicle, and a display of a display object which moves according to the operation of the steering wheel. And controlling the movement of the display object with respect to the movement of the steering wheel when it is determined that the obstacle is present.

  As described above, according to the present invention, it is possible for the driver to perform optimum steering in order to avoid a collision with an obstacle.

1 is a schematic view showing a configuration of a driving support system according to an embodiment of the present invention. It is a schematic diagram which shows the state which displayed the pattern on the steering wheel by the display apparatus. It is a schematic diagram which shows the state which displayed the pattern on the steering wheel by the display apparatus. When a display apparatus is comprised from a projector, it is a schematic diagram which shows the arrangement position of a projector. It is a schematic diagram which shows the example in which the display apparatus was provided in the steering wheel. When the movement (reaction amount) of the pattern on a steering wheel is changed with respect to the actual operation amount of the steering wheel by a driver, it is the characteristic view calculated | required by an aspect that a steering feeling of a driver changes. It is a flowchart which shows the process performed by the driving assistance system of this embodiment. It is a schematic diagram which shows the example which displayed the pattern on the windshield by the HUD apparatus. It is a schematic diagram which shows the example which displayed the pattern on the windshield by the HUD apparatus.

  The present invention will now be described more fully with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. In the present specification and the drawings, components having substantially the same functional configuration will be assigned the same reference numerals and redundant description will be omitted.

  FIG. 1 is a schematic view showing a configuration of a driving support system 1000 according to an embodiment of the present invention. The driving support system 1000 is basically a system configured in a vehicle such as a car. As shown in FIG. 1, the driving support system 1000 is configured to include an external sensor 100, a steering angle sensor 200, a vehicle sensor 300, a control device 400, a display device 500, a HUD device 600, a power steering device 700, and a speaker 800. It is done.

  The out-of-vehicle sensor 100 includes a stereo camera, a monocular camera, a millimeter wave radar, an infrared sensor, and the like, and measures the position and speed of a person or a vehicle around the host vehicle. When the out-of-vehicle sensor 100 is configured of a stereo camera, the stereo camera is configured to have a pair of left and right cameras having imaging elements such as a CCD sensor, a CMOS sensor, etc. The image information is sent to the control device 400. As an example, a stereo camera is comprised from a color camera which can acquire color information, and is installed in the upper part of the windshield of vehicles.

  The steering angle sensor 200 detects an operation amount (steering angle) of the steering wheel by the driver. The control device 400 is a component that controls the entire driving support system 1000, and functions as a driving support device according to the present embodiment.

  The vehicle sensor 300 includes various sensors that detect vehicle information such as the velocity of the vehicle, the acceleration of the vehicle, and the angular velocity of an axle (such as a drive shaft). In addition, since these vehicle information is generally communicated by CAN (Controller Area Network) in a vehicle, the vehicle sensor 100 may acquire these vehicle information from CAN.

  The display device 500 is a device for projecting a pattern on the steering wheel. As one example, the display device 500 is configured of a projector and projects a pattern on a steering wheel. In addition, the display device 500 may be configured of a liquid crystal display (LCD) or the like and mounted on a steering wheel.

  A HUD (Head-up Display) device 600 is a display device that directly displays information in a human field of view, and displays a real image on a glass such as a windshield or a rear glass of an automobile. Instead of the HUD device 600, a display device including a liquid crystal display (LCD) or the like may be provided on a dash panel in front of the driver. Power steering device 700 is a device that generates a driving force (assisting force) that assists steering in accordance with the steering of a steering wheel by a driver (driver), and steers the front wheel of the vehicle. The speaker 800 is a device that generates a warning sound to the driver.

  FIGS. 2 and 3 are schematic views showing a state in which the display (display object) 12 is displayed on the steering wheel 10 by the display device 500. FIG. Here, FIG. 2 shows an example in which a striped (striped) pattern 12 is displayed along the circumference of the steering wheel 10. Further, FIG. 3 shows an example in which an arrow-shaped pattern 12 is displayed along the circumference of the steering wheel 10. As an example, FIGS. 2 and 3 show a state in which a white pattern 12 is displayed on the black steering wheel 10. The color of the steering wheel 10 and the pattern 12 can be arbitrarily selected, such as displaying a black pattern 12 on the white steering wheel 10.

  FIG. 4 is a schematic view showing the arrangement position of the projector 502 when the display device 500 is configured of the projector 502. As shown in FIG. FIG. 4 shows the driver 20 viewed from the passenger side. As shown in FIG. 4, the projector 502 is mounted, for example, on the ceiling of a vehicle, emits light toward the steering wheel 10, and displays the pattern 12 on the steering wheel 10.

  FIG. 5 is a schematic view showing an example in which the display device 500 is provided on the steering wheel 10. In this case, the display device 500 is configured of a liquid crystal display device 504 having a curved display surface that conforms to the shape of the steering wheel 10.

  The pattern 12 is displayed so as to move in the same direction as the operation corresponding to the operation of the steering wheel 10 by the driver 20. That is, the pattern 12 moves along the circumferential direction of the steering wheel 10 in the same direction as the steering operation. Specifically, in the present embodiment, the steering force of the steering wheel 10 is changed by changing the moving speed of the pattern 12 on the steering wheel 10 with respect to the actual steering speed of the steering wheel 10 by the operation of the driver 20. Change the feeling.

  If the speed at which the pattern 12 moves on the steering wheel 10 is greater than the actual steering speed of the steering wheel 10, the feeling of steering force of the steering wheel 10 by the driver 20 is felt light. On the other hand, if the speed at which the pattern 12 moves on the steering wheel 10 is smaller than the actual steering speed of the steering wheel 10, the feeling of steering force of the steering wheel 10 by the driver 20 is felt heavy.

  FIG. 6 shows how the steering feeling of the driver 20 changes when the movement (reaction amount) of the pattern 12 on the steering wheel 10 is changed with respect to the actual operation amount of the steering wheel 10 by the driver 20. It is the characteristic figure calculated | required by. In FIG. 6, the ratio of the movement (reaction amount) of the pattern on the steering wheel 10 to the actual operation amount of the steering wheel 10 by the driver 20 is taken as the horizontal axis, and the distance scale value obtained by the evaluation regarding the steering of the driver 20 is It is shown as the vertical axis.

  In this experiment, a simulation apparatus was used to display an image that changes in response to the amount of operation of the steering wheel 10 on the screen in front of the experiment participant. Specifically, black stripes 12 at regular intervals are displayed on the steering wheel 10, and the patterns 12 are moved on the steering wheel 10 so that the patterns 12 move in accordance with the operation amount of the steering wheel 10. displayed. The pattern 12 was circularly arranged along the steering wheel 10 with black lines of about 0.3 cm wide at intervals of about 2.0 cm.

  When the ratio of the movement (reaction amount) of the pattern 12 on the steering wheel 10 to the actual operation amount of the steering wheel 10 is 100% on the horizontal axis of FIG. 6, the actual operation amount of the steering wheel 10 and the pattern 12 The movement of is showing the state of agreement. As described above, when the operation amount and the reaction amount are in a one-to-one relationship, it is observed that the steering wheel 10 and the pattern 12 are moving in the same manner. The sense scale shown on the vertical axis of FIG. 6 is 0 when the experimental participant feels that the steering force is 0 when the operation amount and the response amount are in a one-to-one relationship, and the steering force is felt heavier than that. The value is obtained by selecting the value so that the value on the plus side increases as the weight increases, and the value on the minus side increases as the weight decreases as the steering force feels lighter.

  Based on the ratio of the operation amount and the reaction amount, five levels of 25%, 50%, 200% and 400% were set as experimental conditions based on 100%. Specifically, when the ratio of the reaction amount to the operation amount is 25%, 50%, 200%, and 400%, the pattern 12 is the same as the steering wheel 10 when the steering wheel 10 is rotated 90 degrees. It will rotate 22.5 degrees, 45 degrees, 180 degrees and 360 degrees in the direction. In addition, an index moving to the left and right is presented in front of the experiment participant, and a cursor moving to the left and right is displayed by the reciprocating motion of the steering wheel 10, and the task of following the index with the cursor is a task to the experiment participant Set. Three types of amounts of movement of the steering wheel 10 were set and randomly presented. In addition, the total movement amount was unified. Two conditions were presented in succession as the movement of the index, and 15 experimental participants evaluated the reaction force by the pairwise comparison method.

  As a result, as shown in FIG. 6, as the ratio of the movement (reaction amount) of the pattern 12 to the actual operation amount of the steering wheel 10 increases as the movement of the pattern 12 increases, the feeling of reaction decreases. In other words, it was found that the steering feels light as the reaction amount increases. As shown in FIG. 6, it can be seen that as the pattern movement (reaction amount) increases and the ratio of the reaction amount to the actual operation amount of the steering wheel 10 increases, the measure of the feeling regarding steering decreases. That is, it can be seen that the feeling of steering force is felt light with the increase of the reaction amount, and the steering force feeling is felt heavy with the decrease of the reaction amount.

  Therefore, it is possible to change the feeling of steering force of the steering wheel 10 by changing the speed at which the pattern 12 on the steering wheel 10 moves with respect to the actual steering speed of the steering wheel 10 by the operation of the driver 20. is there. As a result, the feeling of steering force of the steering wheel 10 can be changed without requiring a complicated structure, so that the driver 20 can perform steering operation optimally.

  In particular, in the present embodiment, an obstacle in front of the vehicle is detected by the outside sensor 100, and when the driver steers in order to avoid the obstacle in front of the vehicle, the steering force is lightened to promote steering. Move pattern 12 as you like. Therefore, the control device 400 is configured to include an environmental information acquisition unit 402, an environmental condition determination unit 404, a steering angular velocity calculation unit 406, and a display control unit 408. Each component of the control device 400 shown in FIG. 1 can be configured from a circuit (hardware) or a central processing unit such as a CPU and a program (software) for causing the central processing unit to function.

  The environment information acquisition unit 402 is configured to detect an object according to the principle of triangulation based on the amount of displacement of the corresponding position with respect to a pair of left and right stereo images captured by the left and right ones of the stereo camera constituting the external sensor 100. Distance information can be generated and acquired. At the same time, the environment information acquisition unit 402 can acquire position information of the subject from the image information. In addition, the environment information acquisition unit 402 performs well-known grouping processing on distance information generated according to the principle of triangulation, and sets three-dimensional three-dimensional object data etc. in which the distance information subjected to grouping processing is preset. By comparing, three-dimensional object data, white line data, etc. are detected. Thereby, the control device 400 can also recognize a person, another vehicle, a stop sign, a stop line, an ETC gate, and the like.

  Further, the environmental information acquisition unit 402 can calculate the amount of change in the distance to a person or another vehicle, and the relative velocity, using the distance information to a person or another vehicle generated according to the principle of triangulation. The amount of change in distance can be obtained by integrating the distance between frame images detected for each unit time. Further, the relative velocity can be determined by dividing the distance detected for each unit time by the unit time.

  As described above, the environment information acquisition unit 402 acquires image information outside the vehicle obtained from the outside sensor 100, performs image analysis processing, analyzes the image information, and acquires environment information outside the vehicle.

  The environmental condition determination unit 404 determines environmental information outside the vehicle based on the environmental information acquired by the environmental information acquisition unit 402. In particular, the environmental condition determination unit 404 determines whether or not an obstacle such as a person, a vehicle or another object is present around the vehicle, and the position of an obstacle such as a person, a vehicle or another object which is present around the vehicle. And determine the number. For this reason, the environmental state determination unit 404 functions as an obstacle determination unit that determines whether an obstacle exists.

  The steering angular velocity calculation unit 406 calculates a steering angular velocity when the driver 20 operates the steering wheel 10 from the detection value of the steering angle sensor 200. The display control unit 408 is a component that controls display by the display device 500. The display control unit 408 controls the movement of the pattern 12 on the steering wheel 10 so as to urge the driver to steer around the obstacle, particularly when there is an obstacle ahead of the vehicle.

  The actual steering speed of the steering wheel 10 by the operation of the driver 20 can be obtained from the detection value of the steering angle sensor 200. The steering angular velocity calculation unit 406 obtains the steering angular velocity of the steering wheel 10 for each predetermined cycle based on the detected value of the steering angle by the steering angle sensor 200. For example, assuming that the predetermined period is 500 [ms], if the steering angle changes by θ [rad] during 500 [ms], the steering angular velocity becomes θ / 0.5 = 2θ [rad / s] Become.

  The display control unit 408 controls the speed at which the pattern 12 moves on the steering wheel 10 with respect to the steering angular velocity calculated by the steering angular velocity calculation unit 406, and displays the display device 500 so as to display the pattern 12 on the steering wheel 10. Control. The speed at which the pattern 12 moves is controlled by the display control unit 408 every predetermined period described above. When making the movement of the pattern 12 faster than the actual steering speed of the steering wheel 10, the pattern 12 is such that the angular velocity of the pattern 12 moving on the steering wheel 10 is faster than the steering angular velocity calculated by the steering angular velocity calculation unit 406. The display of is controlled. When the movement of the pattern 12 is delayed relative to the actual steering speed of the steering wheel 10, the angular velocity of the pattern 12 moving on the steering wheel 10 is slower than the steering angular velocity calculated by the steering angular velocity calculation unit 406. The display of the pattern 12 is controlled. As a result, the movement of the pattern 12 can be made faster or slower than the actual steering angular velocity of the steering wheel 10.

  In addition, the control device 400 may detect an obstacle and control the steering assist force by the power steering device 700 when the driver steers in order to avoid the obstacle in front of the vehicle. In this case, when an obstacle is detected, the control unit 400 performs control such that the assist force is larger than when no obstacle is detected. Thereby, when an obstacle is detected, the steering force of the steering wheel 10 is reduced, and it is possible to quickly avoid the obstacle.

  FIG. 7 is a flowchart showing processing performed by the driving support system 1000 of the present embodiment. The processing in FIG. 7 is mainly performed in the control device 400 at predetermined intervals. First, in step S10, the environmental information acquisition unit 402 acquires environmental information in front of the vehicle from information obtained from the external sensor 100 during driving of the vehicle.

  In the next step S12, the environmental condition determination unit 404 determines whether an obstacle exists in front of the vehicle. Under the present circumstances, when an obstacle exists in the range of predetermined distance D ahead from a vehicle, environmental condition judgment part 404 judges with an obstacle existing, and when an obstacle exists in a position farther than predetermined distance D It may be determined that no obstacle exists. The predetermined distance D may vary according to the vehicle speed V. In this case, the predetermined distance D can be increased as the vehicle speed V increases.

  As described above, the environmental information acquisition unit 402 can calculate the distance to the obstacle and the relative velocity between the host vehicle and the obstacle. If the obstacle is located in front of the vehicle and the distance to the obstacle and the relative speed between the vehicle and the obstacle are known, the time (collision margin time) until collision with the obstacle can be determined. .

  If it is determined in step S12 that there is an obstacle ahead of the vehicle, the process proceeds to step S14. In step S14, the vehicle speed V is acquired from the detection value of the vehicle sensor 300. On the other hand, as a result of the determination in step S12, when there is no obstacle ahead of the vehicle, the process is ended (END).

  After step S14, the process proceeds to step S16, and the steering angle when the driver 20 operates the steering wheel 10 and the steering angular velocity at the time of steering are acquired. The steering angle can be acquired from the steering angle sensor 200. In addition, the steering angular velocity is acquired from the calculation result of the steering angular velocity by the steering angular velocity calculation unit 406. In the next step S18, it is determined whether or not the driver 20 steers the steering wheel 10 based on the steering angle obtained in step S16. Specifically, in step S18, the steering angle obtained in step S16 is compared with a predetermined threshold value θth, and in the case where the steering angle obtained in step S16 is larger than the predetermined threshold value θth, the driver 20 It is determined that the steering wheel 10 has been steered.

  When it is determined in step S18 that the driver 20 steers the steering wheel 10, the process proceeds to step S20. In this case, it is determined that the driver 20 steers the steering wheel 10 in order to avoid a collision with the obstacle because the driver 20 steers the steering wheel 10 in a situation where an obstacle exists ahead of the vehicle. it can. Therefore, in step S20, the movement of the pattern 12 is controlled so that the pattern 12 moves at a speed faster than the actual steering angular velocity obtained in step S16. The pattern 12 is controlled to move in the direction of steering when it is determined in step S18 that the driver 20 steers the steering wheel 10. On the other hand, when it is determined in step S18 that the driver 20 does not steer the steering wheel 10, the process ends (END).

  In the next step S22, it is determined whether a collision with an obstacle is difficult to avoid by steering. Specifically, in step S22, it is determined whether the time to collision (collision margin time) obtained based on the relative velocity with the obstacle and the distance to the obstacle is smaller than a predetermined threshold value t1. When the collision margin time is smaller than the predetermined threshold value t1, it is determined that the collision with the obstacle is difficult to avoid by the steering.

  If it is determined in step S22 that a collision with an obstacle is difficult to avoid by steering, the process proceeds to step S24. In step S24, the driver 20 is alerted by a warning display on a display device or the like provided on the HUD device 600 of the windshield or the dash panel and the generation of a warning sound by the speaker 800. On the other hand, when it is determined in step S22 that the collision with the obstacle is not difficult to avoid by the steering, the process is ended (END).

  In step S12, instead of determining whether an obstacle is present, the possibility of collision with the obstacle may be determined. In this case, for example, the possibility of colliding with an obstacle may be determined by the method described in Patent Document 2 described above.

  As described above, when the driver 20 steers the steering wheel 10 in order to avoid an obstacle in front of the vehicle, it is desirable that the steering feeling of the steering wheel 10 be lightened to facilitate the avoidance operation by the steering. Therefore, if it is determined in step S18 that the driver 20 steers the steering wheel 10, the process proceeds to step S20, and the movement of the pattern 12 is performed such that the pattern 12 moves at a speed faster than the actual steering angular velocity acquired in step S14. Control. Thereby, when the driver 20 operates the steering wheel 10, the steering feeling felt by the driver 20 is lightened, and the steering operation in the direction of avoiding the obstacle can be promoted.

  The pattern 12 may be displayed when it is determined in step S12 that there is an obstacle, and the pattern 12 may not be displayed when it is not determined that there is an obstacle. Similarly, the pattern 12 is displayed when it is determined that the driver 20 steers the steering wheel 10 in step S18, and the pattern 12 is not displayed when it is not determined that the driver 20 steers the steering wheel 10. Also good.

  As described above, according to the present embodiment, when an obstacle ahead of the vehicle is detected, the moving speed of the pattern 12 on the steering wheel 10 is made faster than the actual steering speed of the steering wheel 10 I made it. This makes it possible for the driver 20 to feel lightly in the steering feeling of the steering wheel 10, and it is possible to promote the steering in the direction of avoiding the obstacle by the driver 20.

  In each embodiment described above, an example in which the pattern 12 is displayed on the steering wheel 10 is shown, but the pattern 12 may be displayed in a place other than the steering wheel 10. For example, the pattern 12 may be displayed on a display device provided on a dash panel or on a windshield. FIG. 8 is a schematic view showing an example in which the pattern 12 is displayed on the windshield 602 by the HUD device 600. As shown in FIG. The HUD device 600 changes the moving speed of the pattern 12 on the windshield 602 with respect to the actual steering speed of the steering wheel 10 by the operation of the driver 20 under the control of the display control unit 408, thereby the steering wheel Change the feeling of steering power of 10.

  Specifically, the pattern 12 shown in FIG. 8 is disposed concentrically with the steering wheel 10, and the angular velocity of the pattern 12 centered on the central axis of rotation of the steering wheel 10 with respect to the actual steering angular velocity of the steering wheel 10. Is controlled. Thus, as in the case where the pattern 12 is displayed on the steering wheel 10, by controlling the movement of the pattern 12 on the windshield 602, it is possible to optimize the steering force of the driver 20.

  Further, as shown in FIG. 9, the HUD device 600 may display the pattern 12 moving in the horizontal direction on the windshield 602. In this case, the reference speed of the pattern 12 corresponding to the steering angular velocity of the steering wheel 10 is set, and the speed at which the pattern 12 moves on the windshield 602 with respect to the actual steering speed of the steering wheel 10 by the operation of the driver 20 is set. Change to the reference speed. Thereby, it is possible to adjust the steering force of the driver 20 as in the case of moving the pattern 12 in the circumferential direction.

  Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to such examples. It is obvious that those skilled in the art to which the present invention belongs can conceive of various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that these also fall within the technical scope of the present invention.

10 steering wheel 12 pattern 400 control device 404 environmental condition determination unit 406 steering angular velocity calculation unit 408 display control unit

Claims (12)

An obstacle determination unit that determines whether an obstacle exists in front of the vehicle;
A display control unit that controls display of a display object that moves according to an operation of a steering wheel, and controls movement of the display object with respect to movement of the steering wheel when it is determined that the obstacle is present;
A driving assistance apparatus comprising:   The driving support device according to claim 1, wherein the display object is displayed on the steering wheel and moves along a circumference of the steering wheel.   When it is determined that the obstacle is present, the display control unit controls the display of the display object so that the movement of the display object is faster than the movement of the steering wheel. The driving support device according to claim 1. A steering angular velocity calculation unit configured to calculate a steering angular velocity of the steering wheel;
The driving support apparatus according to any one of claims 1 to 3, wherein the display control unit controls an angular velocity of the display object with respect to the steering angular velocity when it is determined that the obstacle is present. .   5. The obstacle judging unit according to any one of claims 1 to 4, wherein the obstacle judging unit judges that the obstacle is present when the obstacle is approaching within a predetermined distance in front of the vehicle. Driving support device.   The display control unit displays the display when the steering angle of the steering wheel is a predetermined value or more, and controls the movement of the display with respect to the movement of the steering wheel. The driving support device according to any one of 5.   The driving assistance according to claim 6, wherein the display control unit controls the movement of the display object relative to the movement of the steering wheel such that the display object moves in a direction in which the steering wheel is steered. apparatus.   The driving support device according to any one of claims 1 to 7, wherein a warning is displayed when the obstacle is approached to a distance where collision can not be avoided.   The driving assistance device according to any one of claims 1 to 8, wherein a warning sound is generated when the obstacle is approached to a distance where collision can not be avoided.   The driving support device according to claim 1, wherein the display object is displayed on a dash panel or a windshield in front of a driver of the vehicle. The obstacle determination unit is based on environmental information obtained from image information obtained by imaging the front of the vehicle.
The driving assistance apparatus according to any one of claims 1 to 10, wherein it is determined whether an obstacle exists in front of the vehicle. Determining whether an obstacle is present in front of the vehicle;
Controlling the display of a moving display object in response to the operation of a steering wheel, and controlling the movement of the display object relative to the movement of the steering wheel when it is determined that the obstacle is present;
A driving support method comprising:

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