JP2019212071A - Driving assist device and driving assist system - Google Patents

Abstract

To provide a driving assist device and a driving assist system enabling a driver to recognize an appropriate speed of a moving entity.SOLUTION: The driving assist device comprises: a distance calculation unit 22 that calculates a distance from a moving entity (own vehicle M) to a predetermined point (rearmost point of a traffic jam) along a moving route along which the moving entity (own vehicle M) moves; a speed decision unit 23 that decides a speed, to which the moving entity (own vehicle M) can be set, on the basis of the distance calculated by the distance calculation unit 22; and a notification unit (display unit 15 or audio output unit 16) that notifies a driver of the speed decided by the speed decision unit 23.SELECTED DRAWING: Figure 1

Description

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

  Conventionally, in the technology for automatic driving, the driver sets the vehicle speed of the host vehicle in advance, and sets the vehicle speed as the upper limit so that the distance between the vehicle traveling ahead and the vehicle is maintained. There is a technique for controlling (see, for example, Patent Document 1).

  Patent Document 1 discloses an inter-vehicle distance target value correcting unit that corrects an inter-vehicle distance target value according to a road condition from a road condition receiving unit, and an inter-vehicle distance target value setting unit when correction of the inter-vehicle distance target value is necessary. A vehicle travel control device comprising: an inter-vehicle distance settable range determining means for determining the settable range of the vehicle; and an inter-vehicle distance settable range display means for displaying the inter-vehicle distance settable range determined by the inter-vehicle distance settable range determining means. Is disclosed. Thereby, when changing the target distance between vehicles to an appropriate value according to the road information, the change of the target value between vehicles is displayed to the driver.

JP 2002-326525 A

  However, the apparatus described in Patent Document 1 has a problem that the inter-vehicle distance is only displayed to the driver, and the driver cannot recognize an appropriate speed for the host vehicle.

  Then, an object of this invention is to provide the driving assistance apparatus and driving assistance system which a driver | operator can recognize the suitable speed of a moving body.

  In order to achieve the above object, the driving support apparatus of the present invention calculates a distance calculation unit that calculates a distance from the moving body to a predetermined point on a moving route along which the moving body moves, and the distance calculation unit calculates A speed determination unit that determines a settable speed of the moving body based on the distance, and a notification unit that notifies the speed determined by the speed determination unit.

  Further, the driving support system of the present invention is based on a distance calculation unit that calculates a distance from the moving body to a predetermined point in a moving route along which the moving body moves, and the distance calculated by the distance calculation unit, A speed determination unit that determines a settable speed of the moving body, and a notification unit that notifies the speed determined by the speed determination unit.

  In the driving support device and driving support system of the present invention configured as described above, the driver can recognize an appropriate speed of the moving body.

It is a block diagram which shows the structure of the driving assistance device of Example 1, and a driving assistance system. It is explanatory drawing explaining road information DB of Example 1. FIG. It is explanatory drawing explaining the map road corresponding | compatible table of Example 1. FIG. It is explanatory drawing explaining the vehicle speed table of Example 1. FIG. It is explanatory drawing explaining the determination operation | movement of the alerting | reporting determination part of Example 1. FIG. It is explanatory drawing explaining the determination operation | movement of the alerting | reporting determination part of Example 1. FIG. 3 is a flowchart illustrating a speed notification process according to the first embodiment. 10 is a flowchart illustrating a speed notification process according to the second embodiment.

  Hereinafter, an embodiment for realizing a driving support device and a driving support system according to the present invention will be described based on Example 1 and Example 2 shown in the drawings.

  The driving support device and the driving support system according to the first embodiment are mounted on a host vehicle as a moving body that automatically drives at a preset speed along a guidance route (moving route) guided by a navigation device.

[Configuration of driving support device and driving support system]
FIG. 1 is a configuration diagram illustrating configurations of a driving support device and a driving support system according to the first embodiment. FIG. 2 is an explanatory diagram illustrating the road information DB according to the first embodiment. FIG. 3 is an explanatory diagram illustrating a map road correspondence table according to the first embodiment. FIG. 4 is an explanatory diagram illustrating a vehicle speed table according to the first embodiment. Hereinafter, based on FIGS. 1-4, the structure of the driving assistance apparatus and driving assistance system of Example 1 is demonstrated.

  The driving support device 1 includes a road information receiving unit 5, a position information receiving unit 6, a display unit 15 as a notification unit, a voice output unit 16 as a notification unit, and a control unit 20. The driving support system 50 includes the driving support device 1 and the camera unit 10 as a detection unit.

  For example, the road information receiving unit 5 receives FM multiplex broadcasting. The road information receiving unit 5 receives road information corresponding to the VICS link from the VICS (registered trademark, Vehicle Information and Communication System) as the road information server 2 via the communication network 3. This road information is, for example, traffic jam information and regulation information (regulation information due to accidents, construction, disasters, weather conditions, etc.) on expressways and ordinary roads. A VICS link is a section of a road that is delimited by a unit such as an intersection and is given a code. The road information receiving unit 5 may receive beacon information. The road information received by the road information receiving unit 5 is transmitted to the control unit 20.

  For example, the position information receiving unit 6 receives a signal from a GPS satellite. The position information receiving unit 6 acquires position information of the host vehicle based on the received signal. The position information received by the position information receiving unit 6 is transmitted to the control unit 20.

  The camera unit 10 is provided on the right side of the host vehicle and captures the right side of the host vehicle 11. The camera unit 10 is provided on the front side of the host vehicle and captures the front of the host vehicle 12. The rear camera unit 13 is provided on the rear side of the vehicle and captures the rear of the host vehicle, and the left camera unit 14 is provided on the left side of the host vehicle and captures the left side of the host vehicle. The four camera units 10 can observe the area around the host vehicle without omission. In addition, although the four camera parts 10 are used in Example 1, the number of the camera parts used is not limited to this aspect. Detection information detected by the camera unit 10 is transmitted to the control unit 20.

  The display unit 15 is provided on an instrument panel in the passenger compartment of the host vehicle and is, for example, a liquid crystal display integrated with a touch panel. The occupant can set the destination by operating this touch panel. The display unit 15 displays the guidance route (movement route) provided from the navigation device. The display unit 15 displays a settable speed, which will be described later, as an image. Information on the destination input to the display unit 15 is transmitted to the control unit 20.

  The audio output unit 16 is a speaker provided in the passenger compartment of the host vehicle. The sound output unit 16 outputs a settable speed, which will be described later, by sound.

  The control unit 20 includes a traffic jam sequence determination unit 21, a distance calculation unit 22, a speed determination unit 23, a notification determination unit 24, a lane change determination unit 25, and a storage unit 30. The control unit 20 governs overall control of the driving support device 1. The control unit 20 executes a speed notification process described later, and transmits the processing information to the display unit 15 and the audio output unit 16.

  The storage unit 30 includes a road information DB 31, a map information DB 32, a map road correspondence table 33, a driver information DB 34, and a vehicle speed table 35.

  The road information DB 31 stores the road information received by the road information receiving unit 5. As shown in FIG. 2, the road information DB 31 stores, for example, a traffic congestion level corresponding to each VICS link and the last position (predetermined point) of the traffic congestion row of each VICS link. The congestion level is classified into “smooth”, “congested”, and “congested”. The traffic level is “traffic”, for example, when the road type is a general road and the vehicle moving speed is 10 km / h or less, and when the road type is an urban highway, the vehicle moving speed is Is 20 [km / h] or less, and when the road type is an intercity highway, the vehicle moving speed is 40 [km / h] or less. The congestion level is “congested”, for example, when the road type is a general road and the moving speed of the vehicle is 10 to 20 km / h, and when the road type is an urban highway, the vehicle is moving. This refers to the case where the speed is 20 to 40 [km / h]. When the road type is an intercity highway, the speed of the vehicle is 40 to 60 [km / h]. The traffic level is “smooth”, for example, when the road type is a general road and the moving speed of the vehicle is 20 [km / h] or more, and when the road type is an urban highway, the moving speed of the vehicle Is 40 [km / h] or more, and when the road type is an intercity highway, the moving speed of the vehicle is 60 [km / h] or more. In the first embodiment, the traffic jam column indicates a vehicle queue when the traffic jam levels are “traffic jam” and “congested”.

  Specifically, for example, the road information DB 31 indicates that when the VICS link is the link 100, there is a tail line of a traffic jam column with a traffic jam level “congested” at a point 80000 [m] from the end point of the VICS link. Remember. The road information DB 31 stores information that, when the VICS link is the link 200, there is the tail end of the traffic jam row having the traffic jam level “congested” at a point 30000 [m] from the end point of the VICS link. The road information DB 31 stores information that, in the case where the VICS link is the link 300, there is a tail of a traffic jam column having a traffic jam level “congested” at a point 18000 [m] from the end point of the VICS link. The road information DB 31 stores information that the traffic level is “smooth” when the VICS link is the link 400. The road information DB 31 stores information that, when the VICS link is the link 500, there is the tail end of the traffic jam column with the traffic jam level “congested” at a point 7000 [m] from the end point of the VICS link.

  The map information DB 32 stores the position information of the host vehicle acquired by the position information receiving unit 6. The map information DB 32 stores map information corresponding to the map link in advance. Map information is information, such as the shape of the road of a predetermined area (for example, the whole country of Japan), for example. Further, the map information DB 32 stores information related to the vehicle speed defined in advance, such as the speed limit (legal speed) of each road.

  As shown in FIG. 3, the map road correspondence table 33 associates the VICS link stored in the road information DB 31 with the map link stored in the map information DB 32. That is, the unit of the VICS link is associated with the unit of the map link.

  Specifically, for example, the link 100 of the VICS link corresponds to the link L1001, the link L1002, and the link L1003 of the map link. The link 200 of the VICS link corresponds to the link L2001, the link L2002, the link L2003, and the link L2004 of the map link. The link 300 of the VICS link corresponds to the link L3001 and the link L3002 of the map link. The link 400 of the VICS link corresponds to the link L4001 and the link L4002 of the map link. The link 500 of the VICS link corresponds to the link L5001 of the map link. Thereby, the control part 20 acquires the congestion condition of the road on a map.

  The driver information DB 34 stores the position information of the host vehicle acquired by the position information receiving unit 6, the destination information set by the occupant on the display unit 15, and the like.

  As shown in FIG. 4, the vehicle speed table 35 associates the distance from the tail of the congestion line to the host vehicle and the speed that can be set for the host vehicle. The vehicle speed table 35 is set so that the settable speed increases as the distance from the tail of the traffic jam train to the host vehicle increases. In addition, the speed which can be set considers the information regarding the vehicle speed prescribed | regulated previously, such as the speed limit (legal speed) of each road memorize | stored in map information DB32.

  Specifically, for example, when the distance Δd from the tail of the congestion line to the host vehicle is 10000 [m] ≦ Δd <30000 [m], the speed that can be set is set in advance for the automatic driving of the host vehicle. +10 [km / h] with respect to the determined speed. When the distance Δd from the tail of the traffic jam row to the host vehicle is 30000 [m] ≦ Δd <50000 [m], the speed that can be set is the speed set in advance for the automatic driving of the host vehicle. +20 [km / h]. When the distance Δd from the tail of the traffic jam train to the host vehicle is 50000 [m] ≦ Δd, the speed that can be set is +30 [km / h with respect to the speed set in advance for automatic driving of the host vehicle. ]. When there is no traffic jam in the guidance route from the navigation device to the destination, the settable speed is +40 [km / h] with respect to the speed set in advance for the automatic driving of the host vehicle. To do.

  The traffic jam determination unit 21 refers to the map road correspondence table 33 and provides from the navigation device based on the position information of the host vehicle stored in the driver information DB 34 and the road information stored in the road information DB 31. The presence / absence of a congestion line is determined in the guided route.

  The distance calculation unit 22 refers to the map road correspondence table 33, and is provided from the navigation device based on the position information of the host vehicle stored in the driver information DB 34 and the road information stored in the road information DB 31. The distance from the tail of the congestion line to the host vehicle is calculated on the guidance route.

  The speed determination unit 23 refers to the vehicle speed table 35 and determines the speed at which the host vehicle can be set based on the distance calculated by the distance calculation unit 22.

  Based on the detection information of the camera unit 10, the notification determination unit 24 determines whether the display unit 15 as the notification unit and the audio output unit 16 are to notify the settable speed of the host vehicle. In addition, as an alerting | reporting part, it can be set as either the display part 15 or the audio | voice output part 16. FIG.

  The lane change determination unit 25 determines whether or not the lane change is necessary based on the information of the camera unit 10. The determination information of the lane change determination unit 25 is transmitted to the display unit 15, the audio output unit 16, and the automatic driving control unit 17.

[Judgment operation of notification judgment unit]
5 and 6 are explanatory diagrams illustrating the determination operation of the notification determination unit 24 according to the first embodiment. Hereinafter, based on FIG.5 and FIG.6, the determination operation | movement of the notification determination part 24 of Example 1 is demonstrated.

  The notification determination unit 24 determines whether or not the situation should be noted based on the detection information of the camera unit 10. When the notification determination unit 24 determines that the situation should be noted, it determines that the display unit 15 as the notification unit and the audio output unit 16 do not notify the settable speed of the vehicle M.

(Cautious situation)
The situation to be noted is that even if the speed determination unit 23 determines that the settable speed of the host vehicle M can be increased (increased), the situation around the host vehicle M detected by the camera unit 10 A situation that should not be reported from the situation.

  For example, as shown in FIG. 5, it is assumed that the host vehicle M is traveling in the left lane at a speed S1. The rear camera unit 13 travels in the right lane at a speed S2 faster than the speed S1, and detects the other vehicle N approaching the host vehicle M from the rear.

  In this case, the other vehicle N may overtake the own vehicle M and change the lane to the left lane. Therefore, when the own vehicle M increases the speed, the own vehicle M may collide with the other vehicle N. . For this reason, the notification determining unit 24 determines that the situation should be noted, and determines that the display unit 15 and the audio output unit 16 are not notified of the settable speed of the host vehicle M.

  When the front camera unit 12 detects that the other vehicle N has overtaken the host vehicle M and moved far ahead of the host vehicle M, the host vehicle M is not likely to collide with the other vehicle N. Therefore, the notification determination unit 24 determines that the display unit 15 and the audio output unit 16 are notified of the settable speed of the host vehicle M.

  For example, as shown in FIG. 6, it is assumed that the host vehicle M is traveling in the left lane at a speed S1. The front camera unit 12 travels in the left lane at a speed S3 slower than the speed S1, and detects the other vehicle N approaching the host vehicle M from the front.

  In this case, when the host vehicle M increases the speed, the host vehicle M may collide with another vehicle N. For this reason, the notification determining unit 24 determines that the situation should be noted, and determines that the display unit 15 and the audio output unit 16 are not notified of the settable speed of the host vehicle M.

  And when the front camera part 12 detects that the other vehicle N changed the lane to the right lane, there is no possibility that the own vehicle M collides with the other vehicle N. Therefore, the notification determination unit 24 determines that the display unit 15 and the audio output unit 16 are notified of the settable speed of the host vehicle M.

  For example, it is assumed that the host vehicle M is traveling in the left lane. The front camera unit 12 detects that the other vehicle N traveling in the right lane is lighting the left turn signal in front of the host vehicle M.

  In this case, since the other vehicle N may change the lane to the left lane, when the own vehicle M increases the speed, the own vehicle M may collide with the other vehicle N. For this reason, the notification determining unit 24 determines that the situation should be noted and determines that the display unit 15 and the audio output unit 16 do not notify the settable speed of the host vehicle M.

  And when the front camera part 12 detects that the own vehicle M changes the lane to the right lane and the other vehicle N changes the lane to the left lane, the own vehicle M is not likely to collide with the other vehicle N. . Therefore, the notification determination unit 24 determines that the display unit 15 and the audio output unit 16 are notified of the settable speed of the host vehicle M.

  That is, when the detection information of the camera unit 10 is information on the other vehicle N approaching the host vehicle M in the same lane as the lane in which the host vehicle M travels or in the lane adjacent to the lane in which the host vehicle M travels, The determination unit 24 determines that the display unit 15 and the audio output unit 16 are not notified of the settable speed of the host vehicle M. The detection information of the camera unit 10 includes at least one detection information of detection information of the front camera unit 12, detection information of the right camera unit 11, detection information of the left camera unit 14, and detection information of the rear camera unit 13. Can be used. In the first embodiment, detection information of the camera unit is used, but detection information by sonar or radar may be used.

[Speed notification processing]
FIG. 7 is a flowchart illustrating the speed notification process according to the first embodiment. Hereinafter, the speed notification process of the first embodiment will be described with reference to FIG.

  The speed notification process is started when the driving control of the host vehicle starts at a preset speed. When the speed notification process is started, the control unit 20 stores the road information received by the road information receiving unit 5 in the road information DB 31 (step S101).

  Next, the control unit 20 stores the position information of the host vehicle acquired by the position information receiving unit 6 in the driver information DB (step S102).

  Next, the control unit 20 determines whether or not there is a destination input on the display unit 15 (step S103). If it is determined that the destination is input to the display unit 15 (YES in step S103), the process proceeds to step S104. On the other hand, when it is determined that there is no destination input on the display unit 15 (NO in step S103), the process returns to step S103.

  Next, the control unit 20 stores the input destination in the driver information DB 34 (step S104). Next, the traffic jam determination unit 21 determines whether or not there is a traffic jam on the guidance route to the destination (step S105).

  If it is determined that there is a traffic jam line on the guidance route to the destination (YES in step S105), the distance calculation unit 22 calculates the distance from the tail of the traffic jam queue to the host vehicle (step S106). move on. On the other hand, if it is determined that there is no traffic jam on the guidance route to the destination (NO in step S105), the distance calculation unit 22 calculates the distance to the destination (step S107), and the process proceeds to step S108.

  Next, the speed determination unit 23 determines a speed that can be set for the host vehicle based on the distance calculated by the distance calculation unit 22 (step S108).

  Next, the notification determining unit 24 determines whether or not there is a situation to be noted (step S109). If it is determined that there is a situation to be noted (YES in step S109), the process returns to step S109. On the other hand, if it is determined that there is no situation to be noted (NO in step S109), the process proceeds to step S110.

  Next, the control unit 20 displays the settable speed determined by the speed determination unit 23 on the display unit 15 and outputs it to the audio output unit 16 (step S110), and ends the speed notification process.

[Operation of driving support device and driving support system]
Hereinafter, the operation of the driving support device and the driving support system according to the first embodiment will be described. The driving support device 1 and the driving support system 50 according to the first embodiment are configured such that a predetermined point (the tail end or a destination of a traffic jam line) from the moving body (own vehicle M) on the moving route along which the moving body (own vehicle M) moves. A distance calculation unit 22 that calculates the distance to the vehicle, a speed determination unit 23 that determines a settable speed of the moving object (vehicle M) based on the distance calculated by the distance calculation unit 22, and a speed determination unit 23 An informing unit (display unit 15 and audio output unit 16) for informing the determined speed (FIG. 1).

  Thereby, the driver can set the speed of the moving body (the host vehicle M) faster as the distance to the predetermined point (the tail end of the traffic jam queue) is longer. Therefore, the moving body (own vehicle M) can arrive at the destination early.

  The driving support device 1 and the driving support system 50 according to the first embodiment are based on a detection unit (camera unit 10) that detects a situation around a moving body (own vehicle M) and detection information of the detection unit (camera unit 10). And a notification determination unit 24 that determines whether or not to notify the notification unit (display unit 15, audio output unit 16) (FIG. 1).

  Thereby, the notification determination part 24 can alert | report the speed which can set the moving body (own vehicle M) in consideration of the surrounding condition of the moving body (own vehicle M). When the notification determination unit 24 determines that the moving body (the host vehicle M) is in a situation where the speed is increased, the notification determination unit 24 notifies the notification unit (the display unit 15 and the voice output unit 16). I won't let you. On the other hand, if the notification determination unit 24 determines that the moving body (the host vehicle M) is not in a situation where the speed is increased, the notification determination unit 24 informs the notification unit (the display unit 15 and the voice output unit 16). Let me know. Therefore, the moving body (own vehicle M) can increase the speed in consideration of safety. As a result, the mobile body (own vehicle M) can arrive at the destination early in consideration of safety.

  In the driving support device 1 and the driving support system 50 according to the first embodiment, the detection information of the detection unit (camera unit 10) is the same lane as the lane in which the moving body (own vehicle M) travels or the moving body (own vehicle M). In the lane that travels in the same direction as the lane in which the vehicle travels, in the case of the information of another moving body (another vehicle N) that approaches the moving body (host vehicle M), the notification determination unit 24 displays the notification unit (display unit 15 , It is determined that the audio output unit 16) is not notified (FIG. 1).

  Thereby, the moving body (own vehicle M) can increase the speed in consideration of safety. As a result, the mobile body (own vehicle M) can arrive at the destination early in consideration of safety.

  First, a driving support device and a driving support system in Example 2 will be described. In addition, about the description of the part same or equivalent to the content demonstrated in Example 1, it demonstrates using the same term or the same code | symbol.

  The driving support device and the driving support system according to the second embodiment are different from the driving support device and the driving support system according to the first embodiment in that the determination by the lane change determination unit is included.

(Judgment operation of the lane change judgment unit)
Hereinafter, the determination operation of the lane change determination unit 25 according to the second embodiment will be described.

  The lane change determination unit 25 determines whether or not the lane change is necessary based on the detection information of the camera unit 10. When the lane change determination unit 25 determines that the lane change is required, the control unit 20 gives an instruction to change the lane to the automatic driving control unit 17.

(Situation requiring lane change)
A situation requiring a lane change is a case where the speed determination unit 23 determines that the settable speed of the host vehicle M can be increased, and when the vehicle travels at a higher set speed of the host vehicle M, A situation in which the lane should be changed in consideration of the situation around the host vehicle detected by the unit 10.

  For example, it is assumed that the host vehicle M is traveling in the right lane. The rear camera unit 13 travels in the right lane at a speed faster than that of the host vehicle M, and detects the other vehicle N that approaches the host vehicle M from behind.

  In this case, since the other vehicle N may collide with the host vehicle M, the lane change determination unit 25 determines that the lane change is necessary.

  For example, it is assumed that the host vehicle M is traveling in the left lane. The front camera unit 12 travels in the left lane at a slower speed than the host vehicle M, and detects the other vehicle N approaching the host vehicle M from the front.

  In this case, since the host vehicle M may collide with another vehicle N, the lane change determination unit 25 determines that the lane change is necessary.

  That is, when the detection information of the camera unit 10 is information on another vehicle N approaching the host vehicle M in the same lane as the host vehicle M travels, the lane change determination unit 25 needs to change the lane. Judge that there is.

[Speed notification processing]
FIG. 8 is a flowchart illustrating the speed notification process according to the second embodiment. Hereinafter, the speed notification process according to the second embodiment will be described with reference to FIG. Steps S201 to S210 are the same processes as steps S101 to S110 of the first embodiment, and thus description thereof is omitted.

  In step S211, the control unit 20 determines whether or not the speed has been changed. If it is determined that the speed has been changed (YES in step S211), the process proceeds to step S212. On the other hand, if it is determined that there is no change in speed (NO in step S211), the process returns to step S211.

  In step S212, the lane change determination unit 25 determines whether or not the lane change is necessary. If it is determined that the lane change is required (YES in step S212), the process proceeds to step S213. On the other hand, when it is determined that the situation does not require lane change (NO in step S212), the process returns to step S212.

  In step S213, the control part 20 gives the instruction | indication which changes a lane to the automatic driving | operation control part 17, and complete | finishes a speed alert process.

[Operation of driving support device and driving support system]
Hereinafter, the operation of the driving support device and the driving support system according to the second embodiment will be described. The driving support device 1 and the driving support system 50 according to the second embodiment include a lane change determination unit 25 that determines the necessity of lane change based on detection information of the detection unit (camera unit 10) (FIG. 1).

  Thus, when there is a moving body (another vehicle N) that is slower than the moving body (own vehicle M) in front of the lane in which the moving body (own vehicle M) is traveling, the lane change determination unit 25 Determine that changes are needed. The moving body (own vehicle M) can change the lane based on the determination information of the lane change determination unit 25. Therefore, the mobile body (own vehicle M) can arrive at the destination early.

  In addition, when there is a moving body (another vehicle N) having a speed higher than the speed of the moving body (own vehicle M) behind the lane in which the moving body (own vehicle M) is traveling, the lane change determination unit 25 Judge that it is necessary to change lanes. The moving body (own vehicle M) can change the lane based on the determination information of the lane change determination unit 25. Therefore, the mobile body (own vehicle M) can arrive at the destination early in consideration of safety.

  In the driving support device 1 and the driving support system 50 according to the second embodiment, the detection information of the detection unit (camera unit 10) is the moving body (own vehicle M) in the same lane as the lane where the moving body (own vehicle M) travels. If it is information of another moving body (another vehicle N) that approaches the vehicle, the lane change determination unit 25 determines that it is necessary to change the lane.

  Thereby, the mobile body (own vehicle M) can arrive at the destination early in consideration of safety. Other configurations and operational effects of the second embodiment are substantially the same as those of the first embodiment, and thus description thereof is omitted.

  The driving support device and driving support system of the present invention have been described above based on the first and second embodiments. However, the specific configuration and operation are not limited to these embodiments, and combinations of the embodiments, design changes, and the like, as long as they do not depart from the gist of the invention according to the claims. Addition is permitted.

  In the first embodiment and the second embodiment, an example in which the notification unit is the display unit 15 and the audio output unit 16 is shown. However, the notification unit may be either the display unit 15 or the audio output unit 16. In addition, the notification unit is not limited to this mode, and for example, the settable speed of the host vehicle may be notified by vibration such as vibrating the seat.

  In the first embodiment and the second embodiment, an example in which the traffic jam column is a case where the traffic jam levels are “traffic jam” and “congested” is shown. However, the traffic jam column may be only when the traffic jam level is “traffic jam”.

  In the first embodiment and the second embodiment, an example in which the detection unit is the camera unit 10 has been described. The detection unit may be a radar, a sonar, or a laser radar (rider).

  In the first embodiment and the second embodiment, an example in which the camera unit 10 detects the other vehicle N is shown. However, what the camera unit 10 detects may be a motorcycle or a moving body such as a pedestrian.

  In Example 1 and Example 2, the example which applies the driving assistance apparatus and driving assistance system of this invention to a four-wheeled vehicle was shown. However, the driving support device and driving support system of the present invention can be applied to motorcycles.

  In the first and second embodiments, the driving support device and the driving support system according to the present invention are applied to a vehicle that travels at a preset speed by automatic driving. However, the driving support device and driving support system of the present invention can be applied to a traveling vehicle instead of automatic driving.

1 Driving support device M Own vehicle (an example of a moving body)
22 distance calculation unit 23 speed determination unit 15 display unit (an example of a notification unit)
16 Audio output unit (an example of a notification unit)
10 Camera unit (an example of a detection unit)
24 Notification determination unit 50 Driving support system 125 Lane change determination unit

Claims (10)

A distance calculating unit that calculates a distance from the moving object to a predetermined point in a moving path along which the moving object moves;
A speed determination unit that determines a settable speed of the mobile body based on the distance calculated by the distance calculation unit;
A driving support device comprising: a notification unit that notifies the speed determined by the speed determination unit. A detection unit for detecting a situation around the moving body;
The driving support apparatus according to claim 1, further comprising: a notification determination unit that determines whether to notify the notification unit based on detection information of the detection unit. When the detection information is information on another moving body approaching the moving body in the same lane as the lane in which the moving body travels or in an adjacent lane of the lane in which the moving body travels, the notification determining unit The driving support device according to claim 2, wherein it is determined that the notification unit is not notified. The driving support device according to any one of claims 1 to 3, further comprising a lane change determination unit that determines necessity of lane change based on detection information of the detection unit. When the detection information is information on another moving body approaching the moving body in the same lane as the lane on which the moving body travels, the lane change determining unit determines that it is necessary to change the lane. The driving support device according to claim 4, wherein A distance calculating unit that calculates a distance from the moving object to a predetermined point in a moving path along which the moving object moves;
A speed determination unit that determines a settable speed of the mobile body based on the distance calculated by the distance calculation unit;
A driving support system comprising: a notification unit that notifies the speed determined by the speed determination unit. A detection unit for detecting a situation around the moving body;
The driving support system according to claim 6, further comprising: a notification determination unit that determines whether to notify the notification unit based on detection information of the detection unit. When the detection information is information on another moving body approaching the moving body in the same lane as the lane in which the moving body travels or in an adjacent lane of the lane in which the moving body travels, the notification determining unit The driving support system according to claim 7, wherein it is determined that the notification unit is not notified. The driving support system according to any one of claims 6 to 8, further comprising a lane change determination unit that determines necessity of lane change based on detection information of the detection unit. When the detection information is information on another moving body approaching the moving body in the same lane as the lane where the moving body travels, the lane change determining unit determines that it is necessary to change the lane. The driving support system according to claim 9, wherein: