JP2020035314A - Driving support device - Google Patents

Abstract

To make it possible to prevent a misunderstanding in exchanging information between vehicles, since a transfer signal indicating that the vehicle should travel with priority over the own vehicle is transmitted to the oncoming vehicle.SOLUTION: A vehicle driving support device (10) is comprised of: an information acquisition unit (11) that acquires prediction information for predicting a first situation in which a traveling direction of the own vehicle and a traveling direction of an oncoming vehicle overlap with each other; and a control unit (12) for transmitting a transfer signal to the oncoming vehicle indicating that the vehicle should travel with priority over the own vehicle to the own vehicle, when a predetermined traveling transfer condition including a condition that the first situation is predicted in the acquired prediction information is satisfied.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a driving support device.

  Passing from the own vehicle to the oncoming vehicle when there is traffic congestion and there is an oncoming vehicle trying to make a right turn from the oncoming lane in front of the vehicle that passes through the intersection straight ahead when entering the intersection Therefore, the occupant of the own vehicle may try to transmit to the occupant of the oncoming vehicle that there is an intention to give priority to the right turn of the oncoming vehicle. As described above, in a place where two roads such as an intersection or a T-shaped intersection intersect, information may be exchanged between vehicles (for example, Patent Literature 1 and Patent Literature 2).

JP 2009-289290 A JP 2008-96517 A

  Passing transmitted from the own vehicle to the oncoming vehicle in the situation of the above-mentioned intersection indicates not only the transfer indicating that the intention of giving priority to the right turn of the oncoming vehicle to the occupant of the oncoming vehicle but also the passing. Some warnings indicate that the presence of a motorcycle approaching the intersection from behind the vehicle is to be transmitted to the occupant of the oncoming vehicle. Passing, the content of the information to be transmitted differs depending on the originator, area, and situation of the passing, so the occupant of the vehicle receiving the passing misunderstood that the passing indicating the warning was the passing indicating the transfer. In such a case, a collision accident such as a so-called thank-you accident may occur. For this reason, a technology that can prevent misunderstanding when information is exchanged between vehicles is desired.

  According to one aspect of the present invention, a driving assistance device is provided. The driving assistance device is a vehicle driving assistance device (10), and an information acquisition unit (11) that acquires prediction information for predicting a first situation in which the traveling direction of the own vehicle and the traveling direction of the oncoming vehicle overlap. ), And when a predetermined traveling transfer condition including a condition that the first situation is predicted in the acquired prediction information is satisfied, the vehicle travels preferentially to the oncoming vehicle over the own vehicle. A control unit (12) for transmitting a transfer signal indicating what to do to the host vehicle.

  According to the driving support device of this aspect, since the transfer signal indicating that the vehicle should travel with priority over the own vehicle is transmitted to the oncoming vehicle, it is possible to prevent a misunderstanding in exchanging information between vehicles. it can.

It is a block diagram showing a schematic structure of a driving support device in a 1st embodiment. It is a flow which shows a signal transmission process. It is explanatory drawing which showed the traffic situation around an intersection. It is explanatory drawing which showed the traffic situation around an intersection. It is explanatory drawing which showed the traffic situation around an intersection. It is explanatory drawing which showed the traffic situation around an intersection. It is a flow which shows a signal transmission process. It is explanatory drawing which showed the traffic situation around an intersection.

A. First embodiment:
The driving support device 10 of the first embodiment shown in FIG. 1 is mounted on a vehicle and supports automatic driving of the vehicle. In the present embodiment, the vehicle on which the driving support device 10 is mounted may be referred to as “own vehicle”. In the present embodiment, the driving support device 10 is configured by an ECU (Electronic Control Unit) equipped with a microcomputer and a memory. In the present embodiment, the host vehicle is a vehicle equipped with an engine. In addition, the host vehicle is a vehicle that can execute switching between automatic driving and manual driving. The driver (driver) can switch between the automatic operation and the manual operation by using a predetermined switch provided on an instrument panel or the like. “Automatic driving” means driving in which all of the engine control, the brake control, and the steering control are automatically performed without the driver performing a driving operation. "Manual driving" refers to an operation for engine control (stepping on an accelerator pedal), an operation for brake control (stepping on a brake pedal), and an operation for steering control (rotation of a steering wheel). Means the operation to be performed.

  The driving support device 10 includes a vehicle speed sensor 21, an acceleration sensor 22, a GNSS (Global Navigation Satellite System) sensor 23, a yaw rate sensor 24, a steering angle sensor 25, an imaging camera 26, a millimeter wave radar 27a, a LiDAR (Light Detection And Ranging or Laser). (Imaging Detection And Ranging) 27b and the communication unit 28, respectively, and obtains the measurement values and communication contents obtained by these sensors, and based on the measurement values and communication contents, the operation control device 200 and the transmission unit 300 is instructed to control.

  The vehicle speed sensor 21 detects the speed of the own vehicle. The acceleration sensor 22 detects the acceleration of the vehicle. The GNSS sensor 23 is constituted by, for example, a GPS (Global Positioning System) sensor, and detects the current position of the vehicle based on radio waves received from artificial satellites constituting the GPS. The yaw rate sensor 24 detects a yaw rate (rotational angular velocity) of the vehicle. The steering angle sensor 25 detects a steering wheel steering angle of the own vehicle.

  The imaging camera 26 is pointed in front of the host vehicle and acquires a captured image. The imaging camera 26 includes a camera directed to the rear and left and right of the host vehicle in addition to the front of the host vehicle. A monocular camera may be used as the imaging camera 26. Further, a stereo camera or a multi camera composed of two or more cameras may be used.

  The millimeter wave radar 27a detects the presence or absence of an object in front of the own vehicle, the distance between the object and the own vehicle, the position of the object, and the relative speed of the object with respect to the own vehicle using radio waves in the millimeter wave band. The “object” detected by the millimeter wave radar 27a is, more precisely, a set of a plurality of detection points (targets). The LiDAR 27b detects the presence or absence of an object around the front of the vehicle using a laser. The millimeter-wave radar 27a and the LiDAR 27b include those directed to the rear and left and right of the host vehicle in addition to the front of the host vehicle.

  The communication unit 28 performs inter-vehicle communication with another vehicle. By executing the inter-vehicle communication, the own vehicle can exchange the situation information on the situation of the own vehicle and the surrounding situation with another vehicle or the like. The communication unit 28 performs at least one of wireless communication with an intelligent transport system, inter-vehicle communication with another vehicle, and road-to-vehicle communication with a roadside device installed in road facilities. It may execute communication.

  The operation control device 200 is a functional unit that controls the operation of the host vehicle. In the present embodiment, the operation control device 200 includes an engine ECU 201, a brake ECU 202, and a steering ECU 203. The engine ECU 201 controls the operation of the engine 211. Specifically, by controlling various actuators (not shown), the opening / closing operation of the throttle valve, the ignition operation of the igniter, the opening / closing operation of the intake valve, and the like are controlled. The brake ECU 202 controls the brake mechanism 212. The brake mechanism 212 includes a group of devices (actuators) related to brake control such as a sensor, a motor, a valve, and a pump. The brake ECU 202 determines the timing of applying a brake and the amount of braking (the amount of braking), and controls each device constituting the brake mechanism 212 such that the determined amount of braking is obtained at the determined timing. The steering ECU 203 controls the steering mechanism 213. The steering mechanism 213 includes a group of devices (actuators) related to steering such as a power steering motor. The steering ECU 203 determines the amount of steering (steering angle) based on the measurement values obtained from the yaw rate sensor 24 and the steering angle sensor 25, and controls each device constituting the steering mechanism 213 so that the determined amount of steering is obtained.

  The driving support device 10 includes an information acquisition unit 11 and a control unit 12. The control unit 12 is realized by executing a control program stored in advance in a storage unit (not shown) of the driving assistance device 10 by a microcomputer (not shown) of the driving assistance device 10.

  The information acquisition unit 11 acquires prediction information for predicting a first situation in which the traveling direction of the own vehicle and the traveling direction of the oncoming vehicle overlap. In the present embodiment, the information acquisition unit 11 also acquires prediction information for predicting a stop situation in which the host vehicle stops for a preset time or longer. In the present embodiment, the preset time is 5 seconds. In another embodiment, the preset time may be shorter than 5 seconds or longer than 5 seconds. Details of the first situation and the stopping situation will be described with reference to FIG.

  The prediction information includes the speed of the own vehicle detected by the vehicle speed sensor 21, the acceleration of the own vehicle detected by the acceleration sensor 22, the current position of the own vehicle detected by the GNSS sensor 23, the yaw rate of the own vehicle detected by the yaw rate sensor 24, The steering wheel steering angle of the own vehicle detected by the steering angle sensor 25, the forward information of the own vehicle detected by the imaging camera 26, the millimeter wave radar 27a and the LiDAR 27b, the state of the own vehicle and other vehicles acquired by the communication unit 28 And situation information about the surrounding situation. The prediction information may include an operation of a direction indicator such as a right turn, a left turn, and a lane change detected by a direction indicator sensor (not shown).

  The control unit 12 instructs the operation control device 200 to perform control. Further, when a predetermined traveling transfer condition including a condition that the first situation is predicted in the acquired prediction information is satisfied, the control unit 12 preferentially drives the oncoming vehicle over the own vehicle. The transfer unit 300 transmits a transfer signal indicating what to do. Details of the transfer condition will be described with reference to FIG.

  The transmitting unit 300 transmits a transfer signal when the traveling transfer condition is satisfied. In the present embodiment, the transmitting unit 300 is a headlight of the own vehicle.

  The driving support device 10 performs a signal transmission process described in FIG. The signal transmission processing is repeatedly executed when the own vehicle exists between a position where the vehicle enters the intersection and a position which is separated from the position where the vehicle enters the intersection by a predetermined distance. In the present embodiment, the signal transmission processing is executed when the own vehicle is in the state of automatic driving, but in other embodiments, when the own vehicle is in the state of manual driving, or in the state of automatic driving, It may be executed in any of the states of manual operation. In the present embodiment, the preset distance is 100 m, but this distance may be set arbitrarily. When the signal transmission process is started, in step S110, the prediction information is obtained by the information obtaining unit 11. In step S120, the control unit 12 determines whether the traveling transfer condition is satisfied. When the traveling transfer condition is not satisfied, the signal transmission processing ends. When the traveling transfer condition is satisfied, the process proceeds to step S130.

  The travel transfer conditions in the first embodiment will be described with reference to FIG. FIG. 3 shows the traffic situation around the intersection. One road crossing the intersection is composed of lanes FL1 and FL2 and oncoming lanes BL1 and BL2. Since the vehicles FV1 and FV2 are stopped due to traffic congestion at the intersection of the lane FL1, the own vehicle SV1 trying to travel in the straight traveling direction enters the intersection of the lane FL1. It is stopped at. The vehicle FV3 is stopped behind the host vehicle SV1 in the lane FL1. In the vicinity of the center of the intersection, an oncoming vehicle BV1 that is about to make a right turn from the oncoming lane BL1 is stopped. In the traffic situation shown in FIG. 3, the own vehicle SV1 is stopped at a position where it enters the intersection, so that the signal transmission processing is executed.

In the first embodiment, the traveling transfer conditions include the following conditions.
1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) A stop situation in which the host vehicle SV1 stops for a preset time or longer is predicted.

  In the traffic situation illustrated in FIG. 3, a first situation in which the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted from the prediction information acquired by the information acquisition unit 11. In other words, it is predicted that the direction in which the host vehicle SV1 goes straight and the direction in which the oncoming vehicle BV1 turns right overlap. The fact that the first situation is predicted is included in the condition that the traveling transfer condition in the first embodiment is satisfied.

  In addition, establishment of the traveling transfer condition in the first embodiment includes prediction of a stopping state in which the host vehicle SV1 stops for a preset time or longer. In the traffic situation shown in FIG. 3, vehicles FV1 and FV2 are stopped due to traffic congestion at a point where the own vehicle SV1 has passed an intersection in the lane FL1 where the vehicle SV1 is stopped. For this reason, from the prediction information acquired by the information acquisition unit 11, a stop situation in which the host vehicle SV1 stops until the vehicles FV1 and FV2 move forward is predicted. Therefore, in the traffic situation shown in FIG. 3, since the information acquisition unit 11 predicts the first situation and the stop situation from the prediction information, the control unit 12 determines that the traveling transfer condition is satisfied.

  If the traveling transfer condition is satisfied, the process proceeds to step S130, and the control unit 12 causes the transmission unit 300 to transmit a transfer signal indicating that the oncoming vehicle BV1 should travel with priority over the own vehicle SV1. At this time, the headlight that is the transmitting unit 300 blinks the headlight in a predetermined pattern as a transfer signal. Here, the predetermined pattern is a blinking pattern of the headlight whose transmission content is predetermined. For example, as a blinking pattern for notifying the oncoming vehicle that the vehicle should travel with priority over the own vehicle, a blinking pattern of blinking the headlight at a predetermined cycle (for example, 1 s cycle) or a predetermined number of times (for example, (5 times) A blinking pattern for blinking continuously is predetermined. Such a predetermined pattern is preferably standardized.

  The transmission of the transfer signal by the transmitter 300 is automatically performed when the traveling transfer condition is satisfied. After that, the signal transmission processing ends. In another embodiment, transmission of the transfer signal by the transmission unit 300 is performed in a standby state when the traveling transfer condition is satisfied, and is manually performed by the occupant of the host vehicle SV1 performing an input such as operating a switch. May be. In such a case, the signal transmission process may be terminated after the transfer signal is transmitted manually or after a lapse of a set time from the standby state.

  FIG. 4 shows a traffic situation around an intersection different from that in FIG. The self-vehicle SV1 existing at a position of entering the intersection in the lane FL1 is traveling in the straight traveling direction. A traffic signal SG is installed at a point on the lane FL1 that has passed the intersection. In the traffic situation shown in FIG. 4, the light color of the traffic light SG is yellow. In the vicinity of the center of the intersection, an oncoming vehicle BV1 that is about to make a right turn from the oncoming lane BL1 is stopped. In the traffic situation shown in FIG. 4 as well, the own vehicle SV1 exists at the position where it enters the intersection, so that the signal transmission processing is executed.

  In the traffic situation illustrated in FIG. 4, a first situation in which the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted from the prediction information acquired by the information acquisition unit 11. Further, since the light color of the traffic light SG is yellow, the stop state of the host vehicle SV1 is predicted from the prediction information acquired by the information acquisition unit 11. Therefore, also in the traffic situation shown in FIG. 4, since the information acquisition unit 11 predicts the first situation and the stop situation from the prediction information, the control unit 12 determines that the traveling transfer condition is satisfied.

  FIG. 5 shows a traffic situation around an intersection different from those in FIGS. 3 and 4. The self-vehicle SV1 existing at the position of entering the intersection in the lane FL1 is about to turn left. A traffic signal SG is installed at a point on the lane FL1 that has passed the intersection. In the traffic situation shown in FIG. 5, the light color of the traffic light SG is blue. Near the center of the intersection, an oncoming vehicle BV1 that is about to turn right from the oncoming lane BL1 is stopped. Vehicles FV4, FV5, and FV6 are stopped in traffic lanes TL1 and TL2 in the direction of left turn from lane FL1 due to traffic congestion. Also in the traffic situation shown in FIG. 5, since the own vehicle SV1 exists at the position where it enters the intersection, the signal transmission processing is executed.

  In the traffic situation shown in FIG. 5, a first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted from the prediction information acquired by the information acquisition unit 11. Although the light color of the traffic light SG is blue, when the own vehicle SV1 turns left, there is no space for the oncoming vehicle BV1 to enter until the vehicles FV4, FV5, and FV6 go straight in the lanes TL1 and TL2. Stops at the intersection. For this reason, from the prediction information acquired by the information acquisition unit 11, a stop situation in which the host vehicle SV1 stops before entering the intersection is predicted. Therefore, also in the traffic situation shown in FIG. 4, since the information acquisition unit 11 predicts the first situation and the stop situation from the prediction information, the control unit 12 determines that the traveling transfer condition is satisfied.

  According to the first embodiment described above, since the transfer signal indicating that the vehicle should travel with priority over the own vehicle SV1 is transmitted to the oncoming vehicle BV1, misunderstanding occurs in the exchange of information between vehicles. Can be prevented. Therefore, it is possible to prevent a collision accident such as a thank-you accident that occurs when the occupant of the oncoming vehicle misunderstands the intention of passing.

B. Second embodiment:
The driving support device according to the second embodiment differs from the driving support device 10 according to the first embodiment in that the prediction information acquired by the information acquisition unit 11 is different and the conditions included in the establishment of the traveling transfer condition in the signal transmission process are different. Except for differences, the configuration is the same as that of the driving support device 10 of the first embodiment. The same reference numerals as in the first embodiment denote the same components, and refer to the preceding description.

  The information acquisition unit 11 in the driving support device according to the second embodiment determines whether the oncoming vehicle has an overlapping position where the traveling direction of the own vehicle and the traveling direction of the oncoming vehicle overlap with the prediction information for predicting the first situation. The prediction information for predicting a preceding situation in which the time required to pass the overlapping position is shorter than the time required for the vehicle to pass the overlapping position is acquired.

  The traffic situation shown in FIG. 6 is different from the traffic situation shown in FIG. 4 in that a preset distance is set from the point where the traffic light SG is blue and the position of the host vehicle SV1 enters the intersection. Is the same as the traffic situation shown in FIG. 4 except that it is located 100 m away.

In the second embodiment, the traveling transfer conditions include the following conditions.
1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) Regarding the overlapping position LP where the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap, the time until the oncoming vehicle BV1 passes the overlapping position LP is the time until the own vehicle SV1 passes the overlapping position LP. Predictions that are shorter than time are expected.

  In the traffic situation shown in FIG. 6, a first situation in which the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted from the prediction information acquired by the information acquisition unit 11. Although the light color of the traffic light SG is blue, in the traffic situation shown in FIG. 6, based on the prediction information acquired by the information acquisition unit 11, the overlapping position where the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap. With respect to LP, it is predicted that the time before the oncoming vehicle BV1 passes through the overlapping position LP is shorter than the time until the own vehicle SV1 passes through the overlapping position LP. The time required for the oncoming vehicle BV1 to pass through the overlapping position LP is determined from the turning time calculated using the lane widths of the lanes FL1 and FL2, the turning radius of the oncoming vehicle BV1, and the assumed vehicle speed. The time required for the own vehicle SV1 to pass through the overlapping position LP is determined using the distance from the current position of the own vehicle SV1 to the overlapping position LP and the assumed vehicle speed of the own vehicle SV1. Therefore, in the traffic situation shown in FIG. 6, since the information acquisition unit 11 predicts the first situation and the preceding situation from the prediction information, the control unit 12 determines that the traveling transfer condition is satisfied.

  According to the second embodiment described above, as in the first embodiment, the transfer signal indicating that the vehicle should travel with priority over the own vehicle SV1 is transmitted to the oncoming vehicle BV1, so that the Misunderstandings can be prevented in the exchange of information. Therefore, it is possible to prevent a collision accident such as a thank-you accident that occurs when the occupant of the oncoming vehicle misunderstands the intention of passing.

C. Third embodiment:
The driving support device of the third embodiment is different from the driving support device 10 of the first embodiment in that the prediction information acquired by the information acquisition unit 11 is different and the processing content of the signal transmission process is different. It is the same as the device configuration of the driving support device 10 of the embodiment. The same reference numerals as in the first embodiment denote the same components, and refer to the preceding description.

  The information acquisition unit 11 according to the third embodiment predicts a second situation in which another vehicle travels forward from the blind spot direction of the own vehicle, in addition to the prediction information for predicting the first situation and the stopping situation. To obtain prediction information. In the present embodiment, the information acquisition unit 11 acquires prediction information for predicting a situation where another vehicle is moving forward from the rear side of the own vehicle toward the front. In another embodiment, prediction information for predicting a situation in which another vehicle advances forward from a direction different from the rear side of the blind spot direction of the own vehicle may be acquired. The direction different from the rear side direction of the blind spot direction of the host vehicle includes the direction hidden by pillars constituting the vehicle body of the host vehicle as viewed from the position of the driver's seat of the host vehicle.

In the third embodiment, the traveling transfer conditions include the following conditions.
1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) A stop situation in which the host vehicle SV1 stops for a preset time or longer is predicted.
3) The second situation in which the other vehicle MB moves forward from the rear side of the own vehicle SV1 toward the front is not predicted.
Details of the second situation will be described with reference to FIG.

  The control unit 12 according to the third embodiment drives the oncoming vehicle when the predetermined traveling warning condition including the condition that the first situation and the second situation are predicted in the acquired prediction information is satisfied. A warning signal indicating that warning should be issued is transmitted from the transmitting unit 300. Details of the traveling warning condition will be described with reference to FIG.

  The driving assistance device according to the third embodiment executes the signal transmission processing described in FIG. The execution timing of the signal transmission processing of the third embodiment is the same as in the first embodiment and the second embodiment. When the signal transmission process is started, in step S110, the prediction information is obtained by the information obtaining unit 11. The prediction information includes information for predicting the first situation, the stopped situation, and the second situation. In step S120, the control unit 12 determines whether the traveling transfer condition is satisfied. As described above, in the third embodiment, establishment of the traveling transfer condition includes prediction of the first situation and the stopping situation, and non-prediction of the second situation.

  The second situation will be described with reference to FIG. The traffic situation shown in FIG. 8 is different from the traffic situation shown in FIG. 3 except that there is another vehicle MB traveling forward from the rear side of the own vehicle SV1. Same as indicated traffic conditions. Another vehicle MB is a motorcycle. In the traffic situation shown in FIG. 8, based on the prediction information acquired by the information acquisition unit 11, the first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap, and the own vehicle is not less than a preset time A stop situation of stopping is predicted. Further, in the traffic situation shown in FIG. 8, a second situation in which another vehicle MB moves forward from the rear side of the host vehicle SV1 toward the front is predicted from the prediction information acquired by the information acquisition unit 11.

  Returning to the description of FIG. 7, when the traveling transfer condition is satisfied in the signal transmission process, that is, when the first situation and the stop situation are predicted and the second situation is not predicted, the process proceeds to step S130, and the signal transmission process is performed. Is terminated.

  If the traveling transfer condition is not satisfied in the signal transmission process, in step S125, the control unit 12 determines whether the traveling warning condition is satisfied.

The traveling warning conditions include the following conditions.
1) A first situation where the traveling direction of the host vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) A stop situation in which the host vehicle SV1 stops for a preset time or longer is predicted.
3) A second situation in which another vehicle MB moves forward from the rear side of the host vehicle SV1 toward the front is predicted.

  If the traveling warning condition is not satisfied, the signal transmission processing ends. When the traveling warning condition is satisfied, the process proceeds to step S140, and the control unit 12 causes the transmitting unit 300 to transmit a warning signal indicating that the oncoming vehicle BV1 should be warned of traveling. At this time, the headlight that is the transmitting unit 300 blinks the headlight in a predetermined pattern as a warning signal. The blinking pattern of the headlight in the warning signal is different from the blinking pattern of the headlight in the transfer signal. For example, as a blinking pattern for notifying the oncoming vehicle BV1 that the vehicle should be warned, a blinking pattern of blinking the headlight at a predetermined cycle (for example, 0.5 s cycle) or a predetermined number of times (for example, three times) ) Means that a blinking pattern for blinking continuously is predetermined. In the exchange of information between vehicles, when signals having different intentions are distinguished only by the difference in the number of blinks, the determination of the oncoming vehicle BV1 may be delayed. For this reason, as a parameter used for discriminating signals having different intentions, a blink cycle or a combination of a blink cycle and the number of blinks is desirable. After that, the signal transmission processing ends.

  According to the third embodiment described above, similarly to the first embodiment, the transfer signal indicating that the vehicle should travel with priority over the own vehicle SV1 is transmitted to the oncoming vehicle BV1, so that the Misunderstandings can be prevented in the exchange of information. Therefore, it is possible to prevent a collision accident such as a thank-you accident that occurs when the occupant of the oncoming vehicle misunderstands the intention of passing. Further, in the third embodiment, if the traveling warning condition is satisfied without fulfilling the traveling transfer condition, a warning signal indicating that the traveling should be warned is transmitted toward the oncoming vehicle BV1. It is possible to further prevent the occurrence of misunderstandings in the exchange of information between them.

D. Other embodiments:
In each of the embodiments described above, the transmitting unit 300 is a headlight of the host vehicle, but the present invention is not limited to this. For example, the transmitting unit 300 may transmit using any one of road surface description, radio wave output, and sound wave output. The road surface description is to draw a figure or character information that conveys the movement of the host vehicle on the road surface using a drawing light provided in the host vehicle. The radio wave output uses a millimeter wave or the like.

  In each of the above-described embodiments, the means for transmitting the transfer signal and the warning signal using, for example, a blinking pattern of a headlight has been described, but the present invention is not limited to this. For example, when the own vehicle and the center can communicate, the transfer signal and the warning signal may be transmitted to the oncoming vehicle via the center.

  The present invention is not limited to the above-described embodiments and modified examples, and can be realized with various configurations without departing from the spirit thereof. For example, the embodiments corresponding to the technical features in the respective embodiments described in the summary of the invention, the technical features in the modified examples may be used to solve some or all of the above-described problems, or In order to achieve some or all of the effects, replacement and combination can be performed as appropriate. If the technical features are not described as essential in this specification, they can be deleted as appropriate.

10: driving support device, 11: information acquisition unit, 12: control unit

Claims (7)

A driving assistance device (10) for a vehicle,
An information acquisition unit (11) that acquires prediction information for predicting a first situation in which the traveling direction of the own vehicle and the traveling direction of the oncoming vehicle overlap with each other;
When a predetermined traveling transfer condition including a condition that the first situation is predicted in the obtained prediction information is satisfied, the vehicle should travel preferentially to the oncoming vehicle over the own vehicle. And a control unit (12) for transmitting a transfer signal indicating the following to the own vehicle. The driving support device according to claim 1,
The prediction information further includes information for predicting a second situation in which another vehicle is moving forward from the blind spot direction of the host vehicle,
The driving support device further includes a condition that the second situation is not predicted in the traveling transfer condition. The driving assistance device according to claim 2,
The second situation is a driving support device in which the other vehicle travels forward from a rear side of the own vehicle toward the front. The driving assistance device according to claim 2 or 3, wherein:
The control unit may further include, when a predetermined traveling warning condition including a condition that the first situation and the second situation are predicted is satisfied, warn the oncoming vehicle of traveling. A driving support device for transmitting a warning signal to the host vehicle. The driving support device according to claim 4,
The driving support device, wherein the transfer signal and the warning signal are transmitted using one of a road surface description, a radio wave output, and a sound wave output. The driving support device according to any one of claims 1 to 4, wherein:
The driving support device, wherein the transfer signal is blinking of a headlight transmitted in a predetermined blinking pattern. The driving assistance device according to claim 4, which is dependent on claim 4 or claim 4,
The driving support device, wherein the warning signal is a signal different from the transfer signal and is a blink of a headlight transmitted in a predetermined blink pattern.

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