JP2020126538A - Driving support device - Google Patents

Abstract

To provide a driving support device that performs appropriate driving support control even in an invalid time period of signal information.SOLUTION: A driving support device is mounted on an own vehicle 101b and supports driving of the own vehicle 101b using signal information transmitted from a traffic light 103. The driving support device includes: a signal information acquisition section that acquires the signal information including at least information regarding a schedule of signal indication of the traffic signal 103 installed in a forwarding direction of the own vehicle 101b from the traffic signal 103; a current information acquisition section that acquires current information including the current signal indication of the traffic signal 103 installed in the forwarding direction of the own vehicle 101b; a support information creation section that creates support information for supporting to drive using the signal information acquired by the signal information acquisition section and the current information acquired by the current information acquisition section; and an output section that outputs the support information created by the support information creation section. If the signal information acquired by the signal information acquisition section is invalid, the support information creation section creates support information using the current information.SELECTED DRAWING: Figure 1

Description

The disclosure in this specification relates to a driving assistance device that communicates with a traffic light to assist driving.

Conventionally, a vehicle traveling on a road transmits signal information indicating the current light color and switching timing of a signal from an intersection traffic light (hereinafter, also referred to as “traffic light”) installed at an intersection ahead in the traveling direction. There is a technique of receiving various kinds of driving assistance for allowing a vehicle to smoothly pass through an intersection based on the signal information received by communication.

As driving assistance, for example, in a situation where a traffic light installed at an intersection ahead of the vehicle in the traveling direction shows a yellow or red traffic light, which is the current stop signal, the stop signal is reached before the intersection is reached by decelerating. There is a system that allows the vehicle to pass through the intersection without stopping at the next progress signal (green light) (see Patent Document 1, for example).

JP-A-5-128399

In a traffic signal that is centrally controlled by a traffic control center, invalid periods of signal information regularly exist. Reasons for the generation of the invalid time zone include, for example, maintenance of traffic lights and change of switching timing during remote operation by a traffic control center. Therefore, in the driving support device using the signal information, it is necessary to consider the invalid time zone of the signal information.

Therefore, the object of the disclosure is made in view of the above-mentioned problems, and an object of the invention is to provide a driving support device that performs appropriate driving support control even in an invalid time zone of signal information.

The present disclosure adopts the following technical means in order to achieve the above-mentioned object.

The driving support device disclosed herein is a driving support device (21) mounted on a vehicle (101) and supporting driving of the vehicle using signal information transmitted from a traffic signal (103),
A signal information acquisition unit (27) for acquiring from the traffic light signal information including at least information regarding the schedule of signal display of the traffic light installed in the forward direction of the own vehicle;
A current information acquisition unit (S7, S8) for acquiring current information including a current signal indication of a traffic signal installed in the forward direction of the host vehicle;
A support information creation unit (S4, S5, S11, S12) that creates support information that supports driving using the signal information acquired by the signal information acquisition unit and the current information acquired by the current information acquisition unit;
An output unit (24, 25) for outputting the support information created by the support information creation unit,
If the signal information acquired by the signal information acquisition unit is invalid, the support information creation unit creates support information using the current information.

According to such a driving support device, the support information creation unit creates the support information using the current information when the signal information acquired by the signal information acquisition unit is invalid. Even in the invalid time zone of the signal information, since the assistance information can be created from the signal indication, the appropriate driving assistance control can be performed.

In addition, the reference numerals in parentheses of the respective means described above are examples showing the correspondence with the specific means described in the embodiments described later.

The figure which shows a driving assistance system. The flowchart which shows a driving assistance process. The figure which shows the 1st example of information acquisition. The figure which shows the 2nd example of information acquisition. The figure which shows the 3rd example of information acquisition.

(First embodiment)
The first embodiment of the present disclosure will be described with reference to FIGS. 1 to 5. First, the driving support system 100 will be described with reference to FIG. The driving support system 100 is a system that provides a driver with driving support information for supporting driving of the vehicle 101. The driving support system 100 includes a traffic control center 102, a traffic light 103, and a vehicle 101.

[Explanation of Traffic Control Center 102]
First, the traffic control center 102 will be described. The traffic control center 102 is an external device of the vehicle 101, communicates with the plurality of vehicles 101, and centrally controls the plurality of traffic signals 103. The traffic control center 102 controls traffic in the assigned area and controls various settings of the traffic signal 103, for example. The traffic control center 102 sends a signal light color control signal to each traffic light 103, for example, and controls the lighting time of each signal light color according to the traffic volume and time zone of the road 104.

The traffic control center 102 includes a cloud communication unit 11, a database 12, and a control control unit 13. The cloud communication unit 11 transmits/receives data to/from a plurality of vehicles 101 using wireless communication, for example, telematics communication. The cloud communication unit 11 can employ various components such as an in-vehicle communication module such as a DCM (Data Communication Module) used for telematics communication. In addition, the cloud communication unit 11 bidirectionally communicates with the traffic signal 103 by wireless or wire.

The database 12 stores a plurality of data and has a storage area such as a vehicle database and a traffic light database. The vehicle database stores travel information acquired by communicating with the vehicle 101. The travel information is, for example, information on the camera 33 of each vehicle 101, the position of the vehicle 101, the intersection 105 at which the vehicle 101 is stopped, and the route information. Various setting information of the traffic light 103 is stored in the traffic light database. The database 12 not only stores the above-mentioned information, but also various information called so-called big data.

The control controller 13 is composed of a computer device including a CPU, a ROM, a RAM, and the like, and integrally controls each unit of the traffic control center 102. The control unit 13 is connected to the traffic light 103 via the cloud communication unit 11, and remotely controls the traffic light 103 to be controlled. The control controller 13 integrally adjusts the operation of each traffic light 103 based on the information from each traffic light 103 and the vehicle 101 so that the traffic flow on the mixed road becomes smooth. In addition, the control controller 13 uses the vehicle detection information acquired from the traffic light 103 to generate traffic jam section information. The control controller 13 generates traffic information using the construction information and traffic jam section information provided in advance, and controls the cloud communication unit 11 to transmit the traffic information to the vehicle 101.

[Explanation of Vehicle 101]
Next, the vehicle 101 will be described. The vehicle 101 includes an in-vehicle control device 21 and a plurality of external devices connected to the in-vehicle control device 21. The on-vehicle control device 21 communicates with another vehicle 101, the traffic signal 103, and the traffic control center 102 to implement driving assistance, and outputs information for driving assistance. Therefore, the in-vehicle control device 21 has a function as a driving assistance device that assists the driving of the vehicle 101 using the signal information transmitted from the traffic light 103. The vehicle-mounted control device 21 includes a position specifying unit 22, an external device connecting unit 23, a display unit 24, a sound output unit 25, an optical beacon communication unit 26, a wireless communication unit 27, and a control unit 28.

The position specifying unit 22 specifies the current position and the traveling direction of the vehicle 101 based on detection signals from the vehicle speed sensor 31, an acceleration sensor (not shown), a GPS receiver, and the like. The position specifying unit 22 outputs the specified data to the control unit 28.

The external device connection unit 23 is an interface for communicating between the control unit 28 and external devices such as the radar 32, the camera 33, the vehicle speed sensor 31, the operation control unit 34, and the navigation device 35 mounted on the vehicle 101. Is. The external device connection unit 23 outputs the data transmitted from the external device to the control unit 28.

The radar 32 detects another vehicle around the host vehicle 101b. Further, the camera 33 is an image pickup unit, and picks up images of road scenes in front of and behind the vehicle 101b in the traveling direction. The vehicle speed sensor 31 detects the speed of the host vehicle 101b. The operation control unit 34 controls the operation of each unit of the host vehicle 101b, such as an accelerator, a brake, and a turn indicator. The navigation device 35 is a car navigation system that searches a recommended route from the current position to the destination based on the road map data, and guides the travel according to the searched recommended route.

The display unit 24 is an output unit including a display surface such as a liquid crystal panel that displays an image. The display unit 24 displays various images, such as driving assistance images, under the control of the control unit 28. The display surface of the display unit 24 is arranged at a location visible from the driver's seat of the vehicle 101.

The sound output unit 25 is an output unit including a speaker that outputs sound. The sound output unit 25 outputs various sounds, for example, various voice messages related to driving assistance, under the control of the control unit 28.

The optical beacon communication unit 26 is a communication device for performing two-way communication using the near infrared communication technology with the optical beacon 43 installed near the road. The optical beacon communication unit 26 receives various traffic information provided from the optical beacon 43 and outputs the received data to the control unit 28.

The wireless communication unit 27 performs road-vehicle communication, which is bidirectional wireless communication with the traffic light 103. Therefore, the wireless communication unit 27 also functions as a signal information acquisition unit that acquires signal information from the traffic signal 103 installed at the intersection 105 ahead of the host vehicle 101b in the traveling direction. The wireless communication unit 27 also performs inter-vehicle communication, which is wireless communication, with the peripheral vehicle 101a equipped with the communication device. In the following, for convenience of description, the vehicle 101 will be described by being divided into a host vehicle 101b and a peripheral vehicle 101a.

As a communication mode used for road-to-vehicle communication, for example, communication using a dedicated frequency of 760 MHz of Intelligent Transport Systems, narrow area communication (DSRC) used in ETC (registered trademark) 2.0, and VICS A technology such as a radio wave beacon used in (registered trademark) or the like is used. The wireless communication unit 27 acquires current information including the current signal indication of the traffic signal 103 installed at the intersection 105 ahead of the own vehicle 101b in the traveling direction. The wireless communication unit 27 also performs bidirectional wireless communication with the traffic control center 102. The wireless communication unit 27 transmits/receives data to/from the traffic control center 102 using, for example, DCM communication.

The control unit 28 is configured by a computer device including a CPU, a ROM, a RAM, and the like, and integrally controls each unit of the in-vehicle control device 21. The control unit 28 executes processing relating to road-to-vehicle communication and driving support according to a program stored in the ROM or the like. The control unit 28 provides driving assistance based on road-to-vehicle communication, inter-vehicle communication, and signal information acquired from the traffic control center 102, the traveling status of the own vehicle 101b, and the status of the surrounding vehicle 101a ascertained using various sensors. Carry out. The driving assistance to be performed is, for example, the content of outputting the signal indication of the front intersection 105 and the schedule of the signal indication. Detailed description of the driving support process for performing the driving support will be given later.

[Explanation of traffic light 103]
Next, the configuration of the traffic signal 103 will be described. The traffic signal 103 is installed on the road 104 (see FIGS. 3, 4, and 5) and displays a signal indication to the vehicle 101 passing through the road 104. The traffic light 103 includes a signal communication unit 41, a signal control unit 42, an optical beacon 43, and a signal display unit 44. The signal display unit 44 displays a signal indication for the vehicle 101 passing through the intersection 105. The signal display unit 44 has signal lights that turn on and off in blue, yellow, and red in order to show the signals.

The signal communication unit 41 is a communication device for performing road-vehicle communication, which is bidirectional wireless communication with the on-vehicle control device 21 mounted on the vehicle 101 traveling on the road 104. The communication mode used for road-to-vehicle communication is the same as that of the on-vehicle control device 21 described above. Further, the signal communication unit 41 bidirectionally communicates with the traffic control center 102 wirelessly or by wire.

The optical beacon 43 is a device that has both a bidirectional communication function using near-infrared light with high directivity and a vehicle detection function. The optical beacon 43 includes a near-infrared light emitter/receiver installed above the road 104 and a control device. The optical beacon 43 detects the vehicle 101 traveling on the road 104. Further, the optical beacon 43 transmits the information supplied from the signal control unit 42 to the vehicle 101, and outputs the sensing information of the vehicle 101 and the information received from the vehicle 101 by the bidirectional communication to the signal control unit 42.

The signal control unit 42 is configured by a computer device including a CPU, a ROM, a RAM, and the like, and integrally controls each unit of the traffic light 103. The signal control unit 42 controls turning on and off of each of the blue, yellow, and red signal lights included in the signal display unit 44. The signal control unit 42 uses the signal communication unit 41 to send signal information including information about a schedule of presenting signals controlled by itself and position information indicating a position where the traffic signal 103 is installed at a constant interval, for example, 100 ms. Each time, the signal is transmitted around the traffic light 103. The information regarding the schedule of signal display is information indicating a current signal display state, a future signal lamp color display order, and a signal signal color display period.

Next, an example of the driving support processing executed by the control unit 28 of the vehicle-mounted control device 21 will be described with reference to FIG. The driving support process shown in FIG. 2 is a process repeatedly executed by the control unit 28 in a short time. In step S1, the signal information is received from the traffic light 103, and the process proceeds to step S2. In step S2, the intersection 105 in front of the host vehicle 101b in the traveling direction is determined, and the process proceeds to step S3. Although there are a plurality of intersections 105 in front of the host vehicle 101b in the traveling direction, the intersection 105 here means the nearest intersection 105 in front of the host vehicle 101b in the traveling direction.

In step S3, it is determined whether or not the information about the schedule of the signal display included in the signal information from the traffic signal 103 at the intersection 105 located ahead in the traveling direction is available. Suppose signal information is available if the information about the scheduled signal presentation is not invalid. If the signal information is usable, the process proceeds to step S4, and if the signal information is not usable, the process proceeds to step S6. The traffic signal 103 constantly transmits signal information, but the reliability of the information included in the signal information may be low due to various reasons. Whether or not it can be used can be determined by analyzing the received signal information.

In step S4, since the signal information can be used, the display unit 24 and the sound output unit 25 are controlled so as to output the current vehicle light color of the traffic light 103 and the switching time of the vehicle light color, and the process proceeds to step S5. .. The vehicle light color means the light color of the traffic light 103 for the vehicle.

In step S5, a signal prediction service using the current vehicle light color of the traffic light 103 and the switching time of the vehicle light color is supported, and the present flow ends. The signal predicting service is to output information indicating the current vehicle light color and the switching time to the navigation device 35, for example. As a result, the navigation device 35 can display the signal image at the same time as the guide image on the display screen, or can display the signal switching timing in a countdown. The information output in steps S4 and S5 is support information, and steps S4 and S5 are part of the process as a support information creation unit.

In step S6, since the signal information is unusable, it is determined whether or not the own vehicle camera image or the other vehicle camera image information can be acquired. If it can be acquired, the process proceeds to step S7. This flow ends. The own vehicle camera image is a camera image acquired by the camera 33 of the own vehicle 101b, and is an image showing the traffic light 103 at the intersection 105 determined in S2 in the image. The other vehicle camera image is a front image of the other vehicle captured by the camera 33 mounted on the other vehicle, and is an image showing the traffic signal 103 at the intersection 105 determined in S2. The other vehicle capable of capturing such another vehicle camera image is located between the own vehicle 101b and the intersection 105 on the same road 104 as the own vehicle 101b, and travels toward the intersection 105. Alternatively, the other vehicle is traveling toward the intersection 105 on the road 104 intersecting with the road 104 on which the own vehicle 101b is traveling.

The other vehicle camera image information is image information based on the camera image of the other vehicle acquired by the inter-vehicle communication or the DCM communication with the peripheral vehicle 101a. This image information may not be a camera image of another vehicle, but may be signal light color information obtained by analyzing the camera image, for example. The image information based on the camera 33 of the own vehicle 101b and the other-vehicle camera image information correspond to current information.

Whether or not the own vehicle camera image can be acquired is determined by providing the camera image from the external device connection unit 23 and analyzing the image. Whether the camera image of the other vehicle can be acquired is determined by acquiring the camera image captured by the camera 33 of the other vehicle from the wireless communication unit 27 and analyzing the camera image.

The inter-vehicle communication is not limited to direct communication between two vehicles, but may be obtained by multiple inter-vehicle communication via another vehicle in order to widen the communication range within a range of several hundred meters of the intersection 105. Including. When passing another vehicle, the number of passing vehicles N is set as the upper limit within a range of several hundred meters of the intersection 105. The number N of transits is set in consideration of communication delay.

Steps S7 and S8 are processes performed by the current information acquisition unit. In step S7, the signal light color is acquired by the own vehicle camera image or DCM communication, and the process proceeds to step S8. The signal light color can be determined by image analysis of the own vehicle camera image. The current information acquisition unit recognizes the current light color of the vehicle lighting device by, for example, capturing an image with the camera, or predicts the light color of the vehicle lighting device from the light color of the pedestrian lighting device. The vehicle lamp is the traffic light 103 for the vehicle, and the pedestrian light is the traffic light 103 for the pedestrian. The signal light color may also be acquired by DCM communication from the traffic control center 102.

In step S8, signal information in the same direction as the own vehicle 101b or in the crossing direction is acquired from the other-vehicle camera image information by inter-vehicle communication or DCM communication, and the process proceeds to step S9. The other vehicle is not necessarily in the same direction as the own vehicle 101b but may be in the intersecting direction. The information from the other vehicle also includes the position information of the other vehicle. The position information is not limited to the own vehicle position, and may be the intersection ID in the traveling direction, the remaining distance to the intersection 105, and the approach route to the intersection 105. The light color image analysis is the same as in the case of the own vehicle 101b.

In step S9, the signal information acquired from the own vehicle 101b and the other vehicle are merged, and the process proceeds to step S10. When steps S7 and S8 are executed, there are cases where the own vehicle camera image and other vehicle camera image information are acquired but image analysis is not possible, and where image analysis is possible but the signal light color cannot be determined. Even in such a case, the signal information is merged in order to comprehensively determine the signal lamp color based on the acquired signal information.

In step S10, it is determined based on the merged information whether or not the signal information is pre-readable from the lighting color of the walkway. If pre-reading is possible, the process proceeds to step S4, and if pre-reading is not possible, step S11 is performed. Move on to. Since the timings at which the vehicle light color in the traveling direction and the light colors of the pedestrian lights are switched are different, it may be possible to predict the switch timing of the vehicle light colors depending on the light color of the pedestrian light device. If it can be predicted in this way, it is determined that prefetching is possible.

In step S11, the current vehicle lamp color is determined based on the merged signal information, the display unit 24 and the sound output unit 25 are controlled so as to output the determination result, and the process proceeds to step S12. In step S12, the signal service using the current vehicle light color of the traffic signal 103 is supported, and this flow ends. The signal service is to output information indicating the current vehicle light color to the navigation device 35, for example. Thereby, the navigation device 35 can display the signal image at the same time as the guide image on the display screen. The information output in steps S11 and S12 is also support information, and steps S11 and S12 are part of the process as a support information creation unit.

As described above, in the driving assistance process shown in FIG. 2, when the signal information acquired by the wireless communication unit 27 is invalid, assistance is performed using the own vehicle camera image or the other vehicle camera image showing the signal indication. Creating information. As a result, even if the signal information is unusable, if the own vehicle camera image and the other vehicle camera image information can be acquired, the driving support process can be continued from these information.

Further, it is preferable that the information output in steps S4 and S11 include invalid information indicating that the signal information is invalid, for example, when the signal information is invalid. When it is found that the signal information is invalid, the driver can appropriately utilize the driving support information after recognizing that the signal information is invalid.

Further, it is preferable that the information output in steps S4 and S11 include, for example, source information indicating an acquisition source of the information used for creating the driving support information. The source information is, for example, information indicating that the signal information, the own vehicle camera image, and the other vehicle camera image pickup information are used. When the support information is created only on the basis of the own vehicle camera image, it can be output that the own vehicle camera image is used, and the driver can recognize that the own vehicle camera image is used.

Next, with reference to FIGS. 3 to 5, a process of continuing the driving support process when the signal information is invalid, that is, the signal information is unusable will be described. In FIG. 3, when the signal information is invalid, the current information of the traffic signal 103 installed at the intersection 105 ahead of the own vehicle 101b in the traveling direction is acquired based on the image captured by the camera 33 of the own vehicle 101b. ing. Therefore, it corresponds to the process of step S7 in FIG.

In FIG. 4, when the signal information is invalid, the intersection 105 in the forward traveling direction of the own vehicle 101b is based on the image captured by the camera 33 included in the surrounding vehicle 101a located in the forward traveling direction of the own vehicle 101b. The current information of the traffic signal 103 installed in When there is another vehicle with a high vehicle height in front of the host vehicle 101b, the camera 33 of the host vehicle 101b may not be able to capture the traffic signal 103. In such a case, the information captured by the camera 33 of the peripheral vehicle 101a located ahead of the own vehicle 101b in the traveling direction is used. Therefore, it corresponds to the processing in the same direction in step S8 in FIG.

In FIG. 5, when the signal information is invalid, the intersection 105 is based on an image captured by the camera 33 of another vehicle traveling toward the intersection 105 on the road 104 intersecting the road 104 on which the vehicle 101b travels. The current information of the traffic signal 103 installed in If there is another vehicle with a high vehicle height in front of the host vehicle 101b, but the other vehicle does not have the wireless communication unit 27 and the other vehicle does not have the camera 33, the information of the other vehicle in front is displayed. It cannot be used. Therefore, information on other vehicles that are traveling toward the same intersection 105 but not in front of the host vehicle 101b is used. Therefore, it corresponds to the processing in the intersecting direction of step S8 in FIG.

[Summary of Embodiments]
As described above, when the signal information acquired by the wireless communication unit 27 is invalid, the vehicle-mounted control device 21 according to the present embodiment creates the support information using the current information. As a result, appropriate driving support control can be performed even in the invalid time zone of the signal information.

Further, in the present embodiment, even if the signal information is invalid, if the current information obtained from the camera 33 of the vehicle 101b can be obtained, the assistance information is created using the current information. The current information can be obtained without the information from the device.

Further, in the present embodiment, the vehicle-mounted control device 21 can acquire various information by communicating with the traffic control center 102. Thus, by using the current information acquired from the traffic control center 102, it is possible to create the support information by using the more accurate current information.

Further, in the present embodiment, when the signal information is invalid, the support information including the invalid information indicating that the signal information is invalid is created. Thereby, the driver can recognize that the signal information is invalid based on the output support information.

Further, in the present embodiment, the support information including the source information indicating the acquisition source of the information used for creating the support information is created. As a result, the driver can recognize the source information of the support information based on the output support information.

(Other embodiments)
Although the preferred embodiment of the present disclosure has been described above, the present disclosure is not limited to the above-described embodiment and can be variously modified and implemented without departing from the gist of the present disclosure.

The above-described embodiments are merely examples, and the scope of the present disclosure is not limited to the scope of these descriptions. The scope of the present disclosure is shown by the description of the claims, and includes the meaning equivalent to the description of the claims and all modifications within the scope.

Although the traffic control center 102 has the configuration including the database 12 in the above-described first embodiment, the database 12 may have another configuration, for example, a configuration different from the traffic control center 102 as a cloud center. Further, the plurality of databases 12 may be distributed in each database 12.

Although the host vehicle 101b has the camera 33 in the above-described first embodiment, the host vehicle 101b may not have the camera 33. In this case, the support information can be created by acquiring the current information by the wireless communication unit 27.

In the first embodiment described above, the function realized by the vehicle-mounted control device 21 may be realized by hardware and software different from those described above, or a combination thereof. The in-vehicle control device 21 may communicate with another control device, for example, and the other control device may execute part or all of the processing. When the control device is realized by an electronic circuit, it can be realized by a digital circuit including a large number of logic circuits or an analog circuit.

11... Cloud communication unit 12... Database 13... Control control unit 21... In-vehicle control device (driving support device) 22... Position specifying unit 23... External device connection unit 24... Display unit (output unit) 25... Sound output unit (output unit ) 26... Optical beacon communication unit 27... Wireless communication unit (signal information acquisition unit) 28... Control unit 31... Vehicle speed sensor 32... Radar 33... Camera 34... Operation control unit 35... Navigation device 41... Signal communication unit 42... Signal control Part 43... Optical beacon 44... Signal display part 100... Driving support system 101... Vehicle 101a... Peripheral vehicle 101b... Own vehicle 102... Traffic control center 103... Traffic signal 104... Road 105... Intersection S4, S5, S11, S12... Assistance information Creation section S7, S8... Current information acquisition section

Claims (5)

A driving support device (21) which is mounted on a vehicle (101) and supports driving of the vehicle using signal information transmitted from a traffic light (103),
A signal information acquisition unit (27) for acquiring from the traffic signal the signal information including at least information regarding a signal display schedule of the traffic signal installed in the forward direction of the vehicle.
A current information acquisition unit (S7, S8) for acquiring current information including a current signal indication of the traffic light installed in the forward direction of the host vehicle;
A support information creation unit (S4, S5, S11, S12) that creates support information that supports driving using the signal information acquired by the signal information acquisition unit and the current information acquired by the current information acquisition unit;
An output unit (24, 25) for outputting the support information created by the support information creation unit;
The said assistance information preparation part is a driving assistance apparatus which produces|generates assistance information using the said present information, when the said signal information which the said signal information acquisition part acquired is invalid. The driving assistance device according to claim 1, wherein the current information is created based on an image captured by a camera (33) that captures an image in front of the vehicle in the traveling direction. The driving assistance device according to claim 1, wherein the current information is captured by a camera mounted on another vehicle, and is created based on an image of the other vehicle camera including the front side in the traveling direction of the own vehicle. The support information creation unit creates the support information including invalid information indicating that the signal information is invalid when the signal information acquired by the signal information acquisition unit is invalid. The driving support device according to any one of 1. The driving support device according to claim 4, wherein the support information creation unit creates the support information including source information indicating an acquisition source of the information used to create the support information.

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