JP2021064421A - Driving support device - Google Patents

Abstract

To prevent sudden approach or contact between a driver's vehicle and a small vehicle when both of the driver's vehicle and the small vehicle cross a crossing road in front of both to proceed to a road beyond an intersection.SOLUTION: A driving support device recognizes that a driver's vehicle 15 existing on a road 1 approaches an intersection 5, and a small vehicle 16 or 17 on a left side of the intersection 5 is about to cross a road 2 from a near side to an opposite side of the intersection 5, and a width of a left side lane 7 on a road on the opposite side of the intersection 5 is less than a predetermined value, and the driver's vehicle 15 proceeds toward the opposite side of the intersection 5. In this case, it allows an alarm device to output an alarm to decelerate or stop the driver's vehicle 15.SELECTED DRAWING: Figure 1

Description

The present invention relates to a driving support device that supports the driving of a vehicle such as a motorcycle or a motorcycle.

Today, the development of technology that recognizes the surrounding conditions of the own vehicle such as a motorcycle, informs the driver of the own vehicle, or controls the running of the own vehicle according to the surrounding conditions of the own vehicle is progressing. Has been done.

As an example of such a technique, in Patent Document 1 below, the portion where the estimated track of the own vehicle and the estimated track of a dangerous object such as a motorcycle or a bicycle intersect is estimated as a danger region, and the estimated track of the own vehicle and the danger A dangerous location display system that superimposes areas and dangerous objects on map data is described.

Japanese Unexamined Patent Publication No. 2005-165555

By the way, at an intersection, when both the own vehicle, which is a motorcycle, and a small vehicle such as a bicycle, cross the road crossing in front of them and proceed to the road on the other side of the intersection, the own vehicle and the vehicle There is a risk that small vehicles will come into close contact with each other or come into contact with each other. Therefore, it is desired to support the driving of the own vehicle in order to avoid such sudden approach or contact between the own vehicle and the small vehicle. However, it is not easy to provide such driving support as described below.

For example, suppose there is a first road and a second road that intersects this first road. The intersection where the first road and the second road intersect each other is an intersection. It is assumed that the own vehicle is traveling on the first road and is about to cross the second road from the front side of the intersection to the other side of the intersection on the first road. Almost at the same time, a small vehicle such as a bicycle is traveling on the left end side of the first road, trying to cross the second road from the front side of the intersection to the other side of the intersection on the first road. Suppose you are.

In this case, when the timing when the own vehicle reaches the other side of the intersection on the first road and the timing when the small vehicle reaches the other side of the intersection on the first road coincide with each other, the own vehicle and the small vehicle And are more likely to approach each other.

Further, when the width of the first road is narrow, there is an increased risk that the own vehicle and the small vehicle that have reached the other side of the intersection at the same time on the first road will come into close contact with each other or come into contact with each other.

Furthermore, the corner cuts at intersections are easily damaged, and if the roads are not well maintained, the corner cuts at intersections may be depressed or raised, and rainwater or earth and sand may collect there to form puddles or sand pools. is there. For example, if a puddle is formed in the left corner cut on the other side of the intersection, a small vehicle traveling to the other side of the intersection on the first road will move toward the center of the intersection and own a vehicle in order to avoid the puddle. It becomes easy to come into contact with. That is, if there is a puddle or the like in the left corner cut on the other side of the intersection, there is a risk that the own vehicle and the small vehicle that have reached the other side of the intersection at the same time on the first road will come close to each other or come into contact with each other. Further increase.

In this way, driving support for avoiding sudden approach or contact between the own vehicle and a small vehicle trying to cross the second road from the front side of the intersection on the first road to the other side of the intersection is provided. In order to do so, it is necessary to consider the timing of travel between the own vehicle and the small vehicle, the width of the road on the other side of the intersection, and the existence or nonexistence of a pool of water at the corner of the intersection. Therefore, it is not easy to provide such driving assistance.

In the danger point display system described in Patent Document 1, the track of a bicycle or the like is estimated from the position of a pedestrian crossing. With this estimation method, it is difficult to estimate the timing of travel between the own vehicle and the bicycle, and it is also difficult to estimate the trajectory of the bicycle traveling while avoiding the puddle formed at the corner of the intersection. ..

The present invention has been made in view of, for example, the above-mentioned problems, and an object of the present invention is to cross a road in which both the own vehicle and a small vehicle cross in front of the intersection and the road on the other side of the intersection. The purpose of the present invention is to provide a driving support device capable of preventing the own vehicle and the small vehicle from coming into close contact with each other or coming into contact with each other.

In order to solve the above problems, the present invention is a driving support device that supports the driving of the own vehicle, and the own vehicle existing on the first road is the first road and the second road. A small vehicle is on the left side of the intersection based on an image captured by an image pickup device that images the front of the own vehicle and an approach determination unit that determines whether or not the vehicle has approached the intersection. Based on the crossing determination unit that determines whether or not the vehicle is crossing from the front side to the other side of the intersection and the image captured by the imaging device, the road on the other side of the intersection. The road width determination unit that determines whether or not the width of the road or the width of the leftmost lane on the road on the other side of the intersection is less than a predetermined value, and whether or not the own vehicle has advanced toward the other side of the intersection. The driving support control unit includes a forward determination unit that determines whether or not the vehicle is driving, and a driving support control unit that controls an alarm device that outputs an alarm to the driver of the own vehicle or controls the running of the own vehicle. Is that the own vehicle existing on the first road is approaching the intersection according to the judgment result of the approach determination unit, and the small vehicle is on the left side of the intersection according to the judgment result of the crossing determination unit. An attempt is made to cross or cross the second road from the front side to the other side of the intersection, and the width of the road on the other side of the intersection or the road on the other side of the intersection is determined by the judgment result of the road width determination unit. When the width of the leftmost lane is less than a predetermined value and the own vehicle moves forward toward the other side of the intersection according to the judgment result of the forward determination unit, an alarm is output from the alarm device or It is characterized in that the own vehicle is decelerated or stopped.

According to the present invention, at an intersection, when both the own vehicle and the small vehicle cross the road crossing in front of them and proceed to the road on the other side of the intersection, the own vehicle and the small vehicle come close to each other. Alternatively, contact can be prevented.

It is explanatory drawing which shows the state which the small vehicle and the own vehicle provided with the driving support device of the Example of this invention are stopped just before an intersection. It is explanatory drawing which shows the state in which the own vehicle provided with the driving support device of the Example of this invention travels toward an intersection, and a small vehicle moves from the front side to the other side of the intersection. It is a block diagram which shows the image pickup device, the alarm device, the traveling control device, and the driving support device of the Example of this invention provided in the own vehicle. It is a flowchart which shows the 1st driving support processing by the driving support device of the Example of this invention. It is a flowchart which shows the 2nd driving support processing by the driving support device of the Example of this invention. It is explanatory drawing which shows the state which the own vehicle provided with the driving support device of the Example of this invention is decelerating or stopping based on the driving support processing by a driving support device. It is explanatory drawing which shows the other scene which the driving support device of the Example of this invention provides driving support.

The driving support device of the embodiment of the present invention is a driving support device that supports the driving of the own vehicle, and is an approach judgment unit, a crossing judgment unit, a road width judgment unit, a traffic obstacle judgment unit, a forward judgment unit, and a driving support control unit. have.

The approach determination unit determines whether or not the own vehicle existing on the first road has approached the intersection where the first road and the second road intersect. For example, if the own vehicle traveling on the first road stops just before the intersection (the area before crossing the intersection) because the signal of the traffic light provided at the intersection is red, the vehicle approaches. The determination unit determines that the own vehicle existing on the first road has approached the intersection. In addition, since the signal of the traffic light provided at the intersection is blue, the own vehicle travels on the first road toward the intersection in order to go straight through the intersection, and the distance between the own vehicle and the intersection is within the predetermined distance range. In this case, the approach determination unit determines that the own vehicle existing on the first road has approached the intersection.

Based on the image captured by the image pickup device that images the front of the own vehicle, the crossing judgment unit makes a small vehicle such as a bicycle on the left side of the intersection on the second road from the front side of the intersection to the other side of the intersection (intersection). Determine if you are trying to cross the area after you have crossed it, or if you are crossing it. For example, when it is recognized from the captured image that a small vehicle is stopped just before the intersection on the left side in front of the intersection when viewed from the own vehicle existing on the first road, the crossing determination unit is used. , It is determined that a small vehicle is about to cross the second road on the left side of the intersection from the front side to the other side of the intersection. In addition, when it is recognized from the captured image that the small vehicle is moving on the left side of the intersection from the front side to the other side of the intersection when viewed from the own vehicle existing on the first road. , The crossing determination unit determines that the small vehicle is crossing the second road on the left side of the intersection from the front side to the other side of the intersection.

The road width determination unit determines whether the width of the road on the other side of the intersection or the width of the leftmost lane on the road on the other side of the intersection is less than a predetermined value based on the captured image captured by the image pickup device. .. At an intersection where the first road and the second road intersect in a cross shape, the road on the other side of the intersection is the part of the first road on the other side of the intersection. Also, for example, the end of the first road intersects from one side of the second road, the end of the third road intersects from the other side of the second road, and the end of the first road intersects with the first. At an intersection where the end of the road 3 faces approximately across the second road, the road on the other side of the intersection is the third road. If the road on the other side of the intersection is a road without a center line, the road width determination unit determines whether or not the width of the road is less than a predetermined value. If the road on the other side of the intersection is a one-way one-lane road, the road width determination unit determines whether or not the width of the left lane of the road is less than a predetermined value when viewed from the front side of the intersection. To do. If the road on the other side of the intersection is a road with two or more lanes each way, the road width determination unit determines whether or not the width of the leftmost lane of the road when viewed from the front side of the intersection is less than a predetermined value. To judge.

The traffic obstruction determination unit determines whether or not there is a traffic obstruction in the left corner on the other side of the intersection based on the captured image captured by the imaging device. For example, when viewed from the own vehicle existing on the first road, it is imaged that there are depressions, ridges, water pools, sand pools, freezes, large stones, etc. in or around the left corner cut on the other side of the intersection. When recognized from the image, the traffic obstruction determination unit determines that there is a traffic obstruction in the left corner on the other side of the intersection.

The forward determination unit determines whether or not the own vehicle has advanced toward the other side of the intersection. For example, because the signal of the traffic light provided at the intersection was red, the own vehicle that had stopped just before the intersection on the front side of the intersection on the first road changed to blue, so the other side of the intersection. When the vehicle starts toward the road and goes straight, the forward determination unit determines that the vehicle has advanced toward the other side of the intersection. In addition, since the signal of the traffic light provided at the intersection is blue, it is predicted that the own vehicle traveling on the first road toward the intersection will not stop and will enter the intersection without changing the traveling direction. If so, the forward determination unit determines that the own vehicle has advanced toward the other side of the intersection.

The driving support control unit controls an alarm device that outputs an alarm to the driver of the own vehicle, or controls the running of the own vehicle. Specifically, in the driving support control unit, the own vehicle existing on the first road is approaching the intersection according to the judgment result of the approach judgment unit, and the small vehicle is the intersection according to the judgment result of the crossing judgment unit. On the left side, you are trying to cross or cross the second road from the front side of the intersection to the other side, and depending on the judgment result of the road width judgment part, the width of the road on the other side of the intersection or the leftmost road on the road on the other side of the intersection The width of the lane is less than the specified value, there is a traffic obstacle in the left corner on the other side of the intersection according to the judgment result of the traffic obstacle judgment unit, and the own vehicle moves forward toward the other side of the intersection according to the judgment result of the forward judgment unit. If this happens, an alarm is output from the alarm device, or the vehicle is decelerated or stopped.

That is, the own vehicle existing on the first road is approaching the intersection, and a small vehicle tries to cross or crosses the second road from the front side to the other side of the intersection on the left side of the intersection. If so, the timing when the own vehicle existing on the first road reaches the other side of the intersection coincides with the timing when the small vehicle existing on the left side of the intersection reaches the other side of the intersection. Probability is high. The driving support control unit can recognize that there is a high possibility that these timings match by combining the judgment result of the approach judgment unit and the judgment result of the crossing judgment unit. And, the possibility that these timings match means that the own vehicle and the small vehicle are likely to approach each other in the intersection or on the other side of the intersection.

Further, the driving support control unit can recognize that the width of the road or the left lane on the other side of the intersection is narrow based on the judgment result of the road width determination unit. The narrow width of the road or left lane on the other side of the intersection means that if the own vehicle and the small vehicle reach the other side of the intersection at the same time, there is a risk that both vehicles will come close to each other or come into contact with each other. ..

In addition, the driving support control unit can recognize that there is a traffic obstacle in the left corner on the other side of the intersection based on the judgment result of the traffic obstacle determination unit. The fact that there is a traffic obstruction in the left corner on the other side of the intersection means that a small vehicle traveling to the other side of the intersection approaches the center side of the intersection to avoid the traffic obstruction, and with the own vehicle in the intersection or on the other side of the intersection. It means that there is a high possibility that it will be in a state where it is easy to contact.

In addition, the driving support control unit can recognize that the own vehicle has advanced toward the other side of the intersection based on the judgment result of the forward determination unit. The fact that the own vehicle advances toward the other side of the intersection means that the own vehicle and the small vehicle reach the other side of the intersection at the same time, increasing the actual risk of both vehicles approaching or contacting each other. To do.

Therefore, the driving support control unit combines the judgment results of the approach judgment unit, the intersection judgment unit, the road width judgment unit, the traffic obstacle judgment unit, and the forward judgment unit, so that the own vehicle and the small vehicle can make a second road. Crossing from the front side to the other side of the intersection and reaching the road on the other side of the intersection at almost the same time, as a result, the own vehicle and the small vehicle come into close contact with each other in the intersection or on the other side of the intersection. It is possible to recognize with high accuracy that the risk of Then, when the driving support control unit recognizes such an increase in actual danger, it controls to output an alarm from the alarm device or to decelerate or stop the own vehicle. As a result, it is possible to prevent the own vehicle and the small vehicle from suddenly approaching or coming into contact with each other.

FIG. 1 shows a state in which the own vehicle 15 and the small vehicles 16 and 17 are stopped just before the intersection 5 on the front side of the intersection 5. FIG. 2 shows a state in which the own vehicle 15 is traveling toward the intersection 5, and the small vehicles 16 and 17 are moving from the front side to the other side of the intersection 5.

The driving support device 31 of the embodiment of the present invention provides driving support for the own vehicle 15 at an intersection where both the own vehicle and the small vehicle cross the road crossing in front of them and proceed to the road on the other side of the intersection. Do. The scene where the driving support device 31 provides driving support is, for example, the following scene.

That is, as shown in FIG. 1, there are road 1 (first road) and road 2 (second road), and road 1 and road 2 intersect with each other to form a crossroad, and these roads 1 The intersection of and 2 is the intersection 5. Road 1 is a one-lane road having a center line 6. Road 2 is also a one-lane road on each side. From the front side of the intersection 5 (the area before crossing the intersection 5 and below the intersection 5 in FIG. 1) to the other side of the intersection 5 (the area after crossing the intersection 5 and below the intersection 5), in FIG. When looking at (above the intersection 5), on the road 1, a sidewalk 9 on which bicycles are allowed to pass is provided on the left side portion on the front side of the intersection 5. Further, on the left side of the intersection 5, a pedestrian crossing 10 for crossing the road 2 is provided. Further, four traffic lights 11A, 11B, 11C and 11D are provided at the intersection 5. Of these traffic lights 11A, 11B, 11C and 11D, the traffic light 11A is a vehicle traveling in the left lane 7 of the road 1, a small vehicle traveling on the sidewalk 9, or a pedestrian walking on the sidewalk 9 crossing the road 2. It is a traffic light that regulates things. Further, when the other side of the intersection 5 is viewed from the front side of the intersection 5, a traffic obstruction 12 is formed in the left corner cut on the other side of the intersection 5. The traffic obstruction 12 is, for example, a depression, a ridge, a puddle, a sand puddle, a freeze or a large stone.

In FIG. 1, the signal of the traffic light 11A is red. Further, in the left lane 7 of the road 1, the own vehicle 15 is stopped immediately before the intersection 5 on the front side of the intersection 5. The own vehicle 15 is, for example, a four-wheeled vehicle. Further, the own vehicle 15 is automatically driven at a level (level 1 or 2) in which the vehicle is basically driven by the driver and the automatic running control of the vehicle is assisted in order to support the driver's driving. It is a vehicle. Further, on the sidewalk 9, two small vehicles 16 and 17 are stopped immediately before the intersection 5 or the road 2. One small vehicle 16 is, for example, a bicycle, and the other small vehicle 17 is an electric wheelchair (or electric cart).

On the other hand, the place shown in FIG. 2 is the same as the place shown in FIG. However, in FIG. 2, unlike FIG. 1, the signal of the traffic light 11A is blue, the own vehicle 15 is traveling in the left lane 7 of the road 1 on the front side of the intersection, and the small vehicles 16 and 17 are on the road 2. Is being crossed from the front side to the other side of the intersection 5.

FIG. 3 shows the configurations of an image pickup device 21, an alarm device 22, a travel control device 23, and a driving support device 31 according to an embodiment of the present invention provided in the own vehicle 15. In FIG. 3, the imaging device 21 is a device that images the front of the own vehicle 15, and is, for example, a video camera or a still camera. The image pickup device 21 is attached to, for example, the front portion or the upper portion of the own vehicle 15. In the own vehicle 15 in this embodiment, as shown in FIG. 1 or 2, the image pickup device 21 is attached to the center of the front upper portion of the own vehicle 15 in the driver's cab in the left-right direction.

The alarm device 22 is a device that outputs an alarm to the driver of the own vehicle 15. The alarm device 22 can output an alarm by sound using a speaker provided in the room of the own vehicle 15. Further, the alarm device 22 can output an alarm by light or screen display by using a lamp or a display provided on the instrument panel or the like of the own vehicle 15.

The travel control device 23 is a device that controls the travel of the own vehicle 15. The travel control device 23 controls the engine output of the own vehicle 15 by controlling the fuel injection valve and the throttle device provided in the own vehicle 15, or by controlling the brake of the own vehicle 15. 15 can be automatically decelerated or stopped.

The driving support device 31 is a device that supports the driving of the own vehicle 15. The driving support device 31 is provided in the own vehicle 15. The driving support device 31 includes an arithmetic processing unit 32 and a storage unit 39. The arithmetic processing unit 32 is, for example, an electronic control unit (ECU), a central processing unit (CPU), a microprocessor (MPU), or the like. The storage unit 39 is, for example, a semiconductor storage element or the like.

Further, the arithmetic processing unit 32, for example, by reading and executing the program stored in the storage unit 39, the approach determination unit 33, the crossing determination unit 34, the road width determination unit 35, the traffic obstacle determination unit 36, and the forward determination unit 37. And functions as a driving support control unit 38.

The approach determination unit 33 determines whether or not the own vehicle 15 existing on the road 1 has approached the intersection 5 where the road 1 and the road 2 intersect. Here, in the mode in which the own vehicle 15 approaches the intersection 5, for example, because the signal of the traffic light 11A is red, the own vehicle 15 traveling on the road 1 is located in front of the intersection 5 at the intersection 5. The first aspect of stopping immediately before the intersection, for example, because the signal of the traffic light 11A is blue, the own vehicle 15 traveling on the road 1 does not stop immediately before the intersection 5 on the front side of the intersection 5. Two modes are conceivable. The approach determination unit 33 determines whether or not the own vehicle 15 existing on the road 1 has approached the intersection 5 according to these modes. Specifically, in order to recognize the first aspect, the approach determination unit 33 determines whether or not the own vehicle 15 has stopped just before the intersection 5 on the front side of the intersection 5. Further, in order to recognize the second aspect, the approach determination unit 33 determines whether or not the distance between the own vehicle 15 traveling on the front side of the intersection 5 and the intersection 5 on the road 1 is within a predetermined distance range. To judge.

In the crossing determination unit 34, the small vehicle 16 or 17 (hereinafter, referred to as “small vehicle 16 or the like”) is on the left side of the intersection 5 when viewed from the own vehicle 15 existing on the front side of the intersection 5 on the road 1. In, it is determined whether or not the road 2 is to be crossed from the front side to the other side of the intersection 5, or whether or not the road 2 is crossed. The crossing determination unit 34 determines whether or not the small vehicle 16 or the like is trying to cross the road 2 from the front side to the other side of the intersection 5 on the left side of the intersection 5, and crosses the road 2 on the left side of the intersection 5. This is done based on whether or not there is a pedestrian crossing 10 or a bicycle crossing zone, and whether or not a small vehicle 16 or the like stops just before the intersection 5 or the road 2 on the left side in front of the intersection 5.

The road width determination unit 35 is the width of the road on the other side of the intersection 5 or the width of the leftmost lane on the road on the other side of the intersection 5 when viewed from the own vehicle 15 existing on the front side of the intersection 5 on the road 1. Is less than a predetermined width threshold. That is, in the example shown in FIG. 1 or 2, the road width determination unit 35 determines whether or not the width of the left lane 7 of the portion on the other side of the intersection 5 on the road 1 is less than a predetermined width threshold value.

The traffic obstruction determination unit 36 determines whether or not there is a traffic obstruction 12 in the left corner on the other side of the intersection 5 when viewed from the own vehicle 15 existing on the front side of the intersection 5 on the road 1.

The forward determination unit 37 determines whether or not the own vehicle 15 has advanced toward the other side of the intersection 5.

The driving support control unit 38 controls the alarm device 22 and the driving control device 23 based on the judgment results of the approach judgment unit 33, the crossing judgment unit 34, the road width judgment unit 35, the traffic obstacle judgment unit 36, and the forward judgment unit 37, respectively. To do. The alarm device 22 outputs an alarm based on the control of the driving support control unit 38, and the traveling control device 23 decelerates or stops the own vehicle 15 based on the control of the driving support control unit 38.

The driving support device 31 performs two types of driving support processing (first driving support processing and second driving support processing). In any of the driving support processes, at the intersection, when both the own vehicle 15 and the small vehicle 16 etc. cross the road crossing in front of them and proceed to the road on the other side of the intersection, the own vehicle 15 and the small vehicle 16 etc. It is a process to avoid sudden approach or contact with. In the first driving support process, it is assumed that the own vehicle 15 traveling on the road 1 stops just before the intersection 5 on the front side of the intersection 5, for example, because the signal of the traffic light 11A is red. This is the driving support process. Further, in the second driving support process, for example, because the signal of the traffic light 11A is blue, the own vehicle 15 traveling on the road 1 does not stop immediately before the intersection 5 on the front side of the intersection 5. It is a driving support process assuming.

FIG. 4 shows the first driving support process by the driving support device 31. In the first driving support process, first, as shown in FIG. 1, the approach determination unit 33 determines whether or not the own vehicle 15 has stopped just before the intersection 5 on the front side of the intersection 5 in the left lane 7 of the road 1. (Step S1 in FIG. 4). In this determination, immediately before the intersection 5 is, for example, a position before and after the stop line 8 drawn to the front side of the intersection 5 in the left lane 7 of the road 1. The approach determination unit 33 can recognize, for example, that the own vehicle 15 has stopped based on the vehicle speed pulse output from the vehicle speed sensor provided in the own vehicle 15. Further, the approach determination unit 33 can recognize that the stop position of the own vehicle 15 is a position before and after the stop line 8 by performing image recognition using the image captured by the image pickup device 21. ..

If the own vehicle 15 stops immediately before the intersection 5 on the front side of the intersection 5 in the left lane 7 of the road 1 according to the determination result of the approach determination unit 33 (step S1: YES), then the crossing determination unit 34 However, by performing image recognition using the image captured by the image pickup device 21, it is determined whether or not there is a pedestrian crossing 10 or a bicycle crossing zone for crossing the road 2 on the left side of the intersection 5 (step). S2).

If there is a pedestrian crossing 10 or a bicycle crossing zone for crossing the road 2 on the left side of the intersection 5 according to the judgment result in step S2 of the crossing judgment unit 34 (step S2: YES), then the crossing judgment unit 34 However, by performing image recognition using the image captured by the image pickup device 21, it is determined whether or not the small vehicle 16 or the like is stopped immediately before the intersection 5 or the road 2 on the left side in front of the intersection 5. (Step S3). In this determination, immediately before the intersection 5 or the road 2 is, for example, a position of about 3 m or less from the boundary line between the intersection 5 or the road 2 and the sidewalk 9 to the front side (lower side in FIG. 1). When there is a pedestrian crossing 10 or a bicycle crossing zone for crossing the road 2 on the left side of the intersection 5, and a small vehicle 16 or the like is stopped just before the intersection 5 or the road 2 on the left side in front of the intersection 5. It is highly possible that the small vehicle 16 or the like is trying to cross the road 2 on the left side of the intersection 5 from the front side to the other side of the intersection 5.

If, according to the determination result in step S3 of the crossing determination unit 34, the small vehicle 16 or the like is stopped immediately before the intersection 5 or the road 2 on the left side in front of the intersection 5 (step S3: YES), then Whether or not the width of the left lane 7 of the portion on the other side of the intersection 5 on the road 1 is less than a predetermined width threshold by performing image recognition using the image captured by the image pickup device 21 by the road width determination unit 35. Is determined (step S4). The width threshold value is set from the viewpoint of increasing the risk that both vehicles will suddenly approach or come into contact with each other when the own vehicle 15 and the small vehicle 16 or the like simultaneously reach the portion on the road 1 on the other side of the intersection 5. ing. That is, the width of the left lane 7 of the road 1 on the other side of the intersection 5 is the width of the own vehicle 15, the width of the small vehicle 16 and the like, and the passage when the small vehicle 16 and the like avoid the traffic obstacle 12. When the value is close to the total value of the distance between the obstacle 12 and the small vehicle 16 and the like, the risk of sudden approach or contact between the two vehicles increases. Therefore, in this embodiment, (a) when the own vehicle 15 is a passenger car with four wheels, the vehicle width is, for example, about 1.8 m, and (b) the vehicle width of the small vehicle 16 or the like is usually 0. It is about 0.6 m, (c) the distance between the small vehicle 16 and the like when the small vehicle 16 and the like avoids the traffic obstacle 12 and the small vehicle 16 and the like is usually about 0.5 m, and (d). ) The width threshold value is set to, for example, about 3.3 m in consideration of the distance to be secured between the own vehicle 15 and the small vehicle 16 and the like that have reached the other side of the intersection 5 at the same time. When the small vehicle 16 or the like changes direction in order to avoid the traffic obstruction 12, the luggage may fall from the basket of the small vehicle 16 or the like onto the road surface, and the luggage may come into contact with the own vehicle 15. In consideration of this, the width threshold value may be set to a slightly larger value.

If the width of the left lane 7 of the portion on the other side of the intersection 5 is less than the predetermined width threshold value on the road 1 according to the judgment result of the road width determination unit 35 (step S4: YES), then the traffic obstacle determination unit The 36 determines whether or not there is a traffic obstruction 12 in the left corner on the other side of the intersection 5 by performing image recognition using the image captured by the image pickup device 21 (step S5). As described above, the traffic obstruction 12 is, for example, a depression, a ridge, a puddle, a sand puddle, a freeze, a large stone, or the like. These can be recognized by pattern matching, for example. Further, for recognition of the puddle, for example, the technique described in JP-A-2008-179251 can be used. Further, freezing means, for example, freezing of a puddle or the like. An atmospheric temperature sensor may be provided in the own vehicle 15, and the atmospheric temperature sensor may be used to predict freezing of a puddle or the like.

If there is a traffic obstruction 12 in the left corner on the other side of the intersection 5 based on the determination result of the traffic obstruction determination unit 36 (step S5: YES), then the forward determination unit 37 determines that the own vehicle 15 is at the intersection 5. It is determined whether or not the vehicle has advanced toward the other side (step S6). Thereby, for example, it can be recognized that the own vehicle 15 goes straight from the stop line 8 toward the other side of the intersection 5 because the signal of the traffic light 11A has changed from red to blue. In determining whether or not the own vehicle 15 stopped before and after the stop line 8 has advanced toward the other side of the intersection 5, the determination of whether or not the own vehicle 15 has started is provided in, for example, the own vehicle 15. This can be done based on the vehicle speed pulse output from the vehicle speed sensor. Further, the determination of whether or not the own vehicle 15 goes straight to the other side of the intersection 5 without turning right or left at the intersection 5 is determined based on, for example, the detection signal output from the inertial sensor provided in the own vehicle 15. It can be carried out.

When the own vehicle 15 advances toward the other side of the intersection 5 based on the determination result of the forward determination unit 37 (step S6: YES), the driving support control unit 38 then outputs an alarm from the alarm device 22. And the own vehicle 15 is decelerated or stopped (step S7). By the alarm from the alarm device 22, the driver can know that the own vehicle 15 decelerates or stops in order to avoid a sudden approach or contact between the own vehicle 15 and the small vehicle 16 or the like. Further, the own vehicle 15 once advances from the stop line 8 toward the other side of the intersection 5, and then decelerates or stops under the control of the driving support control unit 38. Here, FIG. 6 shows a state in which the own vehicle 15 is decelerated or stopped by the first driving support process or the second driving support process. As shown in FIG. 6, under the control of the driving support control unit 38, the own vehicle 15 is a distance from the traffic obstruction 12 so that the small vehicle 16 or the like can pass between the traffic obstruction 12 and the own vehicle 15. Decelerate or stop at a distance.

Whether to decelerate or stop the own vehicle 15 in step S7 can be selected depending on, for example, the time required for the risk of sudden approach or contact between the own vehicle 15 and the small vehicle 16 or the like to be eliminated. .. Specifically, when the small vehicle crossing the intersection 5 is a small vehicle 16 (bicycle) having a high moving speed, the own vehicle 15 is decelerated, and the small vehicle crossing the intersection 5 is a small vehicle 17 having a slow moving speed. In the case of (electric wheelchair), the own vehicle 15 may be stopped. Further, when there is one small vehicle 16 or the like crossing the intersection 5, the own vehicle 15 is decelerated, and when there are two or more small vehicles 16 or the like crossing the intersection 5, the own vehicle 15 is stopped. May be good.

From the above, the first driving support process is completed. Then, for example, all of the small vehicles 16 and the like pass through the intersection, and then the own vehicle 15 advances and passes through the intersection 5, and then the first driving support process is restarted from step S1.

On the other hand, if there is no pedestrian crossing 10 or bicycle crossing zone for crossing the road 2 on the left side of the intersection 5 according to the judgment result in step S2 of the crossing judgment unit 34 (step S2: NO in FIG. 4), the crossing judgment unit According to the determination result in step S3 of 34, when no small vehicle 16 or the like has stopped immediately before the intersection 5 or the road 2 on the left side in front of the intersection 5 (step S3: NO), the road width determination unit 35 According to the judgment result, when the width of the left lane 7 of the portion on the other side of the intersection 5 on the road 1 is not less than the above width threshold (step S4: NO), the judgment result of the traffic obstacle judgment unit 36 is that the width of the left side of the intersection 5 is on the other side. When there is no traffic obstruction 12 in the left corner (step S5: NO), or when the own vehicle 15 turns right or left at the intersection 5 according to the judgment result of the forward judgment unit 37 (step S6: NO), the driving support control The unit 38 does not control to output an alarm from the alarm device 22, and does not control to decelerate or stop the own vehicle 15. Then, the first driving support process ends immediately, but after the own vehicle 15 passes through the intersection 5, the first driving support process is restarted from step S1.

FIG. 5 shows a second driving support process by the driving support device 31. In the second driving support process, first, as shown in FIG. 2, the approach determination unit 33 sets the distance between the own vehicle 15 traveling in front of the intersection 5 on the road 1 and the intersection 5 within a predetermined distance range. It is determined whether or not the result is (step S11). This determination can be made by acquiring the position information of the own vehicle 15 by the GPS (Global Positioning System) receiver provided in the own vehicle 15 and collating the position information with the map data.

Further, the upper limit value of the predetermined distance range is set to a distance at which the own vehicle 2 can safely stop according to the traveling speed of the own vehicle 2 traveling on the front side of the intersection 5 on the road 1. The distance from the start of braking to the stop of a motorcycle traveling at 40 km / h on a dry asphalt road is 17 m. In addition, the distance from the start of braking to the stop of a motorcycle traveling at a speed of 60 km / h on a dry asphalt road is 32 m. In consideration of these facts, when the traveling speed of the own vehicle 2 traveling on the front side of the intersection 5 on the road 1 is 40 km / h, the upper limit of the predetermined distance range is set to, for example, 25 m. When the traveling speed of the own vehicle 2 is 60 km / h, the upper limit of the predetermined distance range is set to, for example, 40 m.

When the distance between the own vehicle 15 traveling on the front side of the intersection 5 and the intersection 5 on the road 1 is within a predetermined distance range based on the determination result of the approach determination unit 33 (step S11: YES), the next step is In addition, the crossing determination unit 34 performs image recognition using the captured image captured by the image pickup device 21, so that the small vehicle 16 or the like crosses the road 2 on the left side of the intersection 5 from the front side to the other side of the intersection 5. It is determined whether or not the operation is performed (step S12).

If the small vehicle 16 or the like is crossing the road 2 from the front side to the other side of the intersection 5 on the left side of the intersection 5 based on the judgment result in the crossing judgment unit 34 (step S12: YES), then the road width determination is made. Similar to step S4 of the first driving support process, the unit 35 determines whether or not the width of the left lane 7 of the portion on the other side of the intersection 5 on the road 1 is less than a predetermined width threshold value (step S13).

If the width of the left lane 7 on the road 1 on the other side of the intersection 5 is less than the predetermined width threshold value (step S13: YES), then the traffic obstacle determination unit 36 determines whether or not there is a traffic obstruction 12 in the left corner on the other side of the intersection 5 in the same manner as in step S5 of the first driving support process (step S14).

If there is a traffic obstruction 12 in the left corner on the other side of the intersection 5 based on the determination result of the traffic obstruction determination unit 36 (step S14: YES), then the forward determination unit 37 is provided in, for example, the own vehicle 15. Based on the vehicle speed pulse output from the vehicle speed sensor and the detection signal output from the inertial sensor, it is determined whether or not the own vehicle 15 has advanced toward the other side of the intersection 5 (step S15). For example, when it is predicted that the own vehicle 15 does not turn right or left at the intersection 5 and does not stop before or after the stop line 8 based on the change in the traveling speed (degree of deceleration) of the own vehicle 15. Determines that the own vehicle 15 has advanced toward the other side of the intersection 5.

When the own vehicle 15 advances toward the other side of the intersection 5 according to the determination result of the forward determination unit 37 (step S15: YES), the driving support control unit 38 then performs the first driving support process. Similar to step S7, the alarm device 22 outputs an alarm, and the own vehicle 15 is decelerated or stopped (step S16). As a result, as shown in FIG. 6, the own vehicle 15 decelerates from the traffic obstruction 12 at a distance such that the small vehicle 16 and the like can pass between the traffic obstruction 12 and the own vehicle 15. , Or stop. From the above, the second driving support process is completed. Then, for example, all of the small vehicles 16 and the like pass through the intersection, and then the own vehicle 15 advances and passes through the intersection 5, and then the second driving support process is restarted from step S11.

On the other hand, according to the judgment result of the crossing judgment unit 34, when no small vehicle 16 or the like crosses the road 2 from the front side to the other side of the intersection 5 on the left side of the intersection 5 (step S12: NO), the road width judgment When the width of the left lane 7 of the portion on the other side of the intersection 5 on the road 1 is not less than the predetermined width threshold value (step S13: NO) according to the determination result of the section 35, the intersection 5 is determined by the determination result of the traffic obstacle determination section 36. If there is no traffic obstruction 12 in the left corner on the other side (step S14: NO), or depending on the judgment result of the forward judgment unit 37, the own vehicle 15 turns right or left at the intersection 5, or before or after the stop line 8. When it is predicted that the vehicle will stop at (step S15: NO), the driving support control unit 38 does not control to output an alarm from the alarm device 22, and also controls to decelerate or stop the own vehicle 15. Absent. Then, the second driving support process ends immediately, but after the own vehicle 15 passes through the intersection 5, the second driving support process is restarted from step S11.

In the second driving support process, if the own vehicle 15 stops before and after the stop line 8 after reaching step S15 through each step of steps S11 to S14, it is determined as NO in step S15. At the same time, YES is determined in step S1 of the first driving support process. As a result, the second driving support process ends in step S15, and the processes after step S2 in the first driving support process are started.

As described above, according to the driving support device 31 of the embodiment of the present invention, the determination results of the approach determination unit 33, the intersection determination unit 34, the road width determination unit 35, the traffic obstacle determination unit 36, and the forward determination unit 37 are obtained. Based on this, it is possible to recognize with high accuracy that there is a high actual risk that the own vehicle 15 and the small vehicle 16 or the like come into contact with each other or suddenly approach each other in the intersection 5 or on the other side of the intersection 5.

That is, the own vehicle 15 existing on the road 1 is approaching the intersection 5, and the small vehicle 16 or the like tries to cross the road 2 from the front side to the other side of the intersection 5 on the left side of the intersection 5, or When crossing, there is a high possibility that the own vehicle 15 existing on the road 1 and the small vehicle 16 or the like existing on the left side of the intersection 5 reach the other side of the intersection 5 at the same time. This means that there is a high possibility that the own vehicle 15 and the small vehicle 16 and the like approach each other within the intersection 5 or on the other side of the intersection 5. The driving support device 31 has a high possibility that the own vehicle 15 and the small vehicle 16 and the like reach the other side of the intersection 5 at the same time by combining the judgment results of the approach judgment unit 33 and the crossing judgment unit 34. Can be recognized.

Further, if the width of the road or lane on the other side of the intersection 5 is narrow, there is a risk that the two vehicles will suddenly approach or come into contact with each other when the own vehicle 15 and the small vehicle 16 or the like reach the other side of the intersection 5 at the same time. Increase. The driving support device 31 can recognize that the width of the road or lane on the other side of the intersection 5 is narrow based on the judgment result of the road width determination unit 35.

Further, if there is a traffic obstruction 12 in the left corner on the other side of the intersection 5, a small vehicle 16 or the like traveling to the other side of the intersection 5 will move from the traffic obstruction 12 to the right side, for example, 0.5 m in order to avoid the traffic obstruction 12. Pass through a position that is some distance away. As a result, there is a high possibility that the small vehicle 16 or the like approaches the center side of the intersection 5 and easily comes into contact with the own vehicle 15 within the intersection 5 or on the other side of the intersection 5. The driving support device 31 can recognize that there is a traffic obstruction 12 in the left corner on the other side of the intersection 5 based on the determination result of the traffic obstruction determination unit 36.

Further, when the own vehicle 15 advances toward the other side of the intersection 5, the own vehicle 15 and the small vehicle 16 and the like reach the other side of the intersection 5 at the same time, and there is an actual danger that both vehicles suddenly approach or come into contact with each other. Will increase. The driving support device 31 can recognize that the own vehicle 15 has advanced toward the other side of the intersection 5 based on the determination result of the forward determination unit 37.

Therefore, the driving support device 31 combines the determination results of the approach determination unit 33, the intersection determination unit 34, the road width determination unit 35, the traffic obstacle determination unit 36, and the forward determination unit 37, whereby the own vehicle 15 and the small vehicle 16 Etc. cross the road 2 from the front side to the other side of the intersection 5 and reach the road on the other side of the intersection 5 almost at the same time. It is possible to recognize that there is a high actual risk of close contact or contact with each other on the other side of the road. Then, when the driving support device 31 recognizes such an increase in the actual danger, it outputs an alarm from the alarm device 22 and decelerates or stops the own vehicle 15. As a result, it is possible to prevent the own vehicle 15 and the small vehicle 16 and the like from suddenly approaching or coming into contact with each other.

Further, in the first driving support process, the driving support device 31 recognizes that the own vehicle 15 has stopped just before the intersection 5 on the front side of the intersection 5 based on the judgment result of the approach determination unit 33, and determines the crossing. Based on the determination result of the unit 34, it is recognized that the small vehicle 16 or the like is stopped immediately before the intersection 5 or the road 2 on the left side in front of the intersection 5. Based on these recognitions, it is possible to recognize with high accuracy that the own vehicle 15 and the small vehicle 16 and the like are likely to reach the other side of the intersection 5 at the same time. That is, the reason why the own vehicle 15 and the small vehicle 16 and the like are stopped immediately before the intersection 5 or the road 2 on the front side of the intersection 5 is that the signal of the traffic light 11A provided at the intersection 5 is often red. Because there is. Then, in many cases, the own vehicle 15 and the small vehicle 16 and the like that are stopped immediately before the intersection 5 or the road 2 on the front side of the intersection 5 because the traffic light is red are immediately after the traffic light turns blue. Start at the same time. Further, there is no big difference in speed between the own vehicle 15 and the small vehicle 16 and the like while starting from just before the intersection 5 or the road 2 and reaching the other side of the intersection 5 on the front side of the intersection 5, and the speed of the intersection 5 is not so different. When the vehicle reaches the other side, the speed of the own vehicle 15 and the speed of the small vehicle 16 and the like are approximately 5 to 10 km / h (about the slow speed of the automobile). Therefore, when the own vehicle 15 and the small vehicle 16 and the like, which were stopped immediately before the intersection 5 or the road 2 on the front side of the intersection 5, start toward the other side of the intersection 5 at almost the same time, the own vehicle 15 and the vehicle 15 and the like are started. The small vehicle 16 and the like reach the other side of the intersection 5 almost at the same time. Therefore, the fact that the own vehicle 15 has stopped just before the intersection 5 on the front side of the intersection 5 and that the small vehicle 16 and the like have stopped just before the intersection 5 or the road 2 on the left side on the front side of the intersection 5. By recognizing, it is possible to recognize with high accuracy that the own vehicle 15 and the small vehicle 16 and the like are likely to reach the other side of the intersection 5 at the same time.

Further, in the second driving support process, the driving support device 31 recognizes that the distance between the own vehicle 15 and the intersection 5 is within a predetermined distance range based on the judgment result of the approach determination unit 33, and makes a crossing judgment. Based on the determination result of the section 34, it is recognized that the small vehicle 16 or the like crosses the road 2 on the left side of the intersection 5 from the front side to the other side of the intersection 5. Based on these recognitions, it is possible to recognize that the own vehicle 15 and the small vehicle 16 and the like are likely to reach the other side of the intersection 5 at the same time. For example, the boundary of the small vehicle 16 or the like is 3 m before the boundary line between the road on the other side of the intersection 5 and the intersection 5 (that is, the center position of the road 2 if the road width of the road 2 is 6 m). Suppose you go straight to the line at a speed of 5 km / h. At the same time, it is assumed that the own vehicle 15 goes straight to the boundary line at a speed of 40 km / h at a position 25 m before the boundary line. In this case, both vehicles reach the boundary line at almost the same time.

Further, in the first driving support process, the driving support device 31 recognizes that there is a pedestrian crossing 10 or a bicycle crossing zone for crossing the road 2 on the left side of the intersection 5 based on the judgment result of the crossing determination unit 34. In addition, it recognizes that the small vehicle 16 and the like are stopped just before the intersection 5 or the road 2 on the left side in front of the intersection 5. As a result, it is possible to recognize with high accuracy that the small vehicle 16 or the like is trying to cross the road 2 from the front side to the other side of the intersection 5. That is, there is a pedestrian crossing 10 or a bicycle crossing zone for crossing the road 2 on the left side of the intersection 5, and a small vehicle 16 or the like is stopped just before the intersection 5 or the road 2 on the left side in front of the intersection 5. In that case, the small vehicle 16 or the like is likely to move on the pedestrian crossing 10 or the bicycle crossing zone. Therefore, there is a pedestrian crossing 10 or a bicycle crossing zone for crossing the road 2 on the left side of the intersection 5, and a small vehicle 16 or the like stops just before the intersection 5 or the road 2 on the left side in front of the intersection 5. By recognizing that the vehicle is present, it is possible to recognize with high accuracy that the small vehicle 16 or the like is trying to cross the road 2 from the front side to the other side of the intersection 5.

Further, the traffic obstacle determination unit 36 of the driving support device 31 determines whether or not there is a depression, a ridge, a puddle, a sand pool, a freeze, a large stone, or the like as a traffic obstacle 12 in the left corner on the other side of the intersection 5. To do. It is dangerous for a small vehicle 16 or the like to pass through a depression, a puddle, a sand puddle, or over a ridge or a large stone, or on ice. Therefore, the small vehicle 16 and the like usually proceed avoiding depressions, ridges, puddles, sand pools, freezes, large stones, etc. in the left corner on the other side of the intersection 5, and as a result, move toward the center side of the intersection 5. It becomes easy to come into contact with the own vehicle 15. Therefore, by recognizing that there are depressions, ridges, puddles, sand pits, freezes, large stones, etc. in the left corner on the other side of the intersection 5 based on the judgment result of the traffic obstruction judgment unit 36, the other side of the intersection 5 It can be recognized with high accuracy that the moving small vehicle 16 or the like is more likely to move toward the center side of the intersection 5 and easily come into contact with the own vehicle 15.

Further, the small vehicle recognized by the crossing determination unit 34 of the driving support device 31 in the first driving support process (step S3 in FIG. 4) or the second driving support process (step S12 in FIG. 5) is a bicycle. In addition, electric wheelchairs (or electric carts) are included. As a result, according to the driving support device 31, it is possible to prevent the electric wheelchair from suddenly approaching or coming into contact with the own vehicle 15. Therefore, preventive safety can be achieved in an aging society. That is, in general, the driver of an electric wheelchair is often an elderly person with reduced attention. Compared to a non-elderly adult driver, such a driver should approach the center side of the intersection 5 without checking the rear when avoiding a puddle or the like in the left corner on the other side of the intersection 5. It is thought that there are many. Therefore, if the number of electric wheelchairs traveling on the road increases due to the increase in the number of elderly people, the risk of sudden approach or contact between the electric wheelchair at the intersection 5 and the own vehicle 15 increases, and therefore, at the intersection 5. There is an increasing demand for electric wheelchairs to prevent sudden approach or contact with the own vehicle 15. According to the driving support device 31, this request can be met, and preventive safety can be achieved in an aging society.

Further, as described in this embodiment, by applying the driving support device 31 to the autonomous driving vehicle (own vehicle 15), the corner cut of the intersection is damaged and a water pool or the like is formed there. In such a situation, it is possible to accurately control the running of the autonomous driving vehicle and to ensure preventive safety.

In the above-described embodiment, when the own vehicle 15 traveling on the front side of the intersection 5 on the road 1 stops before and after the stop line 8, the driving support of the own vehicle 15 is provided by the first driving support processing. If this is not the case, it was decided to provide driving support for the own vehicle 15 by the second driving support process. However, in the left lane 7 of the road 1, a plurality of vehicles including the own vehicle 15 are traveling on the front side of the intersection 5, and the plurality of vehicles are lined up in a row from the positions before and after the stop line 8 and stopped. In the case, when the own vehicle 15 stops at the second or third position from the beginning, the driving support of the own vehicle 15 may be provided by the first driving support processing.

Further, the driving support device 31 of the embodiment of the present invention is not limited to the intersection of the crossroads as shown in FIG. 1 or 2, but is in the middle of the road 51 (first road) as shown in FIG. 7 (1). Also at the intersection 55 of the crossroads where the ends of the road 52 (second road) intersect, the driving support by the above-mentioned first driving support processing and the second driving support processing can be performed. Further, in the driving support device 31 of the embodiment of the present invention, as shown in FIG. 7 (2), the end of the road 61 (first road) intersects with one side of the road 62 (second road). Also at the intersection 65 where the end of the road 63 (third road) intersects from the other side of the road 62 and the end of the road 61 and the end of the road 63 generally face each other across the road 62. It is possible to provide driving support by the first driving support processing and the second driving support processing. In the case of the intersection 65 shown in FIG. 7 (2), the road 63 corresponds to the road on the other side of the intersection 65. Further, the driving support device 31 of the embodiment of the present invention can perform driving support by the above-mentioned first driving support processing and second driving support processing even at an intersection without a traffic light.

Further, the driving support device 31 of the present invention can also be applied when the own vehicle is an autonomous driving vehicle having an automatic driving level of 3 or higher. When the automatic driving level is high (for example, when the level is 4 or higher), the vehicle travels in contact with the small vehicle in step S7 of the first driving support process or step S16 of the second driving support process. Unless it is difficult to avoid it by the control of the control device 23, the deceleration or stop of the own vehicle may be controlled without outputting the alarm from the alarm device 22.

Further, the driving support device 31 of the present invention can also be applied to a vehicle in which the own vehicle is manually driven (such as a four-wheeled vehicle having an automatic driving level of 0). In this case, in step S7 of the first driving support process or step S16 of the second driving support process, only the alarm output from the alarm device 22 is performed.

Further, the driving support device 31 of the present invention can be applied even when the own vehicle is a saddle-type vehicle. As a result, it is possible to support the driving of the driver whose field of vision tends to be narrowed by wearing the helmet, and preventive safety can be achieved.

Further, the small vehicle is not limited to a bicycle and an electric wheelchair, and may be another vehicle designed on the assumption that the vehicle travels on a sidewalk or a bicycle lane at a speed of about 4 km to 15 km / h.

Further, the present invention can be appropriately modified within a range not contrary to the gist or idea of the invention that can be read from the claims and the entire specification, and the driving support device accompanied by such a modification is also a technical idea of the present invention. include.

1, 2, 51, 52, 61, 62, 63 Roads 5, 55, 65 Crossings 7 Lanes 10 Pedestrian crossings 12 Traffic obstacles 15 Own vehicles 16, 17 Small vehicles 21 Imaging device 22 Alarm device 23 Driving control device 31 Driving support device 32 Arithmetic processing unit 33 Approach judgment unit 34 Crossing judgment unit 35 Road width judgment unit 36 Traffic obstacle judgment unit 37 Forward judgment unit 38 Driving support control unit

Claims (7)

It is a driving support device that supports the driving of the own vehicle.
An approach determination unit that determines whether or not the own vehicle existing on the first road has approached an intersection where the first road and the second road intersect.
Whether or not the small vehicle is trying to cross the second road from the front side to the other side of the intersection on the left side of the intersection based on the image captured by the image pickup device that images the front of the own vehicle. A cross-cutting judgment unit that judges whether or not it is done,
Road width determination for determining whether the width of the road on the other side of the intersection or the width of the leftmost lane on the road on the other side of the intersection is less than a predetermined value based on the captured image captured by the image pickup device. Department and
A forward determination unit that determines whether or not the own vehicle has advanced toward the other side of the intersection,
It is provided with a driving support control unit that controls an alarm device that outputs an alarm to the driver of the own vehicle or controls the running of the own vehicle.
In the driving support control unit, the own vehicle existing on the first road is approaching the intersection based on the determination result of the approach determination unit, and the small vehicle is determined by the determination result of the crossing determination unit. On the left side of the intersection, the second road is to be crossed or crossed from the front side to the other side of the intersection, and the width of the road on the other side of the intersection or the width of the intersection is determined by the judgment result of the road width determination unit. When the width of the leftmost lane on the road on the other side is less than a predetermined value and the own vehicle moves forward toward the other side of the intersection according to the judgment result of the forward determination unit, the warning device gives an alarm. A driving support device, which comprises outputting, or decelerating or stopping the own vehicle. The approach determination unit determines whether or not the own vehicle existing on the first road has stopped immediately before the intersection on the front side of the intersection.
Based on the captured image captured by the imaging device, the crossing determination unit determines whether or not the small vehicle is stopped immediately before the intersection or the second road on the left side in front of the intersection. ,
Based on the determination result of the approach determination unit, the driving support control unit stops the own vehicle existing on the first road just before the intersection on the front side of the intersection, and determines the crossing determination unit. As a result, the small vehicle is stopped immediately before the intersection or the second road on the left side in front of the intersection, and the width of the road on the other side of the intersection or the intersection is determined by the judgment result of the road width determination unit. When the width of the leftmost lane on the road on the other side of the road is less than a predetermined value and the own vehicle moves forward toward the other side of the intersection according to the judgment result of the forward determination unit, the warning device The driving support device according to claim 1, wherein an alarm is output, or the own vehicle is decelerated or stopped. The approach determination unit determines whether or not the distance between the own vehicle and the intersection existing on the first road is within a predetermined distance range.
The crossing determination unit determines whether or not the small vehicle is crossing the second road from the front side to the other side of the intersection on the left side of the intersection based on the captured image captured by the image pickup device. And
The driving support control unit determines that the distance between the own vehicle and the intersection existing on the first road is within the predetermined distance range based on the determination result of the approach determination unit, and the determination result of the crossing determination unit. The small vehicle crosses the second road from the front side to the other side of the intersection on the left side of the intersection, and the width of the road on the other side of the intersection or the intersection is determined by the judgment result of the road width determination unit. When the width of the leftmost lane on the road on the other side of the road is less than a predetermined value and the own vehicle moves forward toward the other side of the intersection according to the judgment result of the forward determination unit, the warning device The driving support device according to claim 1, wherein an alarm is output, or the own vehicle is decelerated or stopped. Based on the captured image captured by the imaging device, the crossing determination unit determines whether or not there is a pedestrian crossing or a bicycle crossing zone for crossing the second road on the left side of the intersection.
Based on the determination result of the approach determination unit, the driving support control unit stops the own vehicle existing on the first road just before the intersection on the front side of the intersection, and determines the crossing determination unit. As a result, there is a pedestrian crossing or a bicycle crossing zone for crossing the second road on the left side of the intersection, and the small vehicle is on the left side in front of the intersection according to the judgment result of the crossing determination unit. It is stopped immediately before the second road, and the width of the road on the other side of the intersection or the width of the leftmost lane on the road on the other side of the intersection is less than a predetermined value according to the judgment result of the road width determination unit. Further, when the own vehicle advances toward the other side of the intersection according to the judgment result of the forward determination unit, an alarm is output from the alarm device, or the own vehicle is decelerated or stopped. The driving support device according to claim 2. The intersection is one of a crossroads where the first road and the second road intersect, a chord road where the end of the second road intersects in the middle of the first road, or one of the second roads. The end of the first road intersects from the side, the end of the third road intersects from the other side of the second road, and the first road and the third road meet the second. The driving support device according to any one of claims 1 to 4, wherein the locations are substantially opposite to each other across the road. The driving support device according to any one of claims 1 to 5, wherein the small vehicle is a bicycle, an electric wheelchair, or an electric cart. The driving support device according to any one of claims 1 to 6, wherein the own vehicle is an autonomous driving vehicle or a saddle-mounted vehicle.

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