JP2022125623A - Drive support device - Google Patents

Abstract

To provide a drive support device capable of preventing not only a self vehicle but also other vehicles from colliding with an obstacle when the obstacle approaches the self vehicle.SOLUTION: A drive support device 11 includes: a peripheral information acquisition unit 40 for acquiring peripheral information of a vehicle 1; an approach determination unit 201 for determining whether or not an obstacle around the vehicle 1 is approaching the vehicle 1 based on the peripheral information acquired by the peripheral information acquisition unit 40; a notification control unit 202 for notifying a driver of the vehicle 1 of possibility of collision of the obstacle when it is determined that the obstacle is approaching by the approach determination unit 201; a braking control unit 203 for braking the vehicle 1 when the approach determination unit 201 determines that the obstacle is approaching; and an obstacle notification unit 204 for transmitting an obstacle notification signal for notifying the driver of approach of the obstacle and avoiding contact with the obstacle to other vehicles 300 around the vehicle 1 to other vehicles 300 around the vehicle 1.SELECTED DRAWING: Figure 2

Description

The present invention relates to a driving assistance device.

2. Description of the Related Art Conventionally, there is known a technique of activating a collision mitigation brake when it is determined that there is a possibility of collision between a vehicle and an obstacle at an intersection with poor traffic visibility (see, for example, Patent Document 1).

Japanese Patent Application Laid-Open No. 2020-154698

However, when an obstacle is approaching the own vehicle due to reverse driving or the like, other vehicles around the own vehicle cannot detect the obstacle due to the presence of the own vehicle. It may not be possible to avoid conflicts with

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a driving support system capable of avoiding a collision with an obstacle not only of the own vehicle but also of other vehicles when the obstacle is approaching the own vehicle. and

SUMMARY OF THE INVENTION It is an object of the present invention to provide a driving support system that enables not only the own vehicle but also other vehicles to avoid a collision with an obstacle when the obstacle is approaching the own vehicle. .

A driving support device (for example, a driving support device 11 described later) according to an aspect of the present disclosure includes a peripheral information acquisition unit (for example, a peripheral information acquisition unit described below) that acquires peripheral information of a vehicle (eg, a vehicle 1 described below). 40), and based on the peripheral information acquired by the peripheral information acquisition unit, it is determined whether or not an obstacle (for example, a motorcycle 500 described later) is approaching the vehicle in the vicinity of the vehicle. an approach determination unit (for example, an approach determination unit 201 to be described later), and when the approach determination unit determines that the obstacle is approaching, the driver of the vehicle is notified of the possibility of collision with the obstacle. and a braking control unit (for example, a braking control unit 203), and an obstacle for notifying the approach of the obstacle and causing other vehicles around the vehicle (for example, another vehicle 300 described later) to avoid contact with the obstacle and an obstacle notification unit (for example, an obstacle notification unit 204 described later) that transmits a notification signal to the other vehicles around the vehicle.

Further, when the approach determination unit determines that the obstacle is approaching, the notification control unit detects the obstacle at an earlier timing than when the obstacle is not approaching the vehicle. Notify the possibility of a collision.

Further, when the approach determination unit determines that the obstacle is approaching, the braking control unit brakes the vehicle at an earlier timing than when the obstacle is not approaching the vehicle. do.

Further, the obstacle notifying unit is configured to notify the other vehicle traveling in the same traveling direction as the vehicle and behind the vehicle, based on the peripheral information acquired by the peripheral information acquiring unit, to indicate the obstacle to the other vehicle. Send a notification signal.

Further, when the obstacle is approaching in the predicted traveling direction of the other vehicle, the obstacle notification signal causes the other vehicle to notify the approach of the obstacle and/or the other vehicle. from colliding with the obstacle.

Further, the obstacle notification signal causes the other vehicle to move to a position offset in the vehicle width direction from the position where the other vehicle is currently running.

Advantageous Effects of Invention According to the present invention, it is possible to provide a driving support system that enables not only the own vehicle but also other vehicles to avoid collision with the obstacle when the obstacle is approaching the own vehicle. .

1 is a block diagram showing the configuration of a vehicle according to this embodiment; FIG. 1 is a diagram showing a functional configuration of a vehicle driving support device according to an embodiment; FIG. FIG. 4 is a diagram showing a situation in which the vehicle according to the present embodiment and another vehicle may collide with a motorcycle; It is a flow chart which shows processing of vehicles concerning this embodiment. 7 is a flow chart showing processing of another vehicle according to the present embodiment;

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a driving assistance device of the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram showing the configuration of a vehicle 1 according to this embodiment. FIG. 1 shows an outline of a vehicle 1 in combination with a plan view and a side view. The vehicle 1 is, for example, a sedan-type four-wheel passenger car.

A vehicle 1 includes a control device 2 . The control device 2 includes a plurality of ECUs (automatic driving ECU 20 to stop control ECU 29) communicably connected via an in-vehicle network. Each ECU functions as a computer including a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage device stores programs executed by the processor, data used by the processor for processing, and the like. Each ECU may include a plurality of processors, storage devices, interfaces, and the like.

Functions and the like of each of the automatic driving ECU 20 to the stop control ECU 29 will be described below. It should be noted that the number of ECUs and the functions they are responsible for can be appropriately designed, and it is possible to subdivide or integrate them more than the ECUs shown in the present embodiment.

The automatic driving ECU 20 executes control related to automatic driving of the vehicle 1 . In automatic driving, the automatic driving ECU 20 automatically controls at least one of steering and acceleration/deceleration of the vehicle 1 .

The steering ECU 21 controls the electric power steering device 3 . The electric power steering device 3 includes a mechanism that steers the front wheels according to the driver's driving operation (steering operation) on the steering wheel 31 . The electric power steering device 3 also includes a motor that assists the steering operation or exerts a driving force for automatically steering the front wheels, a sensor that detects the steering angle, and the like. When the driving state of the vehicle 1 is automatic driving, the steering ECU 21 automatically controls the electric power steering device 3 in response to instructions from the automatic driving ECU 20 to control the traveling direction of the vehicle 1 .

The driving support ECUs 22 and 23 control the camera 41, the LIDAR 42, and the millimeter wave radar 43 for detecting the surrounding conditions of the vehicle, and perform information processing of detection results. The camera 41 images the front, sides, and rear of the vehicle 1 . In the case of this embodiment, two cameras 41 are provided in the front portion of the vehicle 1, and one each is provided in the side portion and the rear portion. The driving support ECUs 22 and 23 can extract outlines of targets and lane markings (white lines, etc.) on the road by analyzing images captured by the camera 41 .

The LIDAR 42 is Light Detection and Ranging (LIDAR), detects a target around the vehicle 1, and measures the distance to the target. In this embodiment, five LIDARs 42 are provided, one at each corner of the front of the vehicle 1, one at the center of the rear, and one at each side of the rear.

The millimeter wave radar 43 detects a target around the vehicle 1 and measures the distance to the target. In the case of this embodiment, five millimeter wave radars 43 are provided, one at the center of the front portion of the vehicle 1, one at each corner of the front portion, and one at each corner of the rear portion. there is

The driving support ECU 22 controls one of the cameras 41 at the front of the vehicle 1 and each LIDAR 42 and performs information processing of detection results. The driving support ECU 23 controls the other camera 41 at the front of the vehicle 1 and the millimeter wave radars 43 and processes detection results. By providing two sets of ECUs for detecting the surrounding conditions of the vehicle 1, the reliability of detection results can be improved. It is possible to analyze the surrounding environment of 1 from many aspects.

The position recognition ECU 24 controls the gyro sensor 5, the GPS sensor 24b, and the communication device 24c, and performs information processing of detection results or communication results. The gyro sensor 5 detects rotational motion of the vehicle 1 . The position recognition ECU 24 can determine the route of the vehicle 1 based on the detection result of the gyro sensor 5, the wheel speed, and the like.

GPS sensor 24 b detects the current position of vehicle 1 . The communication device 24c performs wireless communication with a server that provides map information, traffic information, etc., and acquires these information. The position recognition ECU 24 can access a map information database 24a built in a storage device, and the position recognition ECU 24 searches for a route from the current location to the destination.

The communication control ECU 25 includes a communication device 25a for inter-vehicle communication. The communication device 25a performs wireless communication with other vehicles in the vicinity to exchange information between the vehicles.

A drive control ECU 26 controls the power plant 6 . The power plant 6 is a mechanism that outputs driving force for rotating the driving wheels of the vehicle 1, and includes, for example, an engine and a transmission. The drive control ECU 26 controls the output of the engine in response to the driver's driving operation (accelerator operation or acceleration operation) detected by, for example, an operation detection sensor 7D provided on the accelerator pedal 7A. Then, the drive control ECU 26 switches the gear stage of the transmission based on information such as the vehicle speed detected by the vehicle speed sensor 7C. When the driving state of the vehicle 1 is automatic driving, the drive control ECU 26 automatically controls the power plant 6 in response to instructions from the automatic driving ECU 20 to control the acceleration and deceleration of the vehicle 1 .

The outside notification control ECU 27 controls lighting devices such as direction indicators (winkers) 8 and the like. In the example of FIG. 1 , the direction indicators 8 are provided at the front, door mirrors, and rear of the vehicle 1 .

The in-vehicle notification control ECU 28 controls the input/output device 9 . The input/output device 9 outputs information to the driver and receives information input from the driver. The input/output device 9 has an audio output device 91 , a display device 92 and an input device 93 .

The voice output device 91 notifies the driver of information by voice.
The display device 92 notifies the driver of information by displaying an image. The display device 92 is arranged, for example, in front of the driver's seat and constitutes an instrument panel or the like. In addition, although voice and display are exemplified here, information may be notified by vibration or light. Also, the input/output device 9 may report information by combining a plurality of sounds, displays, vibrations, or lights. Furthermore, the input/output device 9 may change the combination or the notification mode according to the level of information to be notified (for example, the degree of urgency).

The input device 93 is a group of switches arranged at a position operable by the driver to give instructions to the vehicle 1, but may also include a voice input device.

The stop control ECU 29 controls the brake device 10, a parking brake (not shown), and the like. The brake device 10 is, for example, a disc brake device, is provided on each wheel of the vehicle 1, and decelerates or stops the vehicle 1 by applying resistance to the rotation of the wheels.

The stop control ECU 29 controls the operation of the brake device 10 in response to the driver's driving operation (brake operation) detected by, for example, an operation detection sensor 7E provided on the brake pedal 7B. When the driving state of the vehicle 1 is automatic driving, the stop control ECU 29 automatically controls the braking device 10 in response to instructions from the ECU 20 to control deceleration and stopping of the vehicle 1 . The brake device 10 and the parking brake can also be operated to keep the vehicle 1 stopped. Moreover, if the transmission of the power plant 6 is provided with a parking lock mechanism, the parking lock mechanism can also be operated to keep the vehicle 1 in a stopped state.

The vehicle 1 further includes an interior detection sensor 50 that detects the state of the interior of the vehicle. Here, the in-vehicle detection sensor 50 is composed of a camera as an imaging unit, a weight sensor, a temperature detection sensor, and the like, and the type thereof is not particularly limited. The in-vehicle detection sensor 50 may be provided for each seat provided in the vehicle 1, or may be provided in a single configuration so as to enable bird's-eye view and monitoring of the entire interior of the vehicle.

[Example of control function]
The control functions of the vehicle 1 according to the present embodiment include driving-related functions related to driving, braking, and steering control of the vehicle 1 and reporting functions related to reporting information to the driver.
Lane keeping control is one type of control of the position of a vehicle with respect to a lane, and is control for automatically driving the vehicle (without depending on the driving operation of the driver) on a running track set within the lane.

Lane deviation prevention control is one of the control of the position of the vehicle with respect to the lane, and detects a white line or a median strip, and automatically steers the vehicle so as not to cross the line. Lane departure suppression control and lane keeping control have different functions in this manner.

Lane change control is control for automatically moving a vehicle from the lane in which the vehicle is traveling to an adjacent lane.
The preceding vehicle follow-up control is a control that automatically follows another vehicle traveling in front of the host vehicle.
Collision mitigation braking control is a control that automatically applies brakes to assist collision avoidance when the possibility of a collision with an obstacle in front of the vehicle increases.
The erroneous start suppression control is a control that limits the acceleration of the vehicle when the acceleration operation by the driver is equal to or greater than a predetermined amount while the vehicle is stopped, and suppresses sudden start.

Adjacent vehicle notification control is a control for informing the driver of the presence of other vehicles traveling in adjacent lanes adjacent to the own vehicle's travel lane. to be notified.
The preceding vehicle start notification control is a control for notifying that the host vehicle and the other vehicle ahead are in a stopped state and the other vehicle ahead has started. These notifications can be made by the in-vehicle notification device described above.

Processing of the driving assistance device 11 of the vehicle 1 according to the present embodiment will be described below.
FIG. 2 is a diagram showing the functional configuration of the driving support device 11 for the vehicle 1 according to this embodiment. As shown in FIG. 2 , the driving support device 11 includes a control device 2, a communication device 25a, and a peripheral information acquisition section 40.

The control device 2 includes an approach determination section 201 , a notification control section 202 , a braking control section 203 , an obstacle notification section 204 , a traveling direction prediction section 205 and an avoidance control section 206 . The peripheral information acquisition unit 40 includes the above-described camera 41 , LIDAR 42 and millimeter wave radar 43 .

The peripheral information acquisition unit 40 acquires peripheral information of the vehicle 1 . For example, the peripheral information acquisition unit 40 acquires peripheral information in front, sides, and rear of the vehicle 1 . The peripheral information is, for example, images of the front, side, and rear peripherals of the vehicle 1 acquired by the camera 41 . Peripheral information may be, for example, data of the front, side, and rear peripheries of the vehicle 1 acquired by the LIDAR 42 or the millimeter wave radar 43 .

The approach determination unit 201 determines whether or not an obstacle in the vicinity of the vehicle 1 is approaching the vehicle 1 based on the surrounding information acquired by the surrounding information acquisition unit 40 . Specifically, the approach determination unit 201 determines whether or not an obstacle in the vicinity of the vehicle 1 is approaching the vehicle 1 based on the acceleration and the vector indicating the moving direction of the other vehicle included in the surrounding information. judge.

When the approach determination unit 201 determines that an obstacle is approaching, the notification control unit 202 notifies the driver of the vehicle 1 of the possibility of collision with the obstacle. Specifically, when the approach determination unit 201 determines that an obstacle is approaching, the notification control unit 202 displays alarm information indicating the possibility of collision between the obstacle and the vehicle 1 on the display device 92. and/or output to the audio output device 91 . Thereby, the notification control unit 202 notifies the driver of the vehicle 1 of the possibility of collision between the obstacle and the vehicle 1 .

When the approach determination unit 201 determines that an obstacle is approaching, the notification control unit 202 detects the possibility of collision with the obstacle at an earlier timing than when the obstacle is not approaching the vehicle 1. inform. As a result, the vehicle 1 can notify the driver of the vehicle 1 of the approach of the obstacle at an early stage, for example, when the obstacle is another vehicle running in the reverse direction.

The brake control unit 203 brakes the vehicle 1 by the stop control ECU 29 when the approach determination unit 201 determines that an obstacle is approaching. Specifically, when the approach determination unit 201 determines that an obstacle is approaching, the braking control unit 203 controls the stop control ECU 29 to avoid or reduce collision damage between the vehicle 1 and the obstacle. Perform collision mitigation braking control.

Further, when the approach determination unit 201 determines that an obstacle is approaching, the braking control unit 203 brakes the vehicle 1 at an earlier timing than when the obstacle is not approaching the vehicle 1. may

The obstacle notification unit 204 transmits an obstacle notification signal to other vehicles around the vehicle 1 . Here, the obstacle notification signal notifies other vehicles around the vehicle 1 of the approach of the obstacle and causes the other vehicles around the vehicle 1 to avoid contact with the obstacle.

Further, based on the surrounding information acquired by the surrounding information acquisition unit 40, the obstacle notification unit 204 sends an obstacle notification signal to another vehicle traveling behind the vehicle 1 in the same traveling direction as the vehicle 1. Send. Specifically, the obstacle notification unit 204 detects another vehicle traveling behind the vehicle 1 in the same traveling direction as the vehicle 1 based on the peripheral information, and detects an obstacle for the detected other vehicle. Send a notification signal.

Further, when an obstacle is approaching in the predicted direction of travel of another vehicle, the obstacle notification signal causes the other vehicle to notify the approach of the obstacle and/or warns the other vehicle of collision with the obstacle. avoid from Further, the obstacle notification signal may cause another vehicle to move to a position that is offset in the vehicle width direction from the current running position.

Upon receiving the obstacle notification signal, the traveling direction prediction unit 205 predicts the traveling direction of the vehicle 1 based on the surrounding information acquired by the surrounding information acquisition unit 40, road information, map information, and position information of the vehicle 1. do.

When receiving the obstacle notification signal, the avoidance control unit 206 causes the vehicle 1 to avoid the obstacle based on the predicted traveling direction of the vehicle 1 predicted by the traveling direction prediction unit 205 . For example, upon receiving the obstacle notification signal, the avoidance control unit 206 determines whether an obstacle is approaching based on the traveling direction of the vehicle 1 predicted by the traveling direction prediction unit 205 . When the avoidance control unit 206 determines that an obstacle is approaching, the avoidance control unit 206 moves the vehicle 1 to a position offset in the vehicle width direction from the position where the vehicle 1 is currently running.

FIG. 3 is a diagram showing a situation in which the vehicle 1 and another vehicle 300 according to this embodiment may collide with the motorcycle 500. As shown in FIG. It is assumed that another vehicle 300 has a configuration similar to that of vehicle 1 .

In the example shown in FIG. 3, the vehicle 1 is traveling straight ahead on the road A1, and the other vehicle 300 is traveling in the same traveling direction as the vehicle 1 and behind the vehicle 1 . The motorcycle 500 is traveling in the opposite lane along which the vehicle 1 and the other vehicle 300 are traveling, and is approaching the vehicle 1 .

The vehicle 1 determines that an obstacle is approaching, notifies the driver of the vehicle 1 of the possibility of collision with the obstacle, and brakes the vehicle 1 . Further, the vehicle 1 transmits an obstacle notification signal to another vehicle 300 traveling in the same traveling direction as the vehicle 1 and behind the vehicle 1 .

When the other vehicle 300 receives the obstacle notification signal, the other vehicle 300 predicts the traveling direction of the vehicle 1, and if an obstacle is approaching in the predicted traveling direction, notifies the approach of the obstacle and/or detects the obstacle. avoid conflicts with This allows other vehicles 300 to avoid collisions with obstacles.

4 and 5 are flowcharts showing the processing of the vehicle 1 and another vehicle 300 according to this embodiment. FIG. 4 is a flowchart showing processing of the vehicle 1 according to this embodiment. It is assumed that another vehicle 300 has a configuration similar to that of vehicle 1 .

In step S<b>1 , the peripheral information acquisition unit 40 acquires peripheral information of the vehicle 1 .
In step S2, the approach determination unit 201 determines whether an obstacle (for example, the motorcycle 500 in FIG. Determine whether or not If it is determined that the obstacle is approaching the vehicle 1 (YES), the process proceeds to step S3. On the other hand, if it is determined that the obstacle is approaching the vehicle 1 (NO), the process returns to step S1.

In step S3, when the approach determination unit 201 determines that an obstacle is approaching, the notification control unit 202 notifies the driver of the vehicle 1 of the possibility of collision with the obstacle.
In step S<b>4 , when the approach determination unit 201 determines that an obstacle is approaching, the braking control unit 203 causes the stop control ECU 29 to brake the vehicle 1 .

In step S5, the obstacle notification unit 204 determines whether or not another vehicle 300 traveling behind the vehicle 1 in the same traveling direction as the vehicle 1 has been detected based on the surrounding information. If another vehicle is detected (YES), the process proceeds to step S6. On the other hand, if no other vehicle 300 is detected (NO), then the process ends.

In step S6, the obstacle notification unit 204 transmits an obstacle notification signal to the other vehicle 300 detected.

FIG. 5 is a flowchart showing processing of another vehicle 300 according to this embodiment.
In step S<b>11 , the traveling direction prediction unit 205 receives an obstacle notification signal transmitted from the vehicle 1 . Then, the direction of travel of the other vehicle 300 is predicted based on the surrounding information acquired by the surrounding information acquiring unit 40 as well as the road information, the map information, and the position information of the other vehicle 300 .

In step S<b>12 , when the obstacle notification signal is received, the traveling direction prediction unit 205 , based on the surrounding information acquired by the surrounding information acquisition unit 40 , the road information, the map information, and the position information of the other vehicle 300 . , the traveling direction of the vehicle 300 is predicted.

In step S<b>13 , the avoidance control unit 206 determines whether or not an obstacle is approaching based on the traveling direction of the other vehicle 300 predicted by the traveling direction prediction unit 205 . If it is determined that an obstacle is approaching (YES), the process proceeds to step S14. On the other hand, if it is determined that the obstacle is not approaching (NO), then the process ends.

In step S14, the avoidance control unit 206 causes the other vehicle 300 to avoid the obstacle. The notification control unit 202 also notifies the possibility of collision between an obstacle and another vehicle 300 .

According to this embodiment, for example, the following effects are achieved.
The driving assistance device 11 includes a peripheral information acquisition unit 40 that acquires peripheral information of the vehicle 1 and an obstacle in the vicinity of the vehicle 1 that approaches the vehicle 1 based on the peripheral information acquired by the peripheral information acquisition unit 40 . and when the approach determination unit 201 determines that an obstacle is approaching, the driver of the vehicle 1 is notified of the possibility of collision with the obstacle. When the notification control unit 202 and the approach determination unit 201 determine that an obstacle is approaching, a braking control unit 203 that brakes the vehicle 1 and notifies the approach of the obstacle and and an obstacle notification unit 204 that transmits an obstacle notification signal to other vehicles 300 around the vehicle 1 so that the vehicle 300 avoids contact with an obstacle. As a result, when an obstacle is approaching the vehicle 1, the driving support device 11 can avoid not only the vehicle 1 but also the other vehicle 300 from colliding with the obstacle.

Further, when the approach determination unit 201 determines that an obstacle is approaching, the notification control unit 202 determines that the collision with the obstacle is possible at an earlier timing than when the obstacle is not approaching the vehicle 1. report sexuality. As a result, the vehicle 1 can notify the driver of the vehicle 1 of the approach of the obstacle at an early stage, for example, when the obstacle is another vehicle running in the reverse direction.

Further, when the approach determination unit 201 determines that an obstacle is approaching, the braking control unit 203 brakes the vehicle at an earlier timing than when the obstacle is not approaching the vehicle 1 . As a result, the vehicle 1 can quickly avoid a collision with an obstacle, for example, when the obstacle is another vehicle running in the opposite direction.

Further, based on the surrounding information acquired by the surrounding information acquisition unit 40, the obstacle notification unit 204 sends an obstacle notification signal to another vehicle 300 traveling behind the vehicle 1 in the same traveling direction as the vehicle 1. to send. As a result, other vehicles 300 can recognize the approach of the obstacle by receiving the obstacle notification signal transmitted from vehicle 1 .

Further, when an obstacle is approaching in the predicted traveling direction of another vehicle 300, the obstacle notification signal causes the other vehicle 300 to notify the approach of the obstacle and/or the other vehicle 300 to the obstacle. to avoid conflict with As a result, other vehicles 300 can be notified of the approach of the obstacle, and can avoid colliding with the obstacle.

Further, the obstacle notification signal causes the other vehicle 300 to move to a position offset in the vehicle width direction from the current running position. As a result, other vehicle 300 can avoid a collision with an obstacle by moving to a position offset in the vehicle width direction.

In the above-described embodiment, the vehicle 1 having the driving assistance device 11 is described as a four-wheeled vehicle, but the driving assistance device 11 according to this embodiment can also be applied to a two-wheeled vehicle, for example.

Although the embodiment of the present invention has been described above, the driving support device 11 can be realized by hardware, software, or a combination thereof. Also, the control method performed by the driving support device 11 can be realized by hardware, software, or a combination thereof. Here, "implemented by software" means implemented by a computer reading and executing a program.

The program can be stored and delivered to the computer using various types of non-transitory computer readable medium. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical discs), CD-ROMs (Read Only Memory), CD-Rs, CD-R/ W, semiconductor memory (eg, mask ROM, PROM (programmable ROM), EPROM (erasable PROM), flash ROM, RAM (random access memory)).

As mentioned above, although one Embodiment of this invention was described, this invention is not limited to this. Detailed configurations may be changed as appropriate within the scope of the present invention.

Reference Signs List 1 vehicle 11 driving support device 40 peripheral information acquisition unit 201 approach determination unit 202 notification control unit 203 braking control unit 204 obstacle notification unit 205 traveling direction prediction unit 206 avoidance control unit 300 other vehicle

Claims (6)

a peripheral information acquisition unit that acquires peripheral information of the vehicle;
an approach determination unit that determines whether or not an obstacle in the vicinity of the vehicle is approaching the vehicle based on the peripheral information acquired by the peripheral information acquisition unit;
a notification control unit that notifies a driver of the vehicle of the possibility of collision with the obstacle when the approach determination unit determines that the obstacle is approaching;
a braking control unit that brakes the vehicle when the approach determination unit determines that the obstacle is approaching;
An obstacle that transmits an obstacle notification signal to other vehicles around the vehicle to notify of the approach of the obstacle and to cause other vehicles around the vehicle to avoid contact with the obstacle. a notification unit;
A driving support device. When the approach determination unit determines that the obstacle is approaching, the notification control unit determines that the collision of the obstacle occurs at an earlier timing than when the obstacle is not approaching the vehicle. The driving assistance device according to claim 1, which notifies the possibility. When the approach determination unit determines that the obstacle is approaching, the braking control unit brakes the vehicle at an earlier timing than when the obstacle is not approaching the vehicle. The driving assistance device according to claim 1 or 2. The obstacle notification unit outputs the obstacle notification signal to the other vehicle traveling behind the vehicle in the same traveling direction as the vehicle, based on the peripheral information acquired by the peripheral information acquisition unit. 4. The driving support device according to any one of claims 1 to 3, which transmits the When the obstacle is approaching in the predicted traveling direction of the other vehicle, the obstacle notification signal causes the other vehicle to notify the approach of the obstacle and/or warns the other vehicle of the obstacle. 5. The driving support system according to any one of claims 1 to 4, which avoids a collision with an obstacle. The driving assistance device according to any one of claims 1 to 4, wherein the obstacle notification signal causes the other vehicle to move to a position that is offset in the vehicle width direction from the position where the other vehicle is currently traveling.

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