JP4506617B2 - Vehicle driving support device - Google Patents

Description

  The present invention relates to a vehicle driving support device for informing a driver of the information when it is determined that the traveling state of the host vehicle causes a traffic jam.

Conventionally, by detecting traffic jams occurring on the road and notifying the vehicle of the traffic jam information, the vehicle is prevented from getting involved in traffic jams in advance and further traffic congestion is prevented. Various techniques have been proposed (see, for example, Patent Documents 1 to 3).
JP 2003-272089 A Japanese Patent Laid-Open No. 2002-190013 JP-A-5-18773

However, the above prior art is based on the premise that a traffic jam that has already occurred is detected, and the vehicle driver who is notified of the traffic jam information responds to avoid the traffic jam after the fact. I can only do it. On the other hand, there has been no technology based on the idea of supporting driving of a vehicle from the viewpoint of preventing the occurrence of traffic jams.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle driving support device that enables driving support of a vehicle that can prevent occurrence of traffic jams.

According to the vehicle driving support device of the first aspect, the travel state determination means is based on the information on the road on which the host vehicle is located and the travel state of other vehicles located around the host vehicle. determining whether the traveling state of the vehicle is cause of traffic congestion, the notification control means, when the traveling state of the vehicle is determined to be the cause of traffic congestion you broadcast the information to the driver.
For example, the driving state of an individual vehicle cannot easily pass through that point due to the road conditions at that time and the positional relationship with other vehicles located in the vicinity. In some cases, this situation is invited. A result of cumulative or chaining of similar cases may lead to the occurrence of traffic jams. Therefore, if the driving state determination unit determines the driving state of the vehicle that may cause such a situation and the notification control unit performs notification, the driver receives the notification and the driving state of the host vehicle is congested. It is possible to prevent the occurrence of traffic congestion by correcting the driving of the host vehicle and resolving the situation that is likely to cause traffic congestion at an early stage. .
Specifically, the traveling state determination means determines that the road on which the host vehicle is traveling is a road with multiple lanes on one side and the other vehicle traveling state detection unit is running parallel to the host vehicle for a predetermined time or more. If it is detected, it is determined that the traveling state of the host vehicle causes a traffic jam. For example, on a road having a plurality of lanes including a driving lane and an overtaking lane on one side, such as an expressway, there are cases where the path of the following vehicle is blocked if there are vehicles running in parallel with these lanes. Therefore, the traveling state determination means can appropriately determine the traveling state that causes the occurrence of traffic congestion by following the above conditions.

  According to the vehicle driving support apparatus of the second aspect, the traveling state determination means starts the determination when the state in which the traveling speed of the host vehicle is equal to or higher than the predetermined speed continues for a predetermined time. That is, when the vehicle traveling speed is not changed over a predetermined period of time, it indicates that the driving state of the vehicle has hardly changed. If the vehicle path is blocked, it may cause traffic jams. Therefore, the traveling state determination means can start determination at an appropriate timing by following the above conditions.

According to the vehicle driving support device of the third aspect , the notification control means prompts the driver to decelerate when the other vehicle running state detection means detects that no other vehicle exists within a specified distance behind the host vehicle. It notifies the fact. That is, when the host vehicle and the other vehicle are running side by side, if there is no other vehicle behind the host vehicle, the driver can decelerate the host vehicle to cancel the parallel running state.

According to the vehicle driving support device of the fourth aspect , the notification control means notifies the driver that the lane change is urged when the traveling state determination means determines that the host vehicle is traveling in the overtaking lane. you. That is, when the host vehicle and another vehicle are running in parallel, if the host vehicle is traveling in an overtaking lane, it is preferable to quickly change the lane to the traveling lane side. Therefore, it is possible to appropriately notify the driver.

According to the vehicle driving support device of claim 5 , the notification control means determines that the host vehicle is traveling in the overtaking lane by the traveling state determination means, and the parallel running vehicle by the other vehicle traveling state detection means. and detecting the state of the vehicle space forward, behind the front of the vehicle, based on the detection state of another vehicle in the rear, you notification if the the driver determines that it is possible lane change of the vehicle . Therefore, the driver can change the lane of the own vehicle based on his / her judgment by receiving the notification.

According to the vehicle driving support device according to claim 6, traveling control unit, because the notification control means controls so as to change the you controller generates a notice of a request for change lanes to the driver lane of the own vehicle, driver Without waiting for the lane change to be made at the discretion of the person, it is possible to eliminate the driving state that causes traffic congestion.

According to the vehicle driving support apparatus of the seventh aspect , the communication means sends information indicating that the host vehicle changes lanes before the travel control unit starts control for changing the lane of the host vehicle. sent, notification control means, upon receiving the information from the other vehicle via the communication means, it informs the driver that the said other vehicle is about to change lanes.
That is, on the premise that each vehicle is equipped with the vehicle driving support device of the present invention, if wireless communication is performed via each other's communication means, information to be transmitted between these devices is transmitted. Thus, necessary notification can be performed. Therefore, when a certain vehicle is about to change lanes, the information is transmitted to other vehicle devices to notify the driver of the vehicle, so that the vehicle side prepares for the lane change. Can be operated.

(First embodiment)
Hereinafter, a first embodiment in which the present invention is applied to a car navigation apparatus will be described with reference to FIGS. In FIG. 1, the overall electrical configuration is schematically shown by a combination of functional blocks. In FIG. 1, a car navigation device (vehicle driving support device) 1 is connected to a control circuit (running state determination means, notification control means) 2 having a function of controlling the navigation operation with respect to a position detector (position Acquisition means) 3, map database (road information storage means) 4, display device (control means) 5, operation switch group 6, voice output device (notification means) 7, voice recognition device 8, memory 9, VICS (Vehicle Information Communication) System, registered trademark) receiver 10 is connected.

The control circuit 2 is constituted by a microcomputer provided with a CPU, ROM, RAM, I / O interface and a bus line (not shown) for connecting them. Among these, the ROM stores a car navigation program and the like, and the RAM stores road map data acquired from the map database 4 and the VICS receiver 10 from the VICS infrastructure in addition to the processing data at the time of program execution. The received road traffic information and the like are temporarily stored.
The position detector 3 includes, for example, a geomagnetic sensor 11, a gyro sensor 12, a vehicle speed sensor (running information acquisition means) 13, a GPS receiver 14, and the like, and is a part that calculates the current position information of the vehicle. .

  The map database 4 is constructed using a large capacity information recording medium such as a CD-ROM, DVD-ROM, or hard disk, and is used for map drawing data for map display, map matching and route search, In addition to road data necessary for various processes such as route guidance, intersection data consisting of detailed data of intersections, background data for background layers, place name data for displaying place names, etc., facility names are displayed in, for example, the order of 50 tones. Various map data are stored, such as a lined facility name database and a telephone number database indicating correspondence between telephone numbers and facilities.

  The display device 5 includes, for example, a color liquid crystal display for displaying a map screen or the like, and is installed in the vicinity of the driver's seat of the vehicle. On the screen of the display device 5, a road map whose scale can be changed in a plurality of stages in normal times is displayed, and a pointer indicating the current position and traveling direction of the vehicle is displayed so as to be superimposed on the display. It has become. Further, when the route guidance function based on the route search result to the destination is executed, the guidance route to be traveled while being superimposed on the road map is displayed. Further, various menu screens and input screens for searching and inputting a destination by the user, various message information, help screens, and the like are also displayed.

The operation switch group 6 includes mechanical switches arranged around the display device 5, touch panel switches formed on the display of the display device 5, and the like, and controls commands related to operations such as various data and setting items. 2 is provided. The voice output device 7 includes a voice synthesis circuit, an amplifier, a speaker, and the like, and is configured to generate a voice output corresponding to voice information from the control circuit 2.
The speech recognition device 8 includes a microphone, a speech extraction unit that converts speech input by the microphone into digital data, a speech recognition unit that includes a comparison pattern candidate dictionary for speech recognition (none of which are shown). Thus, the control circuit 2 is provided with the result of recognizing the voice uttered by the user.

The memory 9 is composed of a rewritable non-volatile memory such as a flash memory, and history data indicating the input frequency of voice commands related to the gist of the present invention, and storing and recalling other specific data, etc. It is provided to perform.
The VICS receiver 10 includes a VICS sensor unit and an FM multiplex broadcast receiver (both not shown). For example, road traffic information or FM by optical / radio wave beacons received by the VICS sensor unit from the VICS station. The road traffic information from the FM multiplex broadcast received by the multiplex broadcast receiver is provided to the control circuit 2.

  The control circuit 2 performs a well-known map display function, route calculation function, route guidance function, telephone number search function, zip code based on a command input through the operation switch group 6 or a voice command input through the voice recognition device 8. Various support functions such as a search function, a search function using a unique code such as a map code (registered trademark), a 50-sound search function, a search function by genre, a nearest facility search function, a destination registration function, and a point registration function It is comprised so that the process which concerns on may be performed.

  The car navigation device 1 is connected with a peripheral monitoring device (another vehicle running state detection means) 18 including a camera (for example, a CCD (Charge Coupled Device) camera) 15, a radar 16, and a corner sensor 17. The signal output by is supplied to the control circuit 2. The camera 15 is used for recognizing other vehicles existing around the vehicle (front, side, rear, etc.) by an image, and a plurality of cameras 15 are arranged outside the vehicle as necessary.

  The radar 16 is used to measure the inter-vehicle distance from other vehicles when the other vehicle exists within a specified distance in front, rear, or side of the host vehicle. The corner sensors 17 are normally arranged at the four corners of the vehicle and output ultrasonic signals to detect obstacles. In this embodiment, the corner sensors 17 are also arranged on the sides of the vehicle (see FIG. 3). (6 locations in total), which is also used to detect parallel vehicles. If necessary, the signal output level of the corner sensor 17 is adjusted to be set higher than usual.

Next, the operation of this embodiment will be described with reference to FIGS. FIG. 2 is a flowchart showing the processing contents of the portion according to the gist of the present invention executed by the control circuit 2. Note that the processing of FIG. 2 is intended to detect and deal with a traveling state that may cause a traffic jam when the vehicle is traveling on a multi-lane road such as an expressway. It is.
The control circuit 2 determines whether or not a state in which the traveling speed of the host vehicle detected by the vehicle speed sensor 13 is a specified value (for example, 80 km / h) or more continues for a specified time (for example, 1 minute) or more. (Step S1). That is, when traveling on a highway, the state where the traveling speed is maintained at a certain level means that the change in the driving state of the vehicle has been reduced to some extent. It can be considered that the possibility of causing the occurrence of traffic congestion has increased.

  Therefore, if the control circuit 2 determines “YES” in step S1, it determines whether or not the vehicle is currently traveling on a one-sided multiple lane road such as an expressway (step S1). S2). This determination is made based on the current position of the host vehicle detected by the position detector 3 and the information on the road that is currently running, which is read from the map database 4. Or you may judge from the image of the road on the road imaged with the camera 15. FIG. If the running road is not one-sided multiple lane ("NO"), return to step S1, and if the running road is one-sided multiple lane ("YES"), run in parallel to the host vehicle in the adjacent lane It is determined whether or not there is a vehicle (step S3).

  In step S3, a determination is made from the detection results of the radar 16 and the corner sensor 17 and the image captured by the camera 15 in the same manner as described above. If there is no parallel running vehicle (“NO”), the process returns to step S1, and if there is a parallel running vehicle (“YES”), it is determined whether or not the state has continued for a specified time (eg, 30 seconds). (Step S4). When the control circuit determines “YES” here, it means that it is determined that the driving state of the host vehicle causes the occurrence of traffic jams.

  That is, in many cases, a road with a plurality of lanes on one side is generally two lanes, a traveling lane and an overtaking lane. If two vehicles continue to run side by side on such a road, the path of the following vehicle will be blocked, so the same situation will occur cumulatively or chained, causing congestion. It is presumed that this could be the cause (see FIG. 3).

  If “YES” is determined in the step S4, the control circuit 2 determines whether the own vehicle is not located in the traffic jam at that time (whether the vehicle is not jammed) and the other vehicle is within a specified distance on the rear side of the own vehicle. It is determined whether or not it exists (step S5). The former is determined based on the VICS information received via the VICS receiver 10, and the latter is determined based on the detection result of the radar 16. If the vehicle is already in a traffic jam or if there is a vehicle behind (“NO”), there is room for changing the driving state even if there is a problem with the driving state of the vehicle. There is no. Therefore, the process returns to step S1.

On the other hand, when it is not congested and there is no rear vehicle in step S4 ("YES"), the control circuit 2 determines whether or not the lane in which the host vehicle is traveling is an overtaking lane (step S6). ). If it is an overtaking lane (“YES”), the control circuit 2 uses a voice output device 7, for example, to notify that the vehicle is decelerating and prompts a lane change as a voice message (step S7). This case corresponds to FIG. 3 (a).
The content of the above message is, for example, “Continuation of the current driving state may cause traffic congestion. There is no vehicle behind, so please decelerate and move to the driving lane”. Then, the process returns to step S1. In order to change the lane more reliably, it is preferable to confirm in advance in step S5 that there is an inter-vehicle space on the rear side of the parallel running vehicle.

In step S6, if the lane in which the host vehicle is traveling is a traveling lane ("NO"), the control circuit 2 similarly outputs a message prompting deceleration by the voice output device 7 as a voice message. (Step S8). This case corresponds to FIG. 3B. The content of the message is, for example, “Continuing the current driving state may cause a traffic jam. Please slow down because there is no vehicle behind”. Then, the process returns to step S1. In steps S7 and S8, notification may be performed by simultaneously displaying a message on the display device 5.
That is, as a result of the notification as in step S7 or S8, if the driver moves his / her vehicle from the overtaking lane to the traveling lane or decelerates on the traveling lane according to the message, two vehicles are aligned. Since the running state is avoided, the path of the succeeding vehicle is not blocked, and the state that may lead to the occurrence of traffic congestion is eliminated.

  As described above, according to the present embodiment, the control circuit 2 of the car navigation device 1 is based on the information on the road on which the host vehicle is located and the traveling state of other vehicles located around the host vehicle. It is determined whether or not the traveling state of the host vehicle causes a traffic jam. If it is determined that the traffic situation causes a traffic jam, the information is notified to the driver by the voice output device 7 or the like. Therefore, the driver can recognize that the traveling state of the own vehicle may cause the occurrence of traffic jams by receiving the notification, so the situation where it is likely to cause the occurrence of traffic jams by correcting the driving of the own vehicle. It is possible to prevent the occurrence of traffic jams by eliminating the problem early.

In addition, when the state where the traveling speed of the host vehicle is equal to or higher than the predetermined speed continues for a predetermined time, the control circuit 2 starts to determine whether the traveling state causes the occurrence of the traffic jam. The determination can be started at a reasonable timing that may be possible. The control circuit 2
When the road on which the host vehicle is traveling is a road with multiple lanes on one side and a vehicle running in parallel with the host vehicle has been detected for more than the specified time, the traveling state of the host vehicle may cause traffic congestion. Therefore, it is possible to appropriately determine the driving state that causes traffic jam.

  Furthermore, when the control circuit 2 detects that there is no other vehicle within the specified distance behind the host vehicle, the control circuit 2 notifies the driver that the vehicle is to be decelerated. Can be eliminated. Further, when the control circuit 2 determines that the host vehicle is traveling in the overtaking lane, the control circuit 2 notifies the driver that the lane change is urged, so that the driver can be notified appropriately.

(Second embodiment)
FIG. 4 shows a second embodiment of the present invention. The same parts as those of the first embodiment are denoted by the same reference numerals and the description thereof is omitted. Hereinafter, different parts will be described. The configuration of the second embodiment is basically the same as that of the first embodiment, and the contents of software processing performed by the control circuit 2 are slightly different.
In FIG. 3, which is a diagram equivalent to FIG. 2, when the control circuit 2 determines “YES” in step S4, in S9 that replaces the subsequent step S5, it indicates that there is no traffic jam and that another vehicle is in front of or behind the host vehicle. The AND condition confirms that there is no space and that there is an inter-vehicle space before and after the parallel running vehicle. When all of these conditions are satisfied and it is determined “YES”, the process proceeds to step S6.

If it is determined as “YES” in step S6, the control circuit 2 notifies the driver that the lane can be changed in step S10 that is replaced with step S7. The notification content is determined in advance according to the presence of other vehicles in front of or behind the host vehicle and the presence or absence of an inter-vehicle space before and after the parallel running vehicle. Continuing the driving condition may cause traffic jams. You can change the lane to the front of parallel vehicles. " The other processing contents are the same as in the first embodiment.
Therefore, according to the above message, the driver may shift the own vehicle from the overtaking lane to the front side of the parallel vehicle in the traveling lane, or in another case, to the rear side of the parallel vehicle in the traveling lane. For example, since the state where two vehicles are running in parallel is avoided, the route of the following vehicle is not blocked, and the state that may lead to the occurrence of traffic congestion is eliminated.

  As described above, according to the second embodiment, the control circuit 2 determines that the host vehicle is traveling in the overtaking lane, and detects the inter-vehicle space in front and rear of the parallel running vehicle, and the host vehicle. If it is determined that the lane change of the host vehicle is possible based on the detection state of the other vehicle in front and rear of the vehicle, the driver is notified so that the driver can make his own determination by receiving the notification. Thus, the lane of the host vehicle can be changed.

(Third embodiment)
FIGS. 5 to 7 show a third embodiment of the present invention, and different portions from the first and second embodiments will be described. As shown in FIG. 5, the car navigation device (vehicle driving support device) 21 of the third embodiment is similar to the navigation device 1 of the first embodiment in that a short-range communication device (communication means) 22, an in-vehicle LAN interface (I / F) 23 is added. The short-range communication device 22 uses a low-power microwave signal, for example, within a range of about 10 m to 20 m around the host vehicle, and is short-range wireless with another vehicle equipped with the same car navigation device 21. Used for communication.

  In the third embodiment, a vehicle automatic control device (running control means) 24 capable of automatically controlling the driving of the vehicle is mounted on the host vehicle, and the in-vehicle LAN interface 23 is connected to the interior of the host vehicle. It is used to communicate with the vehicle automatic control device 24 connected via a LAN. In the car navigation device 21, the control circuit 2 is replaced with a control circuit 2A.

  Next, the operation of the third embodiment will be described with reference to FIGS. FIG. 6 corresponds to FIG. The control circuit 2A executes steps S01 and S02 before step S1. That is, in step S01, it is determined whether a notification is received from another vehicle via the short-range communication device 22, and if not received ("NO"), the process proceeds to step S1. On the other hand, when the notification is received from the other vehicle, the process proceeds to step S02, and the notification content is notified to the driver, and then the process proceeds to step S1. The notification content here will be described later.

  If “YES” is determined in the step S4, the step S9 is executed as in the second embodiment. Further, in steps S11 and S14 replacing steps S7 and S8, notification is made that “change” is to be performed and “deceleration” is to be performed, respectively. That is, in step S11, for example, notification is made that “If the current running state is continued, there is a possibility of causing a traffic jam. From now on, a lane change will be performed on the front side of the parallel running vehicle”. Further, in step S14, for example, “Continuing the current traveling state may cause a traffic jam. The vehicle is now decelerated.” Is notified.

Then, in step S12 following step S11, the control circuit 2A transmits a message such as “I will change the lane to the driving lane” to other vehicles located in the vicinity via the short-range communication device 22. Notice. Then, if other vehicles located in the vicinity are equipped with the same car navigation device 21, it is determined “YES” in step S01, and the message is notified in step S02 (see FIG. 7).
Then, the control circuit 2A transmits a lane change instruction to the vehicle automatic control device 24 via the in-vehicle LAN interface 23 (step S13). Then, the vehicle automatic control device 24 shifts the own vehicle located in the overtaking lane to the traveling lane side based on the instruction, for example, as shown in FIG. In step S15 following step S14, the control circuit 2A transmits a deceleration instruction to the vehicle automatic control device 24, and the vehicle automatic control device 24 decelerates the host vehicle based on the instruction.

  As described above, according to the third embodiment, the control circuit 2 </ b> A is arranged around the own vehicle when the own vehicle is in the overtaking lane side and continues in a driving state that may cause a traffic jam. If it is determined that the lane change to the traveling lane side is possible based on the situation, the driver is notified of the fact and then a lane change instruction is output to the vehicle automatic control device 24. Then, the vehicle automatic control device 24 controls the host vehicle to shift to the traveling lane side based on the instruction. Therefore, it is possible to more positively eliminate the driving state causing the traffic jam without waiting for the driver to make a lane change.

  The control circuit 2A transmits the information to the other vehicle via the short-range communication device 22 before the vehicle automatic control device 24 starts control for changing the lane of the host vehicle. When the same information is received from the other vehicle side, the voice output device 7 notifies that fact. Therefore, on the vehicle side having received the above notification, it is possible to perform driving such as adjusting the traveling speed in preparation for a lane change.

The present invention is not limited to the embodiments described above or shown in the drawings, and the following modifications are possible.
In the first embodiment, for example, only the message “There is a possibility of causing a traffic jam if the current running state is continued” is not notified without notifying that the lane change or the deceleration is performed. Also good.
The traffic information acquired via the VICS receiver 10 may be used as necessary.
The determination in step S1 may be deleted and executed.
In the third embodiment, the short-range communication device 22 may be provided as necessary, and steps S01, S02, and S12 may be deleted.
The periphery monitoring device 18 may be configured by appropriately selecting necessary functions.
The position acquisition unit may be configured to acquire position information provided by an external infrastructure by communication.
Needless to say, the present invention is not limited to the one applied to the car navigation device, and may be configured as a dedicated device having only functions necessary as a vehicle driving support device.

1 is a functional block diagram showing an electrical configuration of a car navigation device according to a first embodiment when the present invention is applied to the car navigation device. The flowchart which shows the processing content of the part based on the summary of this invention performed by the control circuit of a car navigation apparatus 2 shows a state where two vehicles are running side by side, (a) is a case where the host vehicle is traveling in an overtaking lane, and (b) is a diagram illustrating a case where the host vehicle is traveling in a traveling lane. FIG. 2 equivalent diagram showing a second embodiment of the present invention. FIG. 1 equivalent view showing a third embodiment of the present invention. 2 equivalent diagram The figure explaining the state in which the own vehicle changes lanes to the driving lane side

Explanation of symbols

  In the drawings, 1 is a car navigation device (vehicle driving support device), 2 is a control circuit (running state determination means, notification control means), 3 is a position detector (position acquisition means), and 4 is a map database (road information storage). Means), 5 is a display device (notification means), 7 is an audio output device (notification means), 13 is a vehicle speed sensor (travel information acquisition means), 18 is a surroundings monitoring device (other vehicle travel state detection means), and 21 is a car. A navigation device (vehicle driving support device), 22 is a short-range communication device (communication means), and 24 is a vehicle automatic control device (travel control means).

Claims (7)

Other vehicle running state detecting means for detecting the running state of other vehicles existing around the own vehicle;
Position acquisition means for acquiring the position of the host vehicle;
Road information storage means for storing information about roads;
Based on the information on the road where the host vehicle is located and the driving state of the other vehicle, a driving state determination unit that determines whether the driving state of the host vehicle causes a traffic jam,
When it is determined by the traveling state determining means that the traveling state of the host vehicle causes the occurrence of traffic congestion, the information is configured by notification control means for controlling the information to notify the driver via the notification means ,
The traveling state determination means detects a vehicle on which the road on which the host vehicle is traveling is a multi-lane road, and the other vehicle traveling state detection means detects a vehicle running in parallel with the host vehicle for a specified time or more. A driving support apparatus for a vehicle, wherein the driving state of the host vehicle is determined to cause a traffic jam if the A travel information acquisition means for acquiring various information related to the travel of the host vehicle;
2. The vehicle driving support device according to claim 1, wherein the driving state determination unit starts the determination when a state in which the traveling speed of the host vehicle is equal to or higher than a predetermined speed continues for a predetermined time. 2. The notification control means, when the other vehicle running state detection means detects that no other vehicle exists within a specified distance behind the host vehicle, notifies the driver that the vehicle is to be decelerated. Or the driving assistance apparatus for vehicles of 2. 4. The notification control means notifies the driver that a lane change is urged when the traveling state determination means determines that the host vehicle is traveling in an overtaking lane. The vehicle driving support device according to any one of the above. The notification control means determines that the host vehicle is traveling in an overtaking lane by the traveling state determination means , and detects the inter-vehicle space in front of and behind the parallel running vehicle by the other vehicle traveling state detection means. When it is determined that the lane of the host vehicle can be changed based on the detection states of other vehicles in front and rear of the host vehicle, the driver is notified of the change. The vehicle driving support device according to any one of the above. A travel control means for automatically controlling the travel of the vehicle;
The vehicle driving support device according to claim 4 or 5, wherein the travel control means controls the lane of the host vehicle to be changed when the notification control means notifies the driver. A communication means for performing wireless communication with the outside,
The communication means transmits information to the outside that the own vehicle changes lanes before the travel control means starts control for changing the lane of the own vehicle,
7. The vehicular driving according to claim 6, wherein when the information is received from another vehicle via the communication unit, the notification control unit notifies the driver that the other vehicle is about to change lanes. Support device.

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