JP4692448B2 - Vehicle driving support system, vehicle driving support device, and in-vehicle device - Google Patents

Description

  The present invention relates to a vehicle driving support system, a vehicle driving support device, and an in-vehicle device for giving a warning as necessary when the own vehicle tries to change the traveling direction at an intersection.

For example, when driving a vehicle while following route guidance to a destination using a vehicle navigation device, a right turn or a left turn is repeated at an intersection according to an instruction from the navigation device. As described above, in many cases, the user uses the route guidance function of the navigation device to the destination via an unfamiliar road. Therefore, for example, as shown in FIG. 10, if there is an instruction to turn right or turn left at an intersection with a large number of lanes, there is a possibility that the vehicle will accidentally enter the opposite lane and run backward.
Also, for example, if you have a chance to live overseas and drive immediately after returning to Japan with some familiarity with right-hand traffic, it may be easier to enter the opposite lane in the above cases. It is done.

As a technique for preventing a driving mistake at an intersection, there is one disclosed in Patent Document 1, for example. In this technology, the navigation ECU evaluates whether or not the intersection is a cautionary intersection that is liable to make a driving mistake based on the width, type, and connection relationship of the intersection included in the map data. The evaluation is performed based on a predetermined model. For example, when the rank of the approach road type is higher than the oncoming road, it is determined that there is a high possibility of a collision error with a straight-ahead vehicle when turning right. Then, in front of the intersection determined as requiring attention, an alarm guidance voice is output from the speaker together with the route guidance voice.
JP-A-9-190596

However, since the technique disclosed in Patent Document 1 does not pay attention to the problem of “entry into the opposite lane at the time of turning left and right” as described above, it does not contribute to the solution of the above problem.
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 system and a vehicle driving support that can prevent the vehicle from accidentally entering the opposite lane when the traveling direction is changed at an intersection. An object is to provide an apparatus and an in-vehicle device.

According to the vehicle driving support system of the first aspect, the road machine is installed at an intersection where there are a plurality of traveling lanes, and it is detected whether or not the vehicle is present in at least the lane from the center line among those lanes. Let Then, when the in-vehicle device determines that the own vehicle has reached the intersection and tries to change the traveling direction at the intersection, whether or not there is another vehicle on the opposite lane side of the road to be entered Is obtained from the roadside machine, and if no other vehicle is detected, a warning is given to the driver to avoid entering the opposite lane.
That is, when there is another vehicle in each lane on the opposite lane side of the road that is the entry destination, the possibility that the host vehicle accidentally enters the lane is low. However, when there is no other vehicle in the lane from the center line and there is no vacancy, the possibility of accidentally entering the lane is considered to be higher. Therefore, if the warning means of the vehicle-mounted device warns the driver in such a case, erroneous entry into the opposite lane can be prevented.

  According to the vehicle driving support system of the second aspect, the road machine is installed at a location where the center line of the intersection is a central separation zone. That is, if you enter the opposite lane on a road with a median strip, it is extremely difficult and dangerous to get out of it by reversing the direction of travel. Therefore, if a road machine is installed at such an intersection, danger can be avoided reliably.

  According to the vehicle driving support system of the third aspect, the warning means counts the number of times that the own vehicle changes the traveling direction in the same direction at the intersection, and performs the warning when the number is less than a predetermined value. In other words, if the driver has several experiences of changing the course in the same direction at the same intersection, it is considered that the possibility of erroneous entry into the opposite lane will decrease, so the experience level is low It is possible to avoid the driver from feeling bothered by the warning by only giving the warning.

  According to the vehicle driving support system of the fourth aspect, the warning means issues a warning when the number of opposite lanes of the approaching road is a predetermined number or more. That is, as the number of opposite lanes increases, the possibility of erroneous entry increases, so that a warning can be appropriately given only at such an intersection.

  According to the vehicle driving support system of the fifth aspect, the warning means issues a warning only when the own vehicle when making left-hand traffic at the intersection turns right or when the own vehicle when making right-hand traffic turns left. In other words, in each of the above cases, it is considered that there is a higher possibility of erroneous entry into the opposite lane, so it is appropriate when there is a high possibility of erroneous entry depending on the direction of traffic defined for the road on which the vehicle is traveling. Can be warned.

  According to the vehicle driving support system of the sixth aspect, the user can set whether or not to perform the warning operation by the warning means. In other words, the possibility of accidental entry into the opposite lane varies considerably depending on the individual driver's experience, etc., so the user can selectively warn only when he / she thinks it is necessary by setting the necessity of warning. It can be carried out.

  According to the vehicle driving support device of the seventh aspect, the other vehicle detection means detects the other vehicle when the host vehicle determines that the host vehicle has reached the intersection and the host vehicle tries to change the traveling direction at the intersection. If not, the driver is warned to avoid entering the opposite lane. Therefore, even when no road machine is installed as in claim 1, a warning can be issued for the same case.

According to the vehicle driving support apparatus of the eighth aspect, since the warning means performs the warning when the center line of the intersection is a median, the same effect as in the second aspect can be obtained.
According to the vehicle driving support apparatus of the ninth aspect, the warning means counts the number of times that the own vehicle changes the traveling direction in the same direction at the intersection, and performs the pre-warning when the number is less than a predetermined value. The effect similar to that of claim 3 is obtained.

According to the vehicle driving support device of the tenth aspect, since the warning means gives a warning when the number of opposite lanes of the approaching road is a predetermined number or more, the same effect as in the fourth aspect can be obtained.
According to the vehicle driving support device of the eleventh aspect, the warning means warns only when the own vehicle turns to the right at the intersection or when the own vehicle turns to the left at the right side. The same effect as 5 is obtained.
According to the vehicle driving support device of the twelfth aspect, since the user can set whether or not to perform the warning operation by the warning means, the same effect as that of the sixth aspect can be obtained.

According to the vehicle driving support device of the thirteenth aspect, the other vehicle detecting means detects the presence or absence of the other vehicle based on the result of performing the inter-vehicle communication with the device mounted on the other vehicle side.
According to the vehicle driving support device of the fourteenth aspect, the other vehicle detecting means detects the presence or absence of the other vehicle based on the result of the image processing by the image processing means that picks up and processes the image around the own vehicle. . Therefore, in any case, it is possible to reliably detect the presence or absence of another vehicle.

  According to the vehicle-mounted device according to claim 16, when it is determined that the host vehicle has reached the intersection, and the vehicle is to change the traveling direction at the intersection, the vehicle is on the opposite lane side of the road to be entered. Whether or not another vehicle exists is acquired from the roadside machine, and if no other vehicle is detected, a warning is given to the driver to avoid entering the opposite lane. A road machine is installed at an intersection having a plurality of traveling lanes, and it is detected whether or not a vehicle is present in at least the lane from the center line among the lanes. Therefore, an effect similar to that of the first aspect can be obtained.

(First embodiment)
A first embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a functional block diagram showing the configuration of the vehicle driving support system. A car navigation device (on-vehicle device) 1 includes a control device (control means) 2 mainly composed of a microcomputer, a position detector (position acquisition means) 3 for detecting the current position of the vehicle, and a map data input device (map) (Data storage means) 4, operation switch group 5, external memory 6, display device (display means) 7 comprising a color liquid crystal display, voice controller 9 to which speaker 8 is connected, and voice for recognizing voice input from microphone 10 Data is transmitted / received by wireless communication between the recognition device 11 and the remote control sensor 13 that transmits / receives commands and the like to / from the remote controller 12 and the outside (for example, the VICS center 14, various information centers, VICS: registered trademark). It is composed of a transceiver 15.

  The position detector 3 is a gyroscope 16 that detects the rotational angular velocity of the vehicle, a distance sensor 17 that detects the travel distance of the vehicle, and a GPS (Global Positioning) that detects (positions) the current position of the vehicle based on a radio wave transmitted from an artificial satellite. GPS receiver 18 for Positioning System). Each sensor 16-18 has an error with a different property. For this reason, the control device 2 detects the current position, traveling direction, speed, travel distance, current time, and the like of the vehicle with high accuracy by using the detected values of the sensors 16 to 18 while interpolating. Yes. Depending on the accuracy, the position detector 3 may be constituted by only a part of the sensors 16 to 18 described above. Further, a steering rotation sensor, a wheel sensor of each rolling wheel, or the like may be used.

  The map data input device 4 is a map data recording medium that records various data such as road map data, landmark data, map matching data, destination data (facility database), and table data for converting traffic information into road data. It is comprised by the drive device for reading data from. As the map data recording medium, a large-capacity storage medium such as a DVD is generally used, but a medium such as a memory card or a hard disk device may be used.

  The road map data includes data such as road shape, road width, road name, signal, railroad crossing, building, various facilities, place name, terrain, etc., and for displaying the road map on the screen of the display device 7. Contains data. Destination data consists of information about transportation facilities such as stations, leisure facilities, accommodation facilities, public facilities, various stores such as retail stores, department stores, restaurants, residences, condominiums, and place names. The data includes data such as the telephone number, address, latitude and longitude, and data for displaying landmarks indicating facilities on the screen of the display device 7 on the road map. It is configured.

  The operation switch group 5 as setting means includes a mechanical switch provided in the vicinity of the screen of the display device 7 and a touch panel provided on the screen of the display device 7. The driver uses the operation switch group 5 to input destinations, information necessary for searching for destinations (destination search conditions), passing points, etc., and switching the screen and display mode of the display device 7 (changing the map scale). , Menu display selection, route search, route guidance start, current position correction, volume adjustment, etc.) are input. The remote controller 12 is provided with a plurality of operation switches, and various command signals are transmitted from the remote controller 12 to the control device 2 via the remote control sensor 13 by the switch operation. The operation switch group 5 and the remote controller 12 can cause the control device 2 to execute the same function by any operation.

The external memory 6 is composed of a flash memory card or the like. The external memory 6 stores specific data such as route data to the destination set by the control device 2 at the time of route guidance, route data passed by the vehicle, and the like.
On the screen of the display device 7, a map around the position of the vehicle is displayed at various scales, and a current location mark (pointer) indicating the current position and the traveling direction of the vehicle is displayed superimposed on the display. In addition, a route guidance screen is displayed when route guidance to the destination is executed. Further, an input screen for inputting information necessary for the driver to search for the destination, searching for the destination, and setting, various messages, and the like are also displayed.

  The voice recognition device 11 collates the voice inputted through the microphone 10 with the dictionary data for recognition stored therein, and recognizes the inputted voice. The voice controller 9 controls the voice recognition device 11 to output a voice recognition result to the control device 2, and the recognized voice is talkback output via the speaker 8. Further, an audio output signal is output to the speaker 8 based on an audio output command from the control device 2. The sound output from the speaker 8 is a sound related to guidance, a sound related to an operation explanation, a sound notifying that the anti-theft function is in operation, a talkback sound corresponding to a sound recognition result, and the like.

  The microcomputer constituting the control device 2 includes a CPU, a memory (RAM, ROM, EEPROM, flash memory, etc.), I / O, and the like. When the CPU executes a program stored in the ROM (or flash memory), the control device 2 can perform destination setting means, route search means, display control means, route guidance means, passage route identification means, function control means, Functions as current position correction means. The function as the route search means is to automatically calculate a recommended travel route from the starting point (current position) of the vehicle to the destination. For example, the Dijkstra method is used.

  The function as the route guidance means is to display a road map around the current location on the screen of the display device 7 so that it can move along the travel route, and to display a current location mark indicating the current position and traveling direction of the vehicle on the road map. This is a function for displaying images in a superimposed manner. In this case, the display of the current location moves on the map as the vehicle travels, and the map is scrolled according to the position of the vehicle. At this time, map matching is performed in which the current location of the vehicle is placed on the road.

  The navigation device 1 also includes a data communication device (another vehicle detection means) 20 for performing data communication with the road device 19 (for example, DSRC (Dedicated Short Range Communication)). As shown in FIG. 2, the road machine 19 is installed above the stop position immediately before entering the intersection. Note that, at the intersection shown in FIG. 2, the road on one side with two lanes intersects with the road on one side with three lanes. Only one location is shown.

  The road machine 19 is supported by a frame 21, and a monitoring device 22 (A, B, etc.) configured with a camera (for example, a CCD camera, a CMOS image sensor, etc.) for monitoring a vehicle parked downward in each lane. C) and a radio station 23 for communicating with the data communication device 20 on the vehicle side. The image data captured by the monitoring device 22 is once transmitted to the server 25 on the information center 24 side for image processing, and the processed data is stored in the database 26. The wireless station 23 acquires image data captured by the monitoring device 22 by communicating with the server 25.

  Next, the operation of this embodiment will be described with reference to FIG. 3 or FIG. FIG. 3 is a flowchart mainly showing processing on the navigation device 1 side. The control device 2 of the navigation device 1 compares the current position of the host vehicle 27 acquired from the position detector 3 with the road map data read out from the map data input unit 4, and whether the host vehicle 27 has reached the intersection. It is determined whether or not (step S1). And if it is an intersection ("YES"), it will be judged whether the own vehicle 27 is going to turn right or left there (step S2).

The determination in step S <b> 2 is made based on whether the route designates a right turn or a left turn when the navigation device 1 provides route guidance to the destination. If route guidance is not performed, for example, it is possible to acquire vehicle operation information by communicating with an ECU (Electronic Control Unit, vehicle operation information acquisition means) on the vehicle side, and whether or not the blinker is operated. You may judge.
If "YES" is determined in step S2, the control device 2 determines from the road map data whether the opposite lane side of the road to which the host vehicle 27 enters by turning right or left is more than "3". If it is “3” or more (“YES”) (step S3), it communicates with the road unit 19 on the opposite lane side and receives data (step S4). Then, it is determined whether or not there is a “vacant” in the lane from the center line in the opposite lane, that is, whether or not the monitoring devices 22B and 22C shown in FIG.

  Reference is now made to FIG. FIG. 4 shows a case where the host vehicle 27 is about to turn right at an intersection. In this case, as shown in FIG. 4 (b), all the opposite lanes of the road to turn right and enter are filled with stopped vehicles, and the lane from the center line (in this case, the median strip) If there is no “vacation”, it can be said that the possibility that the own vehicle 27 turns right and enters the opposite lane of the road to enter is extremely low. Therefore, the control device 2 determines “NO” in step S5, and returns to step S1 without performing any particular processing.

  On the other hand, as shown in FIG. 4 (a), if there is an “empty” in the lane from the center line, there is a high possibility that the host vehicle 27 will accidentally enter the opposite lane side when making a right turn. Therefore, in this case, “YES” is determined in the step S5, and the control device 2 performs a warning process for the driver (step S6). For example, when the host vehicle 27 actually makes a right turn, a voice message such as “Please turn right at the end of the center line” is output from the speaker 9.

  As described above, according to the present embodiment, the road machine 19 is installed at intersections with a plurality of traveling lanes to detect whether or not a vehicle is present in each lane. When it is determined that the vehicle 27 has arrived and the vehicle 27 is going to turn left or right at the intersection, it is determined whether there is another vehicle in the lane from the center line on the opposite lane side of the road to be entered. 19 and when the other vehicle is not detected, the driver is warned to avoid entering the opposite lane. Accordingly, erroneous entry into the opposite lane can be prevented.

(Second embodiment)
FIG. 5 shows a second embodiment of the present invention. The same parts as those in the first embodiment are denoted by the same reference numerals and the description thereof is omitted. Only different parts will be described below. The configuration of the second embodiment is basically the same as that of the first embodiment, and the processing contents by the control device 2 are slightly different. FIG. 5 is a diagram corresponding to FIG. 3 of the first embodiment. When executing step S6, the control device 2 increments the “number counter” (step S7).
Here, the “count counter” is prepared for each right turn and left turn at each intersection on the road map, and is cleared to zero when the navigation device 1 is first used. When the warning is performed in step S6, the number of right turns and left turns at the intersection where the warning is issued is counted.

A determination step S8 is inserted between steps S3 and S4. In this step S8, it is determined whether or not the counter of the number of times of right turn or left turn is less than a predetermined value (for example, “4”) at the intersection where the vehicle 27 is about to turn right or left this time. That is, if the same left / right turn operation at the same intersection is repeated to some extent, it is considered that the possibility that the driver accidentally enters the opposite lane is lower. Accordingly, only when the number counter is less than the predetermined value and it is determined “YES”, the process proceeds to step S4 to issue a warning.
As described above, according to the second embodiment, the control device 2 of the navigation device 1 counts the number of times the host vehicle 27 makes a right turn and a left turn at an intersection, and gives a warning when the number is less than a predetermined value. Therefore, it can be avoided that the driver feels annoyed by the warning given in an unnecessary situation.

(Third embodiment)
6 and 7 show a third embodiment of the present invention, and the parts different from the first embodiment will be described. In the third embodiment, instead of a system using the road machine 19, other vehicles on the opposite lane side are detected by performing inter-vehicle communication between vehicles equipped with a car navigation device (vehicle driving support device) 31. Is configured to do. That is, as shown in FIG. 6, the navigation device 31 includes an inter-vehicle communication device (another vehicle detection means) 32 instead of the data communication device 20, and performs communication between the navigation devices 31 </ b> A and 31 </ b> B, for example. Is possible. As a communication method, DSRC may be used similarly to the data communication device 20.

  As shown in FIG. 7, in the same case as the first embodiment, in step S4 in the flowchart of FIG. 3, in place of the communication with the road machine 19, other vehicles stopped in the respective lanes on the opposite direction side. The communication with the vehicle-to-vehicle communication device 32 on the side is performed, and the determination in step S5 is performed based on the communication result. Whether or not the other vehicle is located near the center line is returned, for example, as to which lane the communication destination vehicle is located from the position acquired from the position detector 3 and the road map data. This can be done by referring to the reply content.

  As described above, according to the third embodiment, the navigation device 1 determines that the host vehicle has reached the intersection, and when the host vehicle is about to turn right or left at the intersection, the inter-vehicle communication device 32 If no other vehicle is detected from the communication result, a warning is given to the driver to avoid entering the opposite lane. Therefore, even when the road machine 19 is not installed as in the first embodiment, a warning can be given for the same case. And another vehicle can be reliably detected based on the result of vehicle-to-vehicle communication.

(Fourth embodiment)
8 and 9 show a fourth embodiment of the present invention, and the differences from the third embodiment will be described. The car navigation device (vehicle driving support device) 33 according to the fourth embodiment includes an other vehicle monitoring camera 34 instead of the inter-vehicle communication device 32. As shown in FIG. 9, in the same case as the first embodiment, the other vehicle monitoring camera 34 captures an image of the other vehicle stopped in each lane on the opposite direction side, and performs image processing. Determine if a vehicle is present.
As described above, according to the fourth embodiment, the navigation device 33 detects the presence or absence of the other vehicle based on the result of the image processing of the image around the own vehicle by the other vehicle monitoring camera 34, and thus the navigation device. The presence or absence of other vehicles can be reliably detected by 33 alone.

The present invention is not limited to the embodiments described above or shown in the drawings, and the following modifications are possible.
The third and fourth embodiments may be combined with the second embodiment.
For example, in the first embodiment, as shown in FIGS. 2 and 4, a road unit 19 may be installed only at an intersection that leads to a road whose center line is a median. . That is, if you enter the opposite lane on a road with a median strip, it is extremely difficult and dangerous to get out of it by reversing the direction of travel. If it is installed in, it is possible to reliably avoid the above danger.
Communication between the road machine 19 and the information center 24 may be performed as necessary, and the monitoring device 22 and the radio station 23 may be directly connected.
The number of lanes determined in step S3 may be “2” or “4” or more. Further, without performing the determination itself in step S3, a warning may be issued if the road has an opposite lane.

Further, for example, it may be possible to select whether or not to cause the navigation device 1 or the like to perform the warning process in the above embodiment by operating the operation switch group (setting unit) 5. In that case, before executing step S1, it is determined whether or not the selection by the user is “valid” (step S0). If “valid” (“YES”), the subsequent processing is executed. good. In other words, the possibility of accidental entry into the opposite lane varies considerably depending on the individual driver's experience, etc., so the user can selectively warn only when he / she thinks it is necessary by setting the necessity of warning. It can be carried out.
Further, the detection of other vehicles may be performed only for the lane closest to the center line, and a warning may be issued based on the result.
In the case of right-hand traffic as in Japan, the warning may be issued only when the host vehicle turns right. In addition, for example, when traveling on the right side in a foreign country or the like, a warning may be issued only when the host vehicle turns left. That is, in each of the above cases, it is considered that there is a higher possibility that the vehicle will erroneously enter the opposite lane, so that an appropriate warning can be given according to the direction of travel set for the road on which the vehicle is traveling.
You may comprise the apparatus provided only with the function required as the driving assistance apparatus of this invention, or a vehicle equipment.

1 is a functional block diagram illustrating a configuration of a vehicle driving support system according to a first embodiment of the present invention. (A) perspective view, (b) plan view of an intersection where a road machine is installed Flow chart mainly showing processing on the navigation device side (A) is a case where a warning is required, and (b) is a diagram corresponding to FIG. 2 (b) showing a case where a warning is not required. FIG. 3 equivalent view showing a second embodiment of the present invention. The functional block diagram which is 3rd Example of this invention and shows the structure of a car navigation apparatus 2 equivalent diagram FIG. 6 equivalent view showing the fourth embodiment of the present invention. 2 equivalent diagram Fig. 4 (a) equivalent diagram explaining a conventional dangerous driving case

Explanation of symbols

  In the drawings, 1 is a car navigation device (vehicle equipment), 3 is a position detector (position acquisition means), 4 is a map data input device (map data storage means), 5 is an operation switch group (setting means), and 19 is on the road. , 20 is a data communication device (other vehicle detection means), 31 is a car navigation device (vehicle driving support device), 32 is an inter-vehicle communication device (other vehicle detection device), and 33 is a car navigation device (vehicle driving support device). , 34 denotes another vehicle monitoring camera (other vehicle detection means).

Claims (16)

A road machine that is installed at an intersection having a plurality of traveling lanes, detects whether or not a vehicle is present in at least the lane from the center line among the lanes, and is configured to be able to transmit the detection information;
Position acquisition means for acquiring the position of the own vehicle, map data storage means for storing road map data, receiving means for receiving detection information transmitted from the vehicle detection means, position of the own vehicle, and the road map data If it is determined that the vehicle has reached the intersection based on the vehicle and the vehicle is about to change the direction of travel at the intersection, whether there is another vehicle on the opposite lane side of the road to which the vehicle enters Or from a vehicle on the road, and when there is no other vehicle detected, the vehicle is composed of an in-vehicle device having warning means for warning the driver to avoid entering the opposite lane. A vehicle driving support system.   2. The vehicle driving support system according to claim 1, wherein the road machine is installed at a location where a center line of the intersection is a median. 3.   The warning means includes counting means for counting the number of times the host vehicle changes the traveling direction in the same direction at the intersection, and performs the warning when the number of times is less than a predetermined value. Or the vehicle driving assistance system of 2 description.   The vehicle driving support system according to any one of claims 1 to 3, wherein the warning means performs the warning when the number of opposite lanes of an approaching road is a predetermined number or more.   5. The warning device according to claim 1, wherein the warning means performs the warning only when the host vehicle when the left-hand traffic is turned to the right at the intersection or when the host vehicle when the right-hand traffic is turning left. The vehicle driving support system according to claim 1.   6. The vehicle driving support system according to claim 1, further comprising setting means for enabling a user to set whether or not to perform a warning operation by the warning means. Position acquisition means for acquiring the position of the host vehicle;
Map data storage means for storing road map data;
When there is a plurality of lanes on the opposite lane side of the road on which the own vehicle changes the direction of travel at the intersection, it is detected whether there is another vehicle at least in the lane from the center line. Other vehicle detection means for
Based on the position of the own vehicle and the road map data, the other vehicle detecting means determines that the own vehicle has reached an intersection and the vehicle is about to change the traveling direction at the intersection. A vehicle driving support device comprising warning means for giving a warning to the driver to avoid entering the opposite lane when no vehicle is detected.   8. The vehicle driving support apparatus according to claim 7, wherein the warning means performs the warning when a center line of the intersection is a median by referring to the road map data.   8. The warning means includes counting means for counting the number of times the host vehicle changes the traveling direction in the same direction at the intersection, and performs the warning when the number of times is less than a predetermined value. Alternatively, the vehicle driving support device according to 8.   The vehicle driving support device according to any one of claims 7 to 9, wherein the warning means performs the warning when the number of opposite lanes of an approaching road is a predetermined number or more.   11. The warning means according to any one of claims 7 to 10, wherein the warning means performs the warning only when the own vehicle when making left-hand traffic at the intersection turns right or when the own vehicle when making right-hand traffic turns left. The vehicle driving support device according to claim 1.   12. The vehicle driving support apparatus according to claim 7, further comprising setting means for enabling a user to set whether or not to perform a warning operation by the warning means.   The other vehicle detection means includes a communication means for performing vehicle-to-vehicle communication with a device mounted on the other vehicle side, and detects the presence or absence of another vehicle based on the result of the vehicle-to-vehicle communication. The vehicle driving support device according to any one of claims 7 to 12.   The said other vehicle detection means is comprised by the image processing means which images and processes the surroundings of the own vehicle, and detects the presence or absence of other vehicles based on the result of the said image processing. The vehicle driving support device according to any one of the above.   An in-vehicle device used in the vehicle driving support system according to any one of claims 1 to 6. Between road vehicles and road vehicles that are installed at intersections with multiple driving lanes and that detect whether there is a vehicle in at least the lane from the center line among those lanes and that can transmit the detection information That communicates,
Position acquisition means for acquiring the position of the host vehicle;
Map data storage means for storing road map data;
Receiving means for receiving detection information transmitted from the vehicle detecting means;
If it is determined that the vehicle has reached an intersection based on the position of the host vehicle and the road map data, and the vehicle is to change the direction of travel at the intersection, the opposite of the road to which the vehicle will enter Warning means for obtaining from the road machine whether or not another vehicle is present on the lane side, and performing warning to the driver to avoid entering the opposite lane when no other vehicle is detected. An in-vehicle device characterized by comprising.

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