JP5023908B2 - Driving support device - Google Patents

Description

  The present invention relates to a driving support device.

Conventionally, various techniques have been proposed to increase the safety of vehicles at intersections. For example, in Patent Document 1, a lighting state of a traffic light when the own vehicle passes an intersection is predicted, and when the predicted traffic light lighting state is yellow or red, a warning for the driver or a forced braking for the own vehicle is performed. An apparatus for providing signal information is disclosed. Further, the signal information providing apparatus disclosed in Patent Document 1 avoids providing unnecessary signal information by not performing an alarm or forced braking when the direction indicator of the host vehicle is in an ON state. .
JP 2002-373396 A

  However, in the prior art described in Patent Document 1, if the driver switches the direction indicator from the ON state to the OFF state immediately before the host vehicle enters the intersection, the forced braking is performed immediately after that. At this time, if there is a subsequent vehicle traveling behind the host vehicle, the consideration of contact between the host vehicle and the subsequent vehicle is increased.

  In addition, if the driver intentionally switches the direction indicator from the OFF state to the ON state immediately before the host vehicle enters the intersection, the warning or forced braking can be canceled and the vehicle can enter the intersection. Consideration of contact with other vehicles, pedestrians, etc. increases.

  The present invention has been made to solve such a problem, and an object of the present invention is to provide a driving support device capable of reducing the consideration of contact inside and outside an intersection.

The present invention acquires traffic signal information provided to the intersection right turn arrow lamp with traffic lights, vehicle based on the acquired traffic information to predict the traffic state when passing through the intersection, on the basis of the predicted traffic condition the traveling support device determines whether to perform the suppressing entry suppression control entry into the intersection of the vehicle, the following vehicle determining means for determining whether the following vehicle traveling behind the host vehicle is present A switching detection means for detecting an operation state of the right direction indicator of the own vehicle and detecting switching of the right direction indicator to an ON state or an OFF state in the own vehicle located in a predetermined section before the intersection; the equipped, detection results of the operating condition of the right direction indicator by the switching detector, switching of the detection results of the right direction indicator by the switching detection means and the determination result by the following vehicle judgment means Zui it, characterized in that it determines whether or not to execute the entry suppression control.

  According to such a driving support device, when the vehicle's direction indicator is in an ON state, the vehicle is instructed to perform entry suppression control that suppresses entry of the vehicle into the intersection based on traffic signal information at the intersection. In the driving support device that does not execute the entry suppression control, it can be determined whether or not the entry suppression control is executed depending on the presence or absence of the following vehicle. Thereby, when approach suppression control is performed, the approach of the own vehicle to the intersection can be prevented, and the consideration of contact within the intersection can be reduced. Further, when the entry suppression control is not executed, it is possible to avoid sudden braking of the host vehicle and reduce the consideration of contact between the host vehicle and the following vehicle. In addition, “entry suppression control” is control that attempts to suppress, for example, the host vehicle from entering the intersection beyond the stop line. It includes deceleration control, alarm control for prompting the driver to decelerate, notification control for providing signal information to the driver, and the like.

Further, as the traffic light state when the host vehicle passes through the intersection, the traffic light body of the traffic light with the right turn arrow light is expected to be in a yellow state or a red state, and the operation state of the right direction indicator of the host vehicle by the switching detection means When the right turn arrow light is detected, the right turn arrow light of the traffic light with the right turn arrow light is in the blue state based on the traffic light information of the traffic light with the right turn arrow light. It is determined to be, and are detected switching from the ON state to the right turn signal to the OFF state by the switching detector, and, when it is determined that the follower vehicle is present by following vehicle determining means executes the entry suppression control It is preferable to judge not to . As a result, it is determined that there is a following vehicle, and even if the operation state of the direction indicator is OFF, the entry suppression control is not executed. It is possible to reduce the consideration of contact with the car.

Further, when the subsequent vehicle determining means determines that there is a subsequent vehicle, a subsequent vehicle direction indicator determining means for determining whether the operation state of the right direction indicator of the subsequent vehicle is an ON state or an OFF state. In addition, it is expected that the traffic signal state when the host vehicle passes the intersection is a yellow state or a red state, and the switching detection means detects that the operation state of the right direction indicator of the host vehicle is the ON state. When the right turn support process is started, during the right turn support process, it is determined that the right turn arrow light of the traffic light with the right turn arrow light is in the blue state based on the traffic light information of the traffic light with the right turn arrow light, and switching It is switched from the ON state to the right turn signal to the OFF state is detected by the detection means, and, in the operating state is the ON state in the right direction indicator succeeding vehicle by the follower vehicle turn indicator determining means When it is determined that that it is preferable to determine not to execute the entry suppression control. Here, when the operation state of the direction indicator of the following vehicle is OFF, it is estimated that the following vehicle goes straight through the intersection and decelerates according to the traffic light state (yellow state / red state). The possibility of unexpectedly approaching your vehicle is low. At this time, even if the entry suppression control is executed by the driving support device, the consideration of contact with the following vehicle due to sudden braking of the own vehicle is low, so that the consideration of contact with the following vehicle is reduced, and the intersection of the own vehicle is reduced. Can be prevented, and the consideration of contact within the intersection can be reduced.

In addition, it is expected that the traffic signal state when the host vehicle passes through the intersection is a yellow state or a red state, and the operation state of the right direction indicator of the host vehicle is detected to be OFF by the switching detection means. When the straight-ahead support process is started, the right-turn arrow light of the traffic light with the right-turn arrow light is determined to be in a blue state based on the traffic light information of the traffic light with the right-turn arrow light during the straight-ahead support process, and the switching detection means switching from the OFF state to the right turn signal to the ON state is detected by, and, when it is determined that the following vehicle is not present by a subsequent car determination means, it is preferable to determine that running the entry suppression control. Thus, even if the driver intentionally switches the direction indicator from the OFF state to the ON state, if it is determined that there is no subsequent vehicle, the entry suppression control is executed to It is possible to prevent the vehicle from entering the intersection, and to reduce contact considerations within the intersection. Further, when it is determined that there is no following vehicle, the entry suppression control is executed, so there is no need to contact the host vehicle and the following vehicle.

Further, when the succeeding vehicle determining means determines that there is a succeeding vehicle, the following vehicle direction indicator determining means for determining whether the operation state of the right direction indicator of the following vehicle is the ON state or the OFF state. In addition, it is expected that the traffic light state when the host vehicle passes through the intersection is yellow or red, and the switching detection means detects that the operation state of the right direction indicator of the host vehicle is OFF. In the case of a straight travel support process, during the straight travel support process, it is determined that the right turn arrow light of the traffic light with a right turn arrow light is in a blue state, and the right direction indicator is turned off by the switching detection means. switching to ON state is detected, and, when the operating state of the right direction indicator succeeding vehicle by the follower vehicle direction indicator determining means is determined to be OFF state, the actual entry suppression control It is preferable to determine that. Thus, even if the driver intentionally switches the direction indicator from the OFF state to the ON state, if it is determined that the direction indicator of the following vehicle is in the OFF state, the entry suppression control is performed. It is possible to prevent the host vehicle from entering the intersection, and to reduce the consideration of contact within the intersection. Further, when it is determined that the direction indicator of the following vehicle is in the OFF state, the subsequent vehicle decelerates according to the traffic light state (yellow state, red state). The possibility of unexpectedly approaching the host vehicle is low, and the consideration of contact by the following vehicle is reduced.

  According to the driving support device of the present invention, it is possible to reduce the consideration of contact inside and outside the intersection.

  Embodiments of the present invention will be described below with reference to the drawings. In the description of the drawings, the same or corresponding elements are denoted by the same reference numerals, and redundant description is omitted. Moreover, in this embodiment, the case where the own vehicle approachs the intersection provided with the traffic light with a right turn arrow lamp is demonstrated.

  The driving support device 1 according to the present embodiment is mounted on a vehicle and supports driving based on the display state (traffic signal state) of the traffic signal nearest to the vehicle traveling direction. When the display state predicted when the host vehicle passes the intersection is a yellow state or a red state, the driving support device 1 performs the entry suppression control that suppresses the approach to the intersection, and the direction indicator of the host vehicle is turned on. In the state, the entry suppression control is stopped.

  FIG. 1 is a block configuration diagram illustrating a travel support apparatus according to an embodiment of the present invention. As shown in FIG. 1, the driving support apparatus 1 includes a driving support ECU 8 that controls the entire apparatus. The driving support ECU 8 is electrically connected with a road-to-vehicle communication unit 2, an inter-vehicle communication unit 3, a direction indicator detector 4, a vehicle speed detection unit 5, a radar sensor 6, a navigation system 7, and a driving support output unit 9. Yes.

  The road-to-vehicle communication unit 2 communicates with a roadside communication device such as an optical beacon installed on the road, and acquires traffic signal information such as a display state of a traffic signal nearest to the vehicle traveling direction. The road-vehicle communication unit 2 transmits the acquired traffic signal information to the travel support ECU 8. The inter-vehicle communication unit 3 communicates between the host vehicle and another vehicle, and acquires other vehicle information such as the current position of the other vehicle and the operating state of the direction indicator. The inter-vehicle communication unit 3 transmits the acquired other vehicle information to the travel support ECU 8.

  The direction indicator detector 4 detects whether the direction indicator is in an ON state or an OFF state by detecting an operation of the direction indicator by the driver. The direction indicator detection unit 4 transmits the detected operating state of the direction indicator to the driving support ECU 8 as direction indication information.

  The vehicle speed detector 5 is provided on a wheel and includes a wheel speed sensor that detects rotation of the wheel. The vehicle speed detector 5 calculates the vehicle speed of the host vehicle based on the rotation of the wheel detected by the wheel speed sensor. The vehicle speed detection unit 5 transmits the calculated vehicle speed as a vehicle speed signal to the travel support ECU 8.

  The radar sensor 6 is a sensor that detects the position of the other vehicle (following vehicle) and the other vehicle around the own vehicle by transmitting a millimeter wave signal around the own vehicle and receiving the reflected wave. The radar sensor 6 transmits the detected other vehicle and the position of the other vehicle to the driving support ECU 8 as an other vehicle detection signal.

  The navigation system 7 includes a GPS (Global Positioning System) and has a map database. The navigation system 7 recognizes the position of the host vehicle on the map based on the GPS detection signal, and recognizes the position of the traffic signal around the host vehicle based on the map database. The navigation system 7 transmits the recognized position of the host vehicle and the position of the traffic light to the driving support ECU 8 as position data signals.

  The travel control ECU 8 is an electronic circuit composed of a CPU (Central Processing Unit) that performs arithmetic processing, a ROM (Read Only Memory) and a RAM (Random Access Memory) serving as a storage unit, an input signal circuit, an output signal circuit, a power supply circuit, and the like. Control unit.

  Whether the driving assistance ECU 8 performs the traffic suppression state by predicting the traffic light state when the own vehicle enters the intersection based on the traffic light state, and suppressing the entry of the own vehicle to the intersection based on the predicted display state of the traffic light. Judge whether or not. The driving assistance ECU 8 transmits a control signal to the driving assistance output unit 9 when it is determined that the entry suppression control is to be executed. Note that “at the time of entering the intersection” is, for example, the time when the host vehicle enters the intersection beyond the stop line.

  The driving support ECU 8 functions as a subsequent vehicle determination unit that determines whether there is a subsequent vehicle that travels behind the host vehicle. The driving assistance ECU 8 can determine whether there is a following vehicle based on information from the radar sensor 6. It is assumed that a vehicle traveling behind the host vehicle in the travel lane adjacent to the host vehicle is not determined as a subsequent vehicle.

  The driving support ECU 8 functions as a switching detection unit that detects switching of the turn indicator of the host vehicle to the ON state or the OFF state. The driving assistance ECU 8 detects whether or not the direction indicator of the host vehicle has been switched on the way to the intersection based on information from the direction indicator detector 4, the vehicle speed detector 5, and the navigation system 7. Can do.

  Further, the driving assistance ECU 8 functions as a subsequent vehicle direction indicator determination unit that determines whether the operation state of the direction indicator of the subsequent vehicle is an ON state or an OFF state. The driving support ECU 8 can determine the operating state of the direction indicator of the following vehicle based on the information from the inter-vehicle communication unit 3.

  Here, the driving assistance ECU 8 can determine whether to execute the entry suppression control according to the operating state (ON / OFF state) of the direction indicator of the host vehicle and the presence or absence of the following vehicle. For example, the driving assistance ECU 8 detects switching of the direction indicator between 20 m and 50 m before the stop line at the intersection, and determines whether or not to execute the entry suppression control. Note that the position where this determination is made (between 20 m and 50 m before the stop line at the intersection) can be changed based on the vehicle speed of the host vehicle M and the distance from the intersection.

  In addition, the driving support ECU 8 cancels the entry suppression control when it is detected that the direction indicator of the host vehicle is switched from the ON state to the OFF state while approaching the intersection, and it is determined that the following vehicle exists. can do. In addition, in the case where there is a following vehicle, the driving assistance ECU 8 can stop the entry suppression control only when it is determined that the direction indicator of the following vehicle is in the ON state. That is, even if it is determined that there is a following vehicle, the entry suppression control is executed if the direction indicator of the following vehicle is in the OFF state.

  In addition, when the driving assistance ECU 8 detects that the direction indicator of the host vehicle is switched from the OFF state to the ON state while approaching the intersection, and determines that the following vehicle does not exist, the driving support ECU 8 performs the entry suppression control. Can be executed.

  In addition, when the driving assistance ECU 8 detects that the direction indicator of the host vehicle is switched from the OFF state to the ON state while approaching the intersection, and determines that there is a subsequent vehicle with the direction indicator OFF. Can execute the entry suppression control.

  The driving support output unit 9 includes an alarm device provided in the passenger compartment and a brake actuator provided for each wheel. When a suppression control signal is transmitted from the travel support ECU 8, the travel support output unit 9 issues a warning to the driver by the alarm device and forcibly performs vehicle braking on the host vehicle by the brake actuator.

  Next, with reference to FIGS. 2-5, operation | movement of the driving assistance apparatus when the own vehicle approachs the intersection provided with the traffic light with a right turn arrow lamp is demonstrated. In the present embodiment, the traffic light with a right turn arrow light includes a traffic light body Sh and a right turn arrow light Sr, and the cycle of the display state includes a blue state, a yellow state, a red state, and a right turn. This is a cycle of returning to the blue state of the traffic light body Sh through the blue state of the arrow lamp Sr, the yellow state of the traffic light body Sh, and the red state.

  FIG. 2 is a schematic plan view for explaining the operation of the driving support device when the direction indicator is switched to the OFF state on the way to the intersection and there is no following vehicle. As shown in FIG. 2A, the host vehicle M is approaching the intersection with the right direction indicator turned ON. At this time, the driving assistance ECU 8 detects the ON state of the right direction indicator, and estimates that the right turn vehicle is in the blue state of the right turn arrow lamp Sr.

  Thereafter, as shown in FIG. 2 (b), the host vehicle M is approaching the intersection with the right direction indicator being switched to the OFF state in a state where there is no following vehicle. At this time, the driving assistance ECU 8 determines that the right direction indicator of the host vehicle M is switched to the OFF state while approaching the intersection, and that there is no following vehicle, and the straight traveling vehicle in the red state of the traffic light body Sh It is determined that the entry suppression control is executed based on the assumption that the signal is ignored. As a result, forced braking is executed in the absence of the following vehicle, and the approach of the host vehicle M to the intersection is suppressed. As a result, contact considerations within the intersection are reduced.

  When there is no subsequent vehicle immediately after the host vehicle M, it is determined that there is no subsequent vehicle, and the entry suppression control is executed. Specifically, if it can be determined that even if the host vehicle performs forced braking based on the distance and relative speed between the host vehicle M and the following vehicle, it does not affect the traveling of the following vehicle, the following vehicle Can be determined not to exist, and it can be determined that the entry suppression control is to be executed.

  Further, when it is determined that the following vehicle is a straight vehicle, the entry suppression control is executed. Specifically, it detects the OFF state of the direction indicator of the following vehicle, determines that the following vehicle is a straight vehicle, and determines to execute the entry suppression control.

  FIG. 3 is a schematic plan view for explaining the operation of the driving support device when the direction indicator is switched to the OFF state while the intersection is approaching and there is a succeeding vehicle in which the right direction indicator is ON. is there. As shown in FIG. 3A, the host vehicle M is approaching the intersection with the right direction indicator turned on. At this time, the driving assistance ECU 8 detects the ON state of the right direction indicator, and estimates that the right turn vehicle is in the blue state of the right turn arrow lamp Sr.

  Thereafter, as shown in FIG. 3 (b), the host vehicle M approaches the intersection by switching the right direction indicator to the OFF state in the state where the following vehicle N in which the right direction indicator is ON exists. ing. At this time, the driving assist ECU 8 determines that the right direction indicator of the host vehicle M is switched to the OFF state while approaching the intersection, and that there is a following vehicle N in which the right direction indicator is in the ON state. It is determined that the suppression control is not executed. As a result, forced braking in a state where there is a following vehicle in which the right direction indicator is ON is avoided. As a result, the consideration of contact between the host vehicle M and the following vehicle N is reduced.

  FIG. 4 is a schematic plan view for explaining the operation of the driving support apparatus when the direction indicator is switched to the ON state on the way to the intersection and there is no following vehicle. As shown in FIG. 4A, the host vehicle M is approaching the intersection with the right direction indicator turned off. At this time, the driving assistance ECU 8 detects the OFF state of the right direction indicator, and estimates that the signal is neglected when the vehicle body Sh is in the red state.

  Thereafter, as shown in FIG. 4B, the host vehicle M is approaching the intersection with the right direction indicator switched to the ON state in a state where there is no following vehicle. At this time, the driving assistance ECU 8 determines that the right direction indicator of the host vehicle M is switched to the ON state while approaching the intersection, and that there is no following vehicle, and the straight traveling vehicle in the red state of the traffic light body Sh It is determined that the entry suppression control is executed based on the assumption that the signal is ignored. As a result, forced braking is executed in the absence of the following vehicle, and the approach of the host vehicle M to the intersection is suppressed. That is, it is suppressed that the driver intentionally switches the right direction indicator from the OFF state to the ON state on the way to the intersection, cancels the alarm and the forced braking, and enters the intersection. As a result, contact considerations within the intersection are reduced.

  When it is determined that the following vehicle is a straight vehicle, the entry suppression control is executed. Specifically, it detects the OFF state of the direction indicator of the following vehicle, determines that the following vehicle is a straight vehicle, and determines to execute the entry suppression control.

  FIG. 5 is a schematic plan view for explaining the operation of the driving support device when the direction indicator is switched to the ON state on the way to the intersection and there is a succeeding vehicle in which the right direction indicator is ON. It is. As shown in FIG. 5A, the host vehicle M is approaching the intersection with the right direction indicator turned off. At this time, the driving assistance ECU 8 detects the OFF state of the right direction indicator, and estimates that the signal is neglected when the vehicle body Sh is in the red state.

  Thereafter, as shown in FIG. 5 (b), the host vehicle M is switched to the ON state of the right direction indicator of the host vehicle M in a state where there is a following vehicle N in which the right direction indicator is ON. Approaching the intersection. At this time, the driving support ECU 8 determines that the right direction indicator of the host vehicle M is switched to the ON state while approaching the intersection, and that there is a subsequent vehicle N in which the right direction indicator is in the ON state. It is determined that the suppression control is not executed. Thereby, the forced braking in the state where the following vehicle N in which the right direction indicator is in the ON state exists is avoided. As a result, the consideration of contact between the host vehicle M and the following vehicle N is reduced.

  Next, with reference to FIGS. 6-8, the control process performed in driving assistance ECU8 is demonstrated. FIG. 6 is a flowchart showing a control process executed by the driving assistance ECU 8 according to this embodiment.

  First, the driving assistance ECU 8 recognizes a traffic light with a right turn arrow lamp based on the traffic signal information transmitted from the road-to-vehicle communication unit 2 (S1). Further, the driving support ECU 8 is based on the vehicle speed signal transmitted from the vehicle speed detection unit 5, the position data signal transmitted from the navigation system 7, and the traffic signal information transmitted from the road-to-vehicle communication unit 2. Predict the display state of the traffic light with a right turn arrow light at the time of approach.

  Subsequently, based on the predicted display state of the traffic light with the right turn arrow light, the driving support ECU 8 is in a blue state, a yellow state, or a red state when the display state of the traffic light body Sh when the host vehicle M enters the intersection. It is determined whether there is (S2). If it is determined that the display state of the traffic light main body Sh is a yellow state or a red state, the process proceeds to step 3, and if it is determined that the display state is a blue state, the process ends.

  In step 3, based on the position data signal transmitted from the navigation system 7 and the direction indicator information transmitted from the direction indicator detection unit 4, whether the operation state of the direction indicator of the host vehicle M is the ON state, It is determined whether the state is OFF. If it is determined that the direction indicator is in the ON state, the process proceeds to the right turn support process in step 4, and if it is determined to be in the OFF state, the process proceeds to the straight line support process in step 5. Then, the process in FIG.

  Hereinafter, the right turn support processing executed by the driving support ECU 8 will be described with reference to FIG. FIG. 7 is a flowchart showing a right turn support process executed by the driving support ECU 8 according to the present embodiment.

  First, the driving assistance ECU 8 determines whether or not the right turn arrow lamp Sr in the traffic light with the right turn arrow lamp is in a blue state based on the traffic signal information transmitted from the road-to-vehicle communication unit 2 (S10). When it is determined that the right turn arrow lamp Sr is in the blue state, the process proceeds to step 11, and when it is determined that the right turn arrow lamp Sr is not in the blue state, the process proceeds to step 14.

  In step 11, the driving assistance ECU 8 determines whether or not switching of the direction indicator to the OFF state has been detected based on the direction indicator information transmitted from the direction indicator detector 4. If it is determined that the switch to the OFF state has been detected, the process proceeds to step 12, and if it is determined that the switch to the OFF state has not been detected, the process proceeds to step 15.

  In step 12, the driving assistance ECU 8 determines whether or not the succeeding vehicle N has been detected based on the other vehicle detection signal transmitted from the radar sensor 6. If it is determined that the following vehicle N has been detected, the process proceeds to step 13, and if it is determined that the following vehicle N has not been detected, the process proceeds to step 14.

  In step 13, the driving assistance ECU 8 determines whether or not the detected operation state of the right direction indicator of the following vehicle N is the ON state based on the other vehicle information transmitted from the inter-vehicle communication unit 3. If it is determined that the operation state of the right direction indicator of the following vehicle N is in the ON state, the process proceeds to step 15, and if it is determined that the operation state of the right direction indicator of the subsequent vehicle N is not in the ON state. , Go to step 14.

  In step 14, the driving assistance ECU 8 executes the entry suppression control. That is, the driving support ECU 8 transmits a control signal to the driving support output unit 9 to issue a warning to the driver, forcibly brake the vehicle M, and proceed to step 15.

  In step 15, the driving assistance ECU 8 determines whether or not the host vehicle has stopped or passed the intersection based on the vehicle speed signal transmitted from the vehicle speed detection unit 5 and the position data signal transmitted from the navigation system 7. If it is determined that the host vehicle has stopped or passed the intersection, the process is terminated. If it is determined that the host vehicle has not stopped or passed the intersection, the process returns to step 10 and the control process is repeated.

  According to such a control process, as shown in FIG. 2, when the vehicle M is switched to the OFF state while approaching the intersection, the entry suppression control is executed. Thereby, the approach of the own vehicle to the intersection can be prevented, and the consideration of contact within the intersection can be reduced.

  In addition, as shown in FIG. 3, when there is a succeeding vehicle N in which the direction indicator is switched to the OFF state while the host vehicle M is approaching the intersection and the right direction indicator is ON. , Do not execute the entry suppression control. Thereby, since the forced braking of the own vehicle M is avoided, the consideration of the contact with the following vehicle N can be reduced.

  Further, when the own vehicle M approaches the intersection, the direction indicator is switched to the OFF state, and when there is a following vehicle N in which the right direction indicator is OFF, the entry suppression control is executed. . Thereby, the approach of the own vehicle to the intersection can be prevented, and the consideration of contact within the intersection can be reduced.

  Next, the straight-ahead support process executed by the travel support ECU 8 will be described with reference to FIG. FIG. 8 is a flowchart showing the straight-ahead support process executed by the travel support ECU 8 according to the present embodiment.

  First, the driving assistance ECU 8 determines whether or not the right turn arrow light Sr in the traffic light with a right turn arrow light is in a blue state based on the traffic light information transmitted from the road-vehicle communication unit 2 (S20). If it is determined that the right turn arrow lamp Sr is in the blue state, the process proceeds to step 21, and if it is determined that the right turn arrow lamp Sr is not in the blue state, the process proceeds to step 24.

  In step 21, the driving assistance ECU 8 determines whether or not switching to the ON state of the direction indicator has been detected based on the direction indicator information transmitted from the direction indicator detection unit 4. If it is determined that the switch to the ON state has been detected, the process proceeds to step 22, and if it is determined that the switch to the ON state has not been detected, the process proceeds to step 25.

  In step 22, the driving assistance ECU 8 determines whether or not the following vehicle N has been detected based on the other vehicle detection signal transmitted from the radar sensor 6. If it is determined that the following vehicle N has been detected, the process proceeds to step 23, and if it is determined that the following vehicle N is not detected, the process proceeds to step 24.

  In step 23, the driving assistance ECU 8 determines whether or not the operation state of the right direction indicator of the detected succeeding vehicle N is ON based on the other vehicle information transmitted from the inter-vehicle communication unit 3. If it is determined that the operation state of the right direction indicator of the following vehicle N is in the ON state, the process proceeds to step 25, and if it is determined that the operation state of the right direction indicator of the subsequent vehicle N is not in the ON state. , Go to step 24.

  In step 24, the driving assistance ECU 8 executes the entry suppression control. That is, the driving support ECU 8 transmits a control signal to the driving support output unit 9 to issue a warning to the driver, forcibly brakes the host vehicle M, and proceeds to step 25.

  In step 25, the driving assistance ECU 8 determines whether or not the host vehicle has stopped or passed an intersection based on the vehicle speed signal transmitted from the vehicle speed detector 5 and the position data signal transmitted from the navigation system 7. If it is determined that the host vehicle has stopped or passed through the intersection, the process is terminated. If it is determined that the host vehicle has not stopped or passed through the intersection, the process returns to step 20 to repeat the control process.

  According to such a control process, as shown in FIG. 4, the entry suppression control is executed when the host vehicle M is switched to the ON state of the direction indicator while approaching the intersection. Thereby, the approach of the own vehicle to the intersection can be prevented, and the consideration of contact within the intersection can be reduced.

  In addition, as shown in FIG. 5, when the vehicle M is switched to the ON state of the direction indicator while approaching the intersection, and there is a subsequent vehicle N in which the right direction indicator is ON. , Do not execute the entry suppression control. Thereby, since the forced braking of the own vehicle M is avoided, the consideration of the contact with the following vehicle N can be reduced.

  Further, when the own vehicle M approaches the intersection, the direction indicator is switched to the ON state, and when there is a following vehicle N in which the right direction indicator is in the OFF state, the entry suppression control is executed. . Thereby, the approach of the own vehicle to the intersection can be prevented, and the consideration of contact within the intersection can be reduced.

  As mentioned above, although this invention was concretely demonstrated based on the embodiment, this invention is not limited to the said embodiment. In the said embodiment, although the signal apparatus with a right turn arrow lamp was used as a signal apparatus, this invention is applicable also to the signal apparatus with a left turn arrow lamp. As an embodiment of a traffic light with a left turn arrow lamp, the description of “right” in the above embodiment is replaced with the description of “left”.

  Further, in the above embodiment, it is determined that the entry suppression control is not executed when there is a following vehicle in which the direction indicator is in the ON state, but this is related to the ON / OFF state of the direction indicator of the following vehicle. Alternatively, it may be determined that the entry suppression control is not executed when there is a following vehicle.

It is a block block diagram which shows the driving assistance apparatus which concerns on embodiment of this invention. It is explanatory drawing when a direction indicator is switched to an OFF state in the middle of approaching an intersection, and a succeeding vehicle does not exist. It is a schematic plan view for demonstrating operation | movement of a driving assistance apparatus when the direction indicator is switched to an OFF state in the middle of approaching an intersection, and the following vehicle in which the right direction indicator is ON exists. It is a schematic plan view for demonstrating operation | movement of the driving assistance apparatus in case the direction indicator is switched to an ON state in the middle of approaching an intersection, and a subsequent vehicle does not exist. It is a schematic plan view for demonstrating operation | movement of a driving | running | working assistance apparatus when the direction indicator is switched to an ON state in the middle of approaching an intersection, and the following vehicle in which a right direction indicator is ON exists. It is a flowchart which shows the control processing performed by driving assistance ECU. It is a flowchart which shows the assistance process at the time of straight running performed with driving assistance ECU. It is a flowchart which shows the assistance process at the time of the right turn performed by driving assistance ECU.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance apparatus, 2 ... Road-to-vehicle communication part, 3 ... Inter-vehicle communication part, 4 ... Direction indicator detection part, 5 ... Vehicle speed detection part, 6 ... Radar sensor, 7 ... Navigation system, 8 ... Driving assistance ECU (following) Vehicle determination means, subsequent vehicle direction indicator determination means, switching detection means), 9... Driving support output unit.

Claims (5)

Obtain traffic light information of a traffic light with a right turn arrow light provided at an intersection , predict a traffic light state when the host vehicle passes through the intersection based on the acquired traffic light information, and based on the predicted traffic light state , In the driving support device that determines whether or not to perform the entry suppression control that suppresses the approach to the intersection of the vehicle,
Subsequent vehicle determination means for determining whether there is a subsequent vehicle traveling behind the host vehicle ;
Switching detection for detecting an operation state of the right direction indicator of the own vehicle and detecting switching of the right direction indicator to an ON state or an OFF state in the own vehicle located in a predetermined section before the intersection Means, and
Based on the detection result of the operation state of the right direction indicator by the switching detection unit, the detection result of the switching of the right direction indicator by the switching detection unit, and the determination result by the following vehicle determination unit, the entry suppression control It is determined whether to execute or not. As the traffic light state when the host vehicle passes through the intersection, the traffic light body of the traffic light with the right turn arrow light is expected to be in a yellow state or a red state, and the right direction of the host vehicle is indicated by the switching detection means. When it is detected that the operating state of the device is ON, the right turn support process is started,
During the right turn support process, it is determined that the right turn arrow light of the traffic light with the right turn arrow light is in a blue state based on the traffic light information of the traffic light with the right turn arrow light, and the right direction indicator by the switching detection means switching is detected from the ON state to the OFF state, and, according to claim 1, characterized in that said when said by the follower vehicle determining means following vehicle is determined to exist, determines not to execute the entry suppression control The driving support apparatus according to the description. Wherein when it is determined that the succeeding vehicle is present by following vehicle determining unit, the following vehicle direction indicator determining means for determining whether the operating state of the right direction indicator of the following vehicle is in either the OFF state is ON Further comprising
The traffic light state when the host vehicle passes through the intersection is expected to be in a yellow state or a red state, and the operation state of the right direction indicator of the host vehicle is ON by the switching detection means. If detected, start the right turn support process,
During the right turn support process, it is determined that the right turn arrow light of the traffic light with the right turn arrow light is in a blue state based on the traffic light information of the traffic light with the right turn arrow light, and the right direction indicator by the switching detection means switching is detected from the ON state to the OFF state, and, when said succeeding car direction indicator determination right direction indicator of the vehicle behind the unit operating state is determined to be ON state, the approach suppression control The driving support device according to claim 1 , wherein the driving support device is determined not to be executed. The traffic light state when the host vehicle passes through the intersection is expected to be in a yellow state or a red state, and the operation state of the right direction indicator of the host vehicle is OFF by the switching detection means. If it is detected, start the straight running support process,
During the straight-ahead support process, it is determined that the right turn arrow light of the traffic light with the right turn arrow light is in a blue state based on the traffic light information of the traffic light with the right turn arrow light, and the right direction indicator by the switching detection means claims the detection of switching from OFF state to ON state, and, when said said by the follower vehicle determining means following vehicle is determined not to exist, characterized in that it determines to execute the entry suppression control The travel support device according to 1. Wherein when it is determined that the succeeding vehicle is present by following vehicle determining unit, the following vehicle direction indicator determining means for determining whether the operating state of the right direction indicator of the following vehicle is in either the OFF state is ON Further comprising
The traffic light state when the host vehicle passes through the intersection is expected to be in a yellow state or a red state, and the operation state of the right direction indicator of the host vehicle is OFF by the switching detection means. If it is detected, start the straight running support process,
During the straight-ahead support process, it is determined that the right turn arrow light of the traffic light with the right turn arrow light is in a blue state, and the switching detection means detects the switching of the right direction indicator from the OFF state to the ON state. it is, and, when said operation state of said by the following vehicle turn indicator determining means following vehicle in the right direction indicator is determined to be OFF state, and determines that executes the entry suppression control The travel support apparatus according to claim 1.

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