JP5172366B2 - Vehicle driving support device - Google Patents

Description

  The present invention relates to a vehicle driving support device, and in particular, is adapted to predict the course of a moving body (for example, a pedestrian or a two-wheeled vehicle) moving in front of the host vehicle and to avoid the risk of a collision with the host vehicle. The present invention relates to a vehicle driving support device.

  In recent years, devices for reducing the burden on the driver and supporting safe driving have been developed and put into practical use. As a device that supports driving related to such an advanced safety vehicle (ASV: Advanced Safety Vehicle), for example, a device that issues a warning when there is an obstacle ahead while driving, or an inter-vehicle distance from a traveling vehicle ahead. There are devices that keep it constant. In addition, as a function of ASV, it detects the surroundings of the vehicle and the road surface condition, and gives a warning for dangerous situations, and detects the drowsiness from the driver's facial expression and the vehicle's wobbling condition and pays attention by voice Functions are being studied. As dangerous situations, for example, collisions between vehicles at intersections with poor visibility, collisions between pedestrians and vehicles due to sudden pedestrians jumping out, or utility poles that fall within the blind spot when parked back A collision between a stationary object such as a vehicle and the vehicle is conceivable.

  As a technique for detecting such a dangerous situation, Patent Document 1 detects pedestrians and other vehicles around the host vehicle, predicts the course of the pedestrians and other vehicles, and includes pedestrians and other vehicles. A system for notifying a collision avoidance message when there is a possibility of collision is described.

In addition, a device that detects a distance between a stationary object and a vehicle and issues a warning when there is a risk of collision when the vehicle is traveling backward and parked has been studied.
JP 2006-31443 A

  As described above, devices for avoiding a collision between a pedestrian and a vehicle or a stationary object and a vehicle have been studied. In the technology for avoiding the collision between the stationary object and the vehicle, the distance between the vehicle and the stationary object is detected, and a change in the distance is detected to determine whether the stationary object becomes an obstacle. Yes.

  Thus, if the obstacle is a stationary object, it is possible to determine the risk of collision between the vehicle and the obstacle. However, if the obstacle is a moving object such as a pedestrian or a two-wheeled vehicle, the moving object It is difficult to determine the risk of collision by predicting the movement of the robot.

  Further, in the technique of Patent Document 1, the course of a pedestrian or another vehicle is predicted, but the path is predicted based on past movement data in a situation where no obstacle exists in each traveling direction. ing. For this reason, it is difficult to predict a sudden course change such that a pedestrian or motorcycle on the sidewalk jumps out on the roadway.

  The present invention has been made in view of the problems of the related art, and predicts a sudden course change of a moving body such as a pedestrian or a two-wheeled vehicle and can prevent a collision with the vehicle in advance. An object is to provide an apparatus.

In order to solve the above-described problems of the prior art, according to one aspect of the present invention, an imaging unit mounted on a vehicle, an information providing unit, and a plurality of objects in front of the vehicle from images captured by the imaging unit. Image recognition means for detecting an object between a front and rear two objects including a moving object and a stationary object on a sidewalk or roadway adjacent to a traveling lane on which the vehicle travels among a plurality of objects detected by the image recognition means From the change in distance, the relative speed between the moving body and the stationary object is calculated, the time until the moving body enters the traveling lane is calculated, and the vehicle is calculated from the distance between the vehicle speed and the stationary object. Calculates the time to pass near the stationary object, and the time for the vehicle to pass near the stationary object and the time until the moving object enters the driving lane are calculated at the same time. the said vehicle mobile There vehicle driving support device is provided, characterized in that it is determined that there is a risk of collision and a control means for notifying to that effect via the information providing means.

  Further, in the vehicle driving support device according to the above aspect, the information providing unit is at least one of an audio output unit that outputs an alerting voice and a display unit that visually displays the alerting information. Also good.

  In the vehicle driving support device according to this aspect, two objects including a moving body existing on a sidewalk ahead of the host vehicle are detected, and the distance between the objects and the distance from the host vehicle to the moving body are detected. Whether or not a dangerous situation occurs is determined. For example, when the distance between two objects becomes shorter, the moving body will eventually enter the travel lane of the host vehicle, and the distance between the two objects is 5 m, and the host vehicle is traveling at a speed of 60 km / h. When the distance between the host vehicle and the moving body becomes 20 m, a danger situation warning is issued because the risk of collision between the host vehicle and the moving body is high. As a result, the occurrence of danger can be grasped in advance, and the driver can pay attention to the place where the occurrence of danger is predicted (for example, the place where the vehicle on the left front is parked). Therefore, it is possible to contribute to safe driving.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a block diagram showing a configuration of a vehicle driving support apparatus 100 according to an embodiment of the present invention. The vehicle driving support device 100 includes a control unit 10, a camera 11, a radar 12, a vehicle speed detection unit 13, an image processing unit 14, a storage unit 15, an audio output unit 16, a display unit 18, and a speaker 17.

  The camera 11 captures the front of the vehicle and outputs an image signal obtained by converting the captured image into an electrical signal. The lens used for the camera 11 may be a standard lens or a wide-angle lens, and is installed in front of the vehicle using a solid-state imaging device such as a charge coupled device (CCD). Further, a pair of left and right cameras may be installed in the vehicle.

  As the radar 12, a laser radar using laser light in the infrared region or a radio wave type radar using microwaves or millimeter waves is used. This radar is used to measure the distance between the vehicle and the object. Specifically, a radar having a specific frequency is radiated from a radar device installed in front of the vehicle toward the object, and the radar that is reflected back from the object is received, and the distance from the object is measured.

  The vehicle speed detection unit 13 detects the travel speed of the host vehicle using, for example, a travel distance sensor that generates a pulse for every fixed travel distance.

  The image processing unit 14 performs processing such as filtering, edge detection, and contour extraction on the captured image captured by the camera 11, and the target object specifying unit 14a specifies the object. In the present embodiment, two objects that are target objects for determining whether or not there is a risk of colliding with the host vehicle (also referred to as “target object for dangerous situation determination”) are specified. In the target object specifying unit 14a, the characteristics of the specified target object are extracted and stored in the storage unit 15. The extracted features enable detection of the same target object between different images acquired every unit time. Further, the distance detection unit 14b calculates the distance between the two objects specified by the target object specifying unit 14a. The target object is, for example, a moving object such as a pedestrian or a two-wheeled vehicle on a sidewalk in front of the vehicle, or a stationary object such as a parked vehicle. In addition, detection of a situation in which a pedestrian, a two-wheeled vehicle, or the like is moving, for example, compares images captured and acquired every unit time, and if the position of the specified object has not changed, it is determined as a stationary object. If the position has changed, it is determined to be a moving body.

  The audio output unit 16 synthesizes an audio signal based on the signal from the control unit 10 and supplies the audio signal to the speaker 17. The display unit 18 is a means for performing notification by display, and synthesizes a warning display based on a signal from the control unit 10 and displays it on the display screen.

  The control part 10 is comprised, for example with a microcomputer, and controls each said part. In particular, it is determined whether or not a dangerous situation occurs based on the distance between the target objects calculated by the image processing unit 14 and the distance between the host vehicle and the object detected using the radar 12. When it is determined that a dangerous situation occurs, the fact is displayed on the display unit 18 or a warning sound is output from the speaker 17.

  In the vehicle driving support device 100 configured as described above, an image in front of the vehicle imaged using the camera 11 mounted on the vehicle is analyzed by the image processing unit to detect a moving body or a stationary object in front of the vehicle. To do. In particular, two objects existing on the sidewalk adjacent to the traveling lane of the host vehicle are specified. When the distance between the two objects is determined by analyzing the image to detect a change in the distance, and the relationship between the vehicle speed of the host vehicle and the distance to the object on the sidewalk satisfies a predetermined condition, Predict that there is a warning.

  FIG. 2 is a diagram conceptually illustrating a situation in which the vehicle driving support apparatus 100 according to the present embodiment is activated and a warning of danger is given. In FIG. 2A, the left side of the travel lane 22 on which the host vehicle 21 travels is a sidewalk 23, a parked vehicle 24 exists on the sidewalk 23, and the moving body 25 (two-wheeled vehicle) faces the parked vehicle 24. It is the figure which showed the condition where is moving. In this situation, there is a possibility that the two-wheeled vehicle 25 moving toward the parked vehicle 24 may change the course to the traveling lane 22 side in order to avoid the parked vehicle 24. When the motorcycle 25 changes its course is determined by the distance d1 from the motorcycle 25 to the parked vehicle 24. For example, when the distance d1 from the two-wheeled vehicle 25 to the parked vehicle 24 becomes shorter with time and becomes 5 m, it is predicted that a dangerous situation may occur. At this time, if the distance from the own vehicle 21 to the two-wheeled vehicle 25 is long, it is determined that the two-wheeled vehicle 25 does not collide with the own vehicle 21 even if the two-wheeled vehicle 25 jumps out to the traveling lane 22. Therefore, in this case, no warning of a dangerous situation is given. A reference distance for issuing a warning is determined in advance for the distance between the host vehicle 21 and the two-wheeled vehicle 25. For example, when the host vehicle 21 is traveling at a speed of 60 km / h, a warning is issued if the distance from the host vehicle 21 to the two-wheeled vehicle 25 reaches 20 m.

  In FIG. 2B, the left side of the travel lane 22 on which the host vehicle 21 travels is a sidewalk 23, a pedestrian 26 and a two-wheeled vehicle 27 are moving on the sidewalk 23, and the pedestrian 26 is a two-wheeled vehicle 27. It is the figure which showed the situation in front. In this situation, since the moving speed of the two-wheeled vehicle 27 is faster than that of the pedestrian 26, the two-wheeled vehicle 27 eventually passes the pedestrian 26. At that time, it is predicted that the two-wheeled vehicle 27 changes the course to the traveling lane 22 side. When the two-wheeled vehicle 27 changes the course to the travel lane 22 side is determined in the same manner as in the example of FIG. That is, when the distance d2 from the two-wheeled vehicle 27 to the pedestrian 26 becomes a predetermined distance, the risk prediction is started. Then, the travel speed of the host vehicle 21 and the distance from the host vehicle 21 to the two-wheeled vehicle 27 are determined, and a warning that the vehicle is in a dangerous situation is issued when the predetermined travel speed and the predetermined distance are reached.

  FIG. 2 (c) is a diagram showing a situation where the two-wheeled vehicle 28 is in front of the pedestrian 29 and is moving in the same direction, contrary to the example of FIG. 2 (b). In this case, the distance d3 from the pedestrian 29 to the two-wheeled vehicle 28 shows a situation in which the distance d3 increases with the passage of time, and no warning is issued because the situation does not become a dangerous situation.

  As shown in FIGS. 2 (a) and 2 (b), when there is a high possibility that a dangerous situation will occur, the distance between the two objects on the front and rear becomes shorter as time passes. . Here, focusing on the arrangement of the two objects, (1) the front object is a stationary object and the rear object is a moving object, (2) both the front and rear objects are moving objects, and (3) the front Are classified into three patterns when the object is a moving object and the object behind is a stationary object. Among these, in the case of (1), when the moving body is moving in the traveling direction of the own vehicle, the distance from the moving body to the stationary object becomes shorter. There is a possibility of entering the roadway. On the other hand, in the case of (1), when the moving body is moving in the direction opposite to the traveling direction of the host vehicle, the moving body moves away from the stationary object, so there is no possibility that the moving body enters the roadway.

  In the case of (2), when both the front and rear moving bodies are moving in the traveling direction of the vehicle, if the moving speed of the front moving body is slower than that of the rear moving body, As the distance to the moving body of the vehicle becomes shorter with time, there is a possibility that the moving body behind will enter the roadway. On the other hand, if the moving body of the front is faster than the moving body of the rear, it will not catch up with the moving body of the front, so there is no possibility that the rear moving body will enter the roadway.

  Also, in the case of (2), if both the front and rear moving bodies are moving in the direction opposite to the traveling direction of the host vehicle, if the front moving body has a higher moving speed than the rear moving body, it moves backward. There is a possibility that the distance from the body to the front moving body will become shorter as time passes, and that the front moving body will eventually enter the roadway. On the other hand, if the moving body of the front is slower in moving speed than the moving body of the rear, it will not catch up with the moving body of the rear, so there is no possibility that the front moving body will enter the roadway.

  In the case of (2), when the moving body in the front moves in the traveling direction of the own vehicle and the moving body in the rear moves in the direction opposite to the traveling direction of the own vehicle, the moving bodies move away from each other. There is no possibility that the moving body before and after enters the roadway. On the other hand, when the moving body moves in the direction opposite to the traveling direction of the host vehicle and the moving body behind moves in the traveling direction of the host vehicle, the distance between the preceding and following moving bodies becomes shorter with time, Either one of the moving objects may enter the roadway.

  In the case of (3), when the moving body is moving in the traveling direction of the own vehicle, the moving body moves away from the stationary object, so there is no possibility that the moving body enters the roadway. On the other hand, when the moving body is moving in the direction opposite to the traveling direction of the host vehicle, the distance from the moving body to the stationary object becomes shorter with time, and the moving body may possibly enter the roadway. .

  From the above, the following five situations (a) to (e) are considered as cases where a dangerous situation occurs. (A) When the front object is a stationary object and the rear object is a moving object, and the moving object is moving in the traveling direction of the vehicle, (b) both the front and rear objects are moving objects and move When both bodies move in the traveling direction of the vehicle and the moving body in the front is slower in moving speed than the moving body in the rear, (c) both the front and rear objects are moving bodies, When moving in the opposite direction and the moving body in the front has a higher moving speed than the moving body in the rear, (d) both the front and rear objects are moving bodies, and the moving body in the front moves in the opposite direction to the own vehicle. When the rear moving body is moving in the traveling direction of the own vehicle, and (e) the front is the moving body and the rear is a stationary object, and the moving body is moving in the opposite direction to the own vehicle. .

  The vehicle driving assistance device 100 according to the present embodiment that issues a warning of a dangerous situation in the situations (a) to (e) has two basic features (a moving object and a moving object) existing in front of the vehicle. Or the distance between the moving object and a stationary object) by analyzing the image captured by the camera, and predicting that the vehicle will jump out into the traveling lane when the vehicle reaches a predetermined distance. The driver is warned. By performing such processing, it becomes possible to grasp in advance that a dangerous situation may occur. For example, when the host vehicle is traveling at a speed of 60 km / h, the distance between the two objects on the left sidewalk is 5 m or less, and the distance between the host vehicle and the moving body of the two objects is 20 m or less. If so, it is predicted that the moving body will change the course to the traveling lane of the own vehicle, and a warning that there is a risk of collision between the own vehicle and the moving body is issued. As a result, the driver can recognize that a dangerous situation may occur, pay attention to the left front, and contribute to driving safety.

  Hereinafter, the dangerous situation warning process performed by the vehicle driving support apparatus 100 according to the present embodiment will be described with reference to FIG. 3 showing an example of the processing flow and FIG. 4 explaining the situation where the dangerous situation warning is performed.

  First, in step S11, an image ahead of the host vehicle is acquired. This process is performed by capturing an image signal output from the camera into the image processing unit 14 and reading a captured image. The captured image is an image obtained by capturing the front of the vehicle and is stored as a digital image.

  In the next step S12, two objects including a moving body existing on a lane (here, a sidewalk) adjacent to the lane in which the vehicle is traveling are searched from the image ahead of the vehicle imaged in step S11. The two objects are target objects for determining whether a dangerous situation occurs, for example, a two-wheeled vehicle (moving body) and a parked vehicle (stationary object). These two objects are objects arranged in order from the own vehicle, and at least one of them is a moving body such as a pedestrian or a two-wheeled vehicle. As a combination of these two objects, the front object is a stationary object and the rear object is a moving object, the front and rear objects are both moving objects, and the front object is a moving object and the rear object. May be stationary.

  FIG. 4 is a diagram schematically illustrating a situation in which a target object for dangerous situation determination is specified. Of the two target objects specified in FIG. 4, the moving body 43 closer to the host vehicle 41 is moving toward the parked vehicle 42 that is a stationary object. The distance from the moving body 43 to the stationary object 42 is x, and the distance from the host vehicle 41 to the moving body 43 is y.

  In the next step S13, the distance between the two target objects specified in step S12 is measured. The distance between the two target objects is determined by analyzing a captured image that has been subjected to digital image processing in the distance detection unit 14b of the image processing unit 14. For example, the number of pixels (pixels) between two specified objects is detected, and the actual distance between the two objects is calculated using the relationship between the size of one pixel and the actual distance. Further, the distance between the two objects may be calculated using the distance from the own vehicle to each object measured by the radar mounted on the own vehicle.

In the next step S14, the distance from the host vehicle to the moving body is measured. The distance from the vehicle to the moving body is calculated by analyzing the captured image. When two cameras are used, calculation may be performed using the principle of triangulation based on stereo images, and the distance from the vehicle to the moving body using the radar is expressed by the equation t = (2 Xr) / c may be used for detection. Here, r is the distance to the object, t is the time when the reflected wave returns, c is the propagation speed of the radio wave in the air, and is generally calculated as 3 × 10 ⁸ m / s.

  In the next step S15, the vehicle speed of the host vehicle is detected via the vehicle speed detector 13.

  In the next step S16, it is determined whether or not the distance between the two target objects specified in step S12 has become shorter with time. If it is determined that the time is shorter, a dangerous situation may occur, and the process proceeds to step S18. On the other hand, if the distance between the two target objects increases, it is determined that the mobile body is unlikely to change the course, and the process proceeds to step S17 to select an object close to the host vehicle from the two target objects. The process is removed from the risk determination target, and the process returns to step S11 to continue the process.

  In the next step S18, it is determined whether or not the vehicle speed of the host vehicle is equal to or higher than a predetermined value. If it is less than or equal to the predetermined value, it is determined that the risk of occurrence of a dangerous situation is low, and the process returns to step S11 to continue the present process.

In the next step S19, it is determined whether or not the distance between the two target objects is a predetermined distance x ₁ (for example, 5 m) or less. When the distance between the two target objects is not less than the predetermined distance x ₁ (for example, in FIG. 4, the distance x from the moving object 43 to the stationary object 42 is 5 m or more), the moving object reaches near the stationary object. It is not a situation, and the mobile body does not jump out into the traveling lane, and it is unlikely that a dangerous situation will occur, so the process returns to step S11 and this process is continued. When it is determined that the predetermined distance x ₁ below, the process proceeds to step S20.

In the next step S20, it is determined whether or not the distance from the host vehicle to the moving body is a predetermined distance y ₁ (for example, 50 m) or less. If the distance from the own vehicle to the moving body is a predetermined distance y ₁ or more at a predetermined speed (for example, in FIG. 4, the distance y from the own vehicle 41 to the moving body 43 is 100 m), Even if the vehicle is changed to enter the traveling lane of the host vehicle, it is determined that there is a low possibility that a dangerous situation in which the host vehicle and the moving body collide with each other, the process returns to step S11 and the present process is continued. If it is determined that the predetermined distance y ₁ below, was determined to be likely hazardous situation occurs, the process proceeds to step S21.

In the next step S21, it is determined whether or not the distance between the two target objects is equal to or less than a predetermined distance x ₂ (for example, 2 m). If the distance between the two target objects is equal to or less than a predetermined distance x ₂ (for example, the distance x from the moving body 43 to the stationary object 42 in FIG. 4 is 1 m), the moving object avoids the stationary object and It is determined that there is a high possibility of entering the travel lane, and the process proceeds to step S23. On the other hand, the distance between the two object unless the predetermined distance x ₂ or less, the process proceeds to step S22.

  In step S23, a warning is generated because there is a high possibility that a dangerous situation will occur. For example, a warning sound “pi” is generated or a message “There is a possibility of popping out” is displayed on the screen. When displaying on the screen, the display mode is such that the driver can recognize at a glance, such as displaying a message in a red frame on the screen or blinking the message.

On the other hand, in step S22, it is determined whether or not the distance from the vehicle to the moving body is a predetermined distance y ₂ (for example, 20 m) or less. If the distance to the moving object from the vehicle is not the predetermined distance y ₂ or less, the process returns to step S11, and continues the process. Even when the distance between the two target objects is not equal to or less than the predetermined distance x ₂ (2 m), the distance between the host vehicle and the moving body is close (for example, moving from the host vehicle 41 in FIG. 4). When the distance to the body 43 is 10 m), the danger situation is likely to occur, so the danger situation is notified early. When the condition of this step is satisfied, the process proceeds to step S23, a warning is issued, and this danger situation warning process is terminated.

  The determination of the dangerous situation in steps S18 to S22 assumes that the vehicle speed is a predetermined value, and detailed condition settings are made according to the vehicle speed.

Further, in the vehicle driving support device 100 of the present embodiment, from the vehicle as shown in the step S20 to the moving body determining the likelihood that hazardous situation occurs when it becomes a predetermined distance y _1, step S21 in, the distance between the two target object moving body is expected to enter the traveling lane of the own vehicle by the diverted to when a predetermined distance x _2, not limited to this, the risk situation A warning may be issued by analyzing the occurrence time in more detail.

  For example, the relative speed of the moving object is calculated from the change in the distance between the moving object and the stationary object, the time for the moving object to enter the driving lane is calculated, and the own vehicle speed and the distance to the stationary object are calculated. The time for the vehicle to pass near the stationary object is calculated, and a warning is issued when these times are calculated at the same time. This makes it possible to prevent a warning from being issued when there is no need for a warning.

  In the danger situation warning process of FIG. 3, the two objects existing on the left front side (on the sidewalk) of the host vehicle have been described, but the present invention is not limited to the left front side. For example, when the host vehicle is traveling in the left lane of a two-lane road on one side, two other vehicles traveling in the right lane may be targeted. However, in this case, since the traveling speed as the moving body is different from the two-wheeled vehicle and the pedestrian in the above example, the value of the determination condition for the occurrence of the dangerous situation in Step S18 to Step S22 is adjusted.

  In the danger situation warning process of FIG. 3, the two objects closest to the host vehicle on the left front side (on the sidewalk) of the host vehicle have been described. You may make it target an object. FIG. 5 is a diagram illustrating an example in which two objects closest to the host vehicle and two objects closest to the host vehicle are used. In FIG. 5, the moving body 53 moves in the same direction 56 as the traveling direction of the own vehicle 51 and approaches the stationary object 52, and the moving body 54 moves in the direction 55 opposite to the traveling direction of the own vehicle 51 and becomes the stationary object 52. It shows the approaching situation. In this case, the moving body 53 and the stationary object 52 are used as the target object of the dangerous situation determination, and the distance between them is calculated. However, the moving body 54 may reach the stationary object 52 before the moving body 53. . Therefore, the warning of the dangerous situation is performed first with respect to the behavior of the moving body 54.

  As described above, in the vehicle driving support device according to the present embodiment, two objects including a moving body existing on the sidewalk ahead of the host vehicle are detected, and a change in the distance between the objects and the host vehicle are detected. Whether or not a dangerous situation occurs is determined according to the distance to the moving body. For example, when the distance between two objects becomes shorter, the moving body will eventually enter the travel lane of the host vehicle, and the distance between the two objects is 5 m, and the host vehicle is traveling at a speed of 60 km / h. When the distance between the host vehicle and the moving body becomes 20 m, a danger situation warning is issued because the risk of collision between the host vehicle and the moving body is high. As a result, the occurrence of danger can be grasped in advance, the driver can pay attention to the point (for example, the front left), and can take measures such as reducing the speed with a margin. It is possible to contribute to traveling.

It is a block diagram which shows the structure of the vehicle driving assistance device which concerns on embodiment of this invention. It is the figure which showed notionally the condition where the vehicle driving assistance device which concerns on FIG. 1 act | operates. It is a flowchart which shows an example of the danger condition warning process which the vehicle driving assistance device which concerns on FIG. 1 performs. It is FIG. (1) explaining the condition where a dangerous condition warning process is performed. It is FIG. (2) explaining the condition where a dangerous condition warning process is performed.

Explanation of symbols

100: Vehicle driving support device,
10: Control unit (control means),
11 ... Camera (imaging means),
12 ... Radar,
13 ... Vehicle speed detection unit,
14 Image processing unit (image recognition means)
14a ... Target object specifying part (image recognition means),
14b ... Distance detection unit (image recognition means),
17 ... Speaker (information providing means),
18: Display unit (information providing means).

Claims (3)

Imaging means mounted on the vehicle;
Information provision means;
Image recognition means for detecting a plurality of objects in front of the vehicle from an image taken by the imaging means;
Of the plurality of objects detected by the image recognizing means, the moving object is obtained from a change in distance between two front and rear objects including a moving object and a stationary object on a sidewalk or roadway adjacent to a travel lane in which the vehicle travels. The relative speed between the vehicle and the stationary object is calculated, the time until the moving object enters the lane is calculated, and the vehicle passes near the stationary object from the distance between the vehicle speed and the stationary object. When the vehicle travels near the stationary object and the time until the moving object enters the driving lane are calculated at the same time, the vehicle and the moving object there vehicle driving support device, characterized in that a control means for notifying to that effect through the information providing unit determines that there is a risk of collision.   The vehicle driving support device according to claim 1, wherein the information providing unit is at least one of an audio output unit that outputs an alerting voice and a display unit that visually displays the alerting information. .   The vehicle driving support apparatus according to claim 1, wherein the moving body is one of a vehicle, a two-wheeled vehicle, and a pedestrian.

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