JP5291683B2 - Driving support device, driving support method, and computer program - Google Patents

Description

  The present invention relates to a driving support device, a driving support method, and a computer program that support driving of a vehicle.

  In addition to narrow ordinary roads, some roads that can be driven at high speeds, such as expressways, urban expressways, motorways, general toll roads, and national roads, are classified according to the direction of travel. There is a section in which the vehicle can run only in a determined direction. However, when the traveling direction is not clearly specified, the vehicle may enter a so-called reverse traveling state in which the traveling direction is wrong and the vehicle travels in a direction opposite to the traveling direction defined in the traveling section. And there are the following cases as one of the causes that the vehicle is in such a reverse running state.

  For example, as shown in FIG. 6, when the vehicle 101 travels on a road in a one-way section composed of a plurality of lanes, the driver may misrecognize that the right lane is an oncoming lane. In that case, the vehicle 101 makes a U-turn with the intention of traveling in the oncoming lane, and as a result of traveling in the right lane, the vehicle travels in a direction opposite to the traveling direction defined on the road, Become.

  Therefore, in order to quickly stop reverse running when the vehicle enters the reverse running state, it is important to accurately grasp that the vehicle has made a U-turn on the vehicle side. Thereby, it is possible to stop the reverse running by giving a warning to the driver or performing vehicle control. Therefore, for example, in Japanese Patent Laid-Open No. 2008-96141, when it is detected that the vehicle has made a turn, the turning curvature radius of the turn made is compared with the width curvature radius calculated based on the road width. A technique for determining that the vehicle has made a U-turn when the turning curvature radius is smaller than the width curvature radius is described.

Japanese Patent Laying-Open No. 2008-96141 (page 6-7, FIG. 3)

  However, with the technique described in Patent Document 1, it may not be possible to accurately determine that the vehicle has made a U-turn. For example, when a sharp turn is made to avoid an obstacle on a road with a relatively wide road width, the turning curvature radius is smaller than the width curvature radius and the vehicle is not making a U-turn. In some cases, it may be erroneously determined that the vehicle has made a U-turn. In such a case, warning for reverse running may interfere with the driving operation of the driver and may disrupt the current traveling direction of the vehicle.

  The present invention has been made to solve the problems in the prior art, and provides a driving support device, a driving support method, and a computer program capable of accurately determining that a vehicle has made a U-turn. With the goal.

In order to achieve the above object, the driving support device (1) according to claim 1 of the present application is acquired by the road width acquisition means (42) for acquiring the road width of the road on which the vehicle travels and the road width acquisition means. Based on the road width , a width curvature radius that is a maximum turning curvature radius that can make a U-turn on the road is calculated, and the vehicle makes a U-turn on the road based on the calculated width curvature radius. An upper limit speed setting means (43) for setting an upper limit speed at which the lateral acceleration generated in the vehicle is equal to or lower than a predetermined acceleration, and a vehicle behavior acquisition means (44) for acquiring the behavior of the vehicle. Based on the road width acquired by the road width acquisition means and the behavior of the vehicle acquired by the vehicle behavior acquisition means, it is possible to make a U-turn on the road in the vehicle U-turn determining means (45) for determining whether or not the vehicle has made a U-turn on the road by determining whether or not a turn satisfying the condition has been made at the upper limit speed or less. Features.
“Turning that satisfies the condition that the vehicle can make a U-turn on the road” refers to turning that satisfies certain conditions such as a turning direction, a turning curvature radius, a turning angle, and surrounding road conditions.

The driving support device (1) according to claim 2 is the driving support device according to claim 1, wherein the road on which the vehicle travels is a one-way section, and the U-turn determination means (45) When it is determined that the vehicle has made a U-turn on the road, warning means (46) for warning that the vehicle is running backward is provided.

According to a third aspect of the present invention, there is provided a driving support method comprising: a road width acquisition step of acquiring a road width of a road on which a vehicle is traveling; and a U-turn on the road based on the road width acquired by the road width acquisition step. The width curvature radius that is the maximum turning curvature radius that can be performed is calculated, and the lateral acceleration generated in the vehicle when the vehicle makes a U-turn on the road is calculated based on the calculated width curvature radius. An upper limit speed setting step for setting an upper limit of a speed that is equal to or lower than a predetermined acceleration as an upper limit speed , a vehicle behavior acquisition step for acquiring the behavior of the vehicle, and the road width and the vehicle behavior acquisition acquired by the road width acquisition step Based on the behavior of the vehicle acquired in the step, the upper limit is a turn satisfying a condition that allows the vehicle to make a U-turn on the road. By determining whether or not made by degrees, the vehicle is characterized by having a a U-turn determining step determines whether the series of U-turn in the road.

Further, a computer program according to claim 4, the computer, the road width acquisition function of acquiring a road width of the road on which the vehicle travels, based on the acquired road width by the road width acquisition function, at the road A width curvature radius that is the maximum turning curvature radius that can make a U-turn is calculated, and a lateral direction that occurs in the vehicle when the vehicle makes a U-turn on the road based on the calculated width curvature radius . An upper limit speed setting function that sets an upper limit of a speed at which the acceleration is equal to or lower than a predetermined acceleration as an upper limit speed , a vehicle behavior acquisition function that acquires the behavior of the vehicle, the road width acquired by the road width acquisition function, and the vehicle Based on the behavior of the vehicle acquired by the behavior acquisition function, a turn satisfying a condition that allows the vehicle to make a U-turn on the road is By determining whether or not performed at a rate below wherein the vehicle; and a U-turn determining function determines whether the series of U-turn in the road.

According to the driving support apparatus according to claim 1 having the above-described configuration, when the vehicle makes a U-turn on the road, the upper limit of the speed at which the lateral acceleration generated in the vehicle is equal to or lower than the predetermined speed is set. and sets as the upper limit speed for turning, since the vehicle to determine whether were U-turn on the basis of the upper limit speed which has been set, allows the vehicle to accurately determine that were U-turn and Become. As a result, it is possible to accurately and quickly grasp that the vehicle is in the reverse running state, and for example, it is possible to stop the reverse running by warning the driver or performing vehicle control. Become.

Further, according to the driving support device of the second aspect , when it is determined that the vehicle has made a U-turn while traveling in the one-way section, a warning is given that the vehicle is running backward. If a reverse running state is established by making a U-turn, the reverse running can be quickly stopped.

According to the driving support method of the third aspect , when the vehicle makes a U-turn on the road , the vehicle makes a U-turn on the road at the upper limit of the speed at which the lateral acceleration generated in the vehicle is a predetermined value or less than the speed. and sets as the upper limit speed for the vehicle based on the upper limit speed is set so determining whether or not subjected to U-turn, the vehicle it is possible to accurately determine that were U-turn. As a result, it is possible to accurately and quickly grasp that the vehicle is in the reverse running state, and for example, it is possible to stop the reverse running by warning the driver or performing vehicle control. Become.

Further, according to the computer program of the fourth aspect , when the vehicle makes a U-turn on the road , the vehicle makes a U-turn on the road at the upper limit of the speed at which the lateral acceleration generated in the vehicle becomes a predetermined value or less. The upper limit speed is set and whether or not the vehicle has made a U-turn is determined based on the set upper limit speed, so that it is possible to accurately determine that the vehicle has made a U-turn. As a result, it is possible to accurately and quickly grasp that the vehicle is in the reverse running state, and for example, it is possible to stop the reverse running by warning the driver or performing vehicle control. Become.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is the figure which showed the structure of navigation ECU. It is a flowchart of the reverse running warning processing program concerning this embodiment. It is a flowchart of the sub process program of a U-turn detection process. It is the figure which showed the acceleration produced in the horizontal direction of the vehicle at the time of turning for every turning curvature radius. It is the figure which showed the example which will be in a reverse running state by a vehicle making a U-turn.

  Hereinafter, a driving support device according to the present invention will be described in detail with reference to the drawings based on an embodiment embodied in a navigation device. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation apparatus 1 according to the present embodiment is based on a current position detection unit 11 that detects a current position of a vehicle, a data recording unit 12 that records various data, and input information. The navigation ECU 13 that performs various arithmetic processes, the operation unit 14 that receives operations from the user, the liquid crystal display 15 that displays a map and a guide route to the destination, and voice guidance related to route guidance are output to the user. A speaker 16, a DVD drive 17 that reads a DVD that is a storage medium storing a program, and a communication module 18 that communicates with an information center such as a traffic information center.

Below, each component which comprises the navigation apparatus 1 is demonstrated in order.
The current position detection unit 11 includes a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, a G sensor 25, an altimeter (not shown), and the like, and detects a current vehicle position, direction, vehicle traveling speed, and the like. It is possible to do. Here, in particular, the vehicle speed sensor 22 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a wheel by counting the pulse which generate | occur | produces. Note that the navigation device 1 does not have to include all of the above five types of sensors, and the navigation device 1 may include only one or more of these types of sensors.

  The data recording unit 12 is also a hard disk (not shown) as an external storage device and a recording medium, and a driver for reading the map information DB 31 and a predetermined program recorded on the hard disk and writing predetermined data on the hard disk And a recording head (not shown).

Here, the map information DB 31 stores various map data necessary for route guidance, traffic information guidance, and map display.
Further, the map data specifically includes link data 32 relating to road (link) shape, node data 33 relating to node points, POI data which is information relating to points of facilities, etc., intersection data relating to each intersection, and route search. Search data, search data for searching for points, maps, roads, traffic information, and other images are drawn on the liquid crystal display 15. In particular, as the link data 32, information on the road type of the link (highway expressway, urban expressway, automobile exclusive road, general toll road, attachment road, general road), information on the road width, and whether or not a one-way section is set Information and the like are stored.
The map information DB 31 is updated based on update data distributed from a map distribution center or the like and update data provided via a storage medium (for example, a DVD or a memory card).

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is a guide route setting means 41 for setting a guide route from the departure point to the destination when the destination is selected as shown in FIG. Road width acquisition means 42 for acquiring the road width of the road, upper limit speed setting means 43 for setting an upper limit speed for the vehicle to make a U-turn on the road based on the acquired road width, vehicle behavior acquisition for acquiring the behavior of the vehicle Means 44, when the vehicle has made a U-turn on the road when a turn satisfying a condition that allows the vehicle to make a U-turn on the road based on the acquired road width and the behavior of the vehicle is performed at a speed lower than the upper limit speed U-turn determining means 45 for determining, the road on which the vehicle is traveling is a one-way section, and the U-turn determining means determines that the vehicle has made a U-turn on the road The case constitutes a warning means 46 such as a warning that the vehicle is run contrary, an electronic control unit that performs overall control of the navigation device 1. The CPU 51 as an arithmetic device and a control device, the RAM 51 that is used as a working memory when the CPU 51 performs various arithmetic processes, stores route data and the like when a route is searched, and a control program In addition, an internal storage device such as a ROM 53 in which a later-described reverse running warning processing program (see FIG. 3) and the like are recorded and a program read from the ROM 53 is stored.

  The operation unit 14 is operated when inputting a departure point as a travel start point and a destination as a travel end point, and includes a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. In addition, it can also be comprised by the touchscreen provided in the front surface of the liquid crystal display 15.

  The liquid crystal display 15 includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, guidance route from the departure point to the destination, guidance information along the guidance route, news, weather forecast, Time, mail, TV program, etc. are displayed. If it is determined that the vehicle has made a U-turn while traveling in the one-way section, it is estimated that the vehicle has made a reverse run, and a warning for reverse run is displayed.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance. Further, when it is determined that the vehicle has made a U-turn while traveling in the one-way section, it is estimated that the vehicle is in a reverse running state, and a warning sound for reverse running is output.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Then, the map information DB 31 is updated based on the read data.

  In addition, the communication module 18 is traffic information composed of information such as traffic jam information, regulation information, and traffic accident information transmitted from a traffic information center such as a VICS (registered trademark: Vehicle Information and Communication System) center or a probe center. For example, a mobile phone or DCM.

  Next, a reverse running warning processing program executed in the navigation device 1 having the above configuration will be described with reference to FIG. FIG. 3 is a flowchart of the reverse running warning processing program according to this embodiment. Here, the reverse running warning processing program is executed after the ACC of the vehicle is turned on, and determines whether or not the vehicle has made a U-turn while traveling in the one-way section, and based on the determination result, warns against reverse running. It is a program that performs. The programs shown in the flowcharts of FIGS. 3 and 4 below are stored in the RAM 52, ROM 53 and the like provided in the navigation ECU 13 and executed by the CPU 51.

  In the reverse running warning processing program, first, in step (hereinafter abbreviated as S) 1, the CPU 51 performs a fail determination process. In the fail determination process, it is determined whether various devices such as the GPS 21, the vehicle speed sensor 22, the steering sensor 23, the gyro sensor 24, and the G sensor 25 are operating normally.

  And when it determines with it being in a failure state in the process of said S1 (S2: YES), the said reverse running warning process program is complete | finished. On the other hand, if it is determined that the state is not a failure state (S2: NO), the process proceeds to S3.

  In S3, the CPU 51 performs a matching state determination process. In the matching state determination process, it is determined whether or not the current position of the vehicle is correctly specified on the map link (matching state) by the map matching process. In addition, when specifying the present position of a vehicle on a link, in addition to GPS21, G sensor 25 is also used. Specifically, when roads are overlapped in the vertical direction, the G sensor 25 detects acceleration generated in the vehicle to identify which road the vehicle is traveling on.

  And when it determines with it being in a matching state in the process of said S3 (S4: YES), it transfers to S5. On the other hand, when it is determined that there is no matching state (S4: NO), the reverse running warning processing program is terminated.

  In S <b> 5, the CPU 51 acquires information (road type, regulation information, etc.) relating to the travel section of the road on which the vehicle travels from the map information DB 31. Specifically, a link in which the vehicle is currently traveling is specified, and link data 32 of the link is acquired from the map information DB 31.

  Subsequently, in S6, the CPU 51 determines whether or not the section in which the vehicle travels is a one-way section based on the information acquired in S5. Specifically, the determination is made based on the link data 32 of the link on which the vehicle is currently traveling. A one-way section is a section in which a vehicle can travel only in a predetermined direction. In addition to narrow roads, highways, urban highways, motorways, and general tolls It is also set on some roads that can run at high speed, such as roads and national roads.

  And when it determines with the area where a vehicle drive | works is a one-way area (S6: YES), it transfers to S7. On the other hand, when it is determined that the section in which the vehicle travels is not a one-way section (S6: NO), the reverse running warning processing program is terminated.

  In S7, the CPU 51 performs a U-turn detection process (FIG. 4) described later. The U-turn detection process is a process for detecting that the vehicle has made a U-turn when a U-turn has been made in the vehicle. In the U-turn detection process, the U-turn flag stored in the RAM 52 is turned on when it is detected that the vehicle has made a U-turn as will be described later.

  Next, in S8, the CPU 51 reads the U-turn flag stored in the RAM 52, and determines whether or not the U-turn flag is ON, that is, whether or not the vehicle has made a U-turn. Note that the U-turn flag is set to OFF in the initial state.

  If it is determined that the U-turn flag is ON, that is, the vehicle has made a U-turn (S8: YES), the vehicle has made a U-turn and is in a reverse running state (set on the road) It is estimated that the vehicle is traveling in the direction opposite to the traveling direction), and the process proceeds to S9. On the other hand, if the U-turn flag is OFF, that is, it is determined that the vehicle is not making a U-turn (S8: NO), it is estimated that the vehicle is not in the reverse running state and the reverse running is performed without warning. The warning processing program is terminated.

  In S9, the CPU 51 performs a warning process for warning that the vehicle is running backward. Specifically, a message “Please note that you are running backward on the road now” is displayed on the liquid crystal display 15, and the same sound is output from the speaker 16.

  Next, the sub-process of the U-turn detection process in S7 will be described with reference to FIG. FIG. 4 is a flowchart of a sub-processing program for reverse running detection processing.

  First, in S <b> 11, the CPU 51 acquires a detection value detected by the gyro sensor 24. The acquired detection value is used when determining whether or not the vehicle has made a U-turn turn in S16 described later.

  Next, in S <b> 12, the CPU 51 acquires the current vehicle speed of the vehicle based on the detection result of the vehicle speed sensor 22.

Subsequently, in S13, the CPU 51 determines the allowable acceleration value (hereinafter referred to as the lateral acceleration allowable value) generated in the lateral direction of the vehicle that can safely make a U-turn without burdening the occupant when the vehicle makes a U-turn. Set).
Here, when the vehicle turns, the vehicle is accelerated laterally by centrifugal force. The acceleration in the lateral direction increases as the vehicle speed during turning increases and the turning curvature radius decreases. In addition, if the lateral acceleration becomes too large, a burden is imposed on the occupant and it may cause a slip. Therefore, when the vehicle makes a U-turn, in order to make a U-turn safely without imposing a burden on the occupant, the acceleration generated in the lateral direction of the vehicle needs to be equal to or less than a predetermined value. Allowable value.
In the present embodiment, the allowable lateral acceleration value is 0.8 G [9.81 kg.m / sec ² ]. Further, the allowable lateral acceleration value may be set according to the vehicle type, weather, number of passengers, age, lateral acceleration generated during the past U-turn, and the like.

  Next, in S14, the CPU 51 acquires the width curvature radius. The width curvature radius is the maximum turning curvature radius that can make a U-turn on the road on which the vehicle currently travels, and is ½ of the road width. Specifically, the width of the road on which the vehicle currently travels is acquired from the map information DB 31, and the width curvature radius is acquired by calculating the half of the acquired road width.

  Subsequently, in S15, the CPU 51 sets the “upper limit speed for the vehicle to make a U-turn on the road” based on the allowable lateral acceleration value acquired in S13 and the width curvature radius acquired in S14. Here, the “upper limit speed for a vehicle to make a U-turn on the road” is a speed at which a U-turn can be safely performed without burdening the occupant when the vehicle makes a U-turn on the road on which the vehicle is currently traveling. Specifically, when the vehicle turns with the width curvature radius acquired in S14, an upper limit value of the speed at which the lateral acceleration generated in the vehicle is equal to or less than the lateral acceleration allowable value acquired in S13, Become.

Details of the setting process of “the upper limit speed for the vehicle to make a U-turn on the road” in S15 will be described below.
When the lateral acceleration generated in the vehicle at the turn is k, the vehicle speed at the turn is V, the turning curvature radius is R, and the gravitational acceleration is g, the lateral acceleration k generated in the vehicle at the turn is expressed by the following equation (1). Indicated.
k = V ² / (R × g) (1)
FIG. 5 is a diagram showing changes in the lateral acceleration k generated in the vehicle at the time of turning with respect to the vehicle speed V when the turning radius of curvature R is 4 m, 5.5 m, and 10 m.

As shown in FIG. 5, the lateral acceleration generated in the vehicle during turning increases as the vehicle speed during turning increases and the turning curvature radius decreases. Then, assuming that the lateral acceleration allowable value is 0.8 G, “the upper limit speed Vmax for the vehicle to make a U-turn on the road” is expressed by the following equation (2).
Vmax = √ (0.8 × R × g) (2)
In S15, the “upper limit speed for the vehicle to make a U-turn on the road” is calculated and set based on the equation (2). For example, on a road having a width curvature radius of 4 m, the “upper limit speed for the vehicle to make a U-turn on the road” is 20.2 km / h. On the road having a width curvature radius of 5.5 m, the “upper speed for the vehicle to make a U-turn on the road” is 23.7 km / h. On the road having a width curvature radius of 10 m, the “upper limit speed for the vehicle to make a U-turn on the road” is 31.9 km / h.

  Next, in S <b> 16, the CPU 51 determines whether or not the vehicle has made a turn that satisfies a U-turn condition. Here, the turn that satisfies the U-turn condition is a turn that satisfies the turning direction and the turning curvature radius. A small turn. Note that the turning direction and the turning curvature radius are calculated using the detection value of the gyro sensor 24 acquired in S1. In addition to or instead of the turning direction and the turning curvature radius, the determination may be made using a turning angle, surrounding road conditions, and the like.

  If it is determined that the vehicle is capable of making a U-turn (S16: YES), the process proceeds to S17. On the other hand, if it is determined that the vehicle is not making a U-turn turn (S16: NO), it is determined that the vehicle is not making a U-turn, and the U-turn detection process sub-processing program is performed. And the process proceeds to S8.

  In S17, the CPU 51 determines whether or not the current vehicle speed (that is, the turning speed of the vehicle) acquired in S12 is equal to or lower than the “upper speed for the vehicle to make a U-turn on the road” set in S15. To do.

If it is determined that the turning speed of the vehicle is equal to or lower than the “upper limit speed for the vehicle to make a U-turn on the road” (S17: YES), it is determined that the vehicle has made a U-turn, and the process proceeds to S18. To do. On the other hand, when it is determined that the turning speed of the vehicle is faster than the “upper limit speed for the vehicle to make a U-turn on the road” (S17: NO), the vehicle makes a sudden turn or spin to avoid an obstacle. It is determined that the U-turn is not performed, the sub-processing program for the U-turn detection process is terminated, and the process proceeds to S8.
That is, it is determined whether or not the vehicle has made a U-turn on the road by determining whether or not the vehicle has made a turn that satisfies the U-turn condition on the road at the upper limit speed or less. . And when it determines with the vehicle satisfy | filling the conditions which can make a U-turn on the road having been performed below the upper limit speed, it determines with the vehicle having made the U-turn on the road.

  In S18, the CPU 51 reads the U-turn flag from the RAM 52 and sets the U-turn flag to ON. Thereafter, the process proceeds to S8. Thereafter, a warning process for warning that the vehicle is running backward is performed (S9).

As described above in detail, in the navigation device 1 according to this embodiment, when the vehicle makes a U-turn, the acceleration generated in the lateral direction of the vehicle that can safely make a U-turn without placing a burden on the occupant. An allowable value (transverse acceleration allowable value) is set (S13), and an "upper limit speed for the vehicle to make a U-turn on the road" is set based on the set lateral acceleration allowable value and width curvature radius (S14). The vehicle makes a U-turn when it makes a U-turn turn while traveling in a one-way section, and the turn speed at that time is less than or equal to the "upper speed for the vehicle to make a U-turn on the road" Since the vehicle has made a U-turn and is recognized as being in a reverse running state and warns that the vehicle is running backward (S9), it is accurately determined that the vehicle has made a U-turn. To judge The ability. Further, when the vehicle enters a reverse running state by making a U-turn, the reverse running can be quickly stopped.
In addition, since the upper limit of the speed at which the lateral acceleration generated in the vehicle when the vehicle makes a U-turn on the road is equal to or less than the predetermined acceleration is set as the upper limit speed, the burden on the occupant during U-turn and the safety aspect should be taken into consideration This makes it possible to accurately determine that the vehicle has made a U-turn.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in this embodiment, when the vehicle turns with the width curvature radius acquired in S14, the lateral acceleration generated in the vehicle is acquired in S13. Although the upper limit value of the speed is equal to or lower than the lateral acceleration allowable value, the minimum turning curvature radius of the vehicle may be used instead of the width curvature radius. Alternatively, the turning radius of curvature in which the vehicle has actually turned may be detected, and the detected turning radius of curvature may be used.

In the present embodiment, the allowable lateral acceleration value is 0.8 G [9.81 kg.m / sec ² ], but other values may be used. Further, the allowable lateral acceleration value may be changed according to the vehicle type, weather, number of passengers, age, lateral acceleration generated during the past U-turn, and the like.

1 Navigation device 13 Navigation ECU
51 CPU
52 ROM
53 RAM

Claims (4)

Road width acquisition means for acquiring the road width of the road on which the vehicle travels;
Based on the road width acquired by the road width acquisition means , a width curvature radius that is the maximum turning curvature radius capable of making a U-turn on the road is calculated, and based on the calculated width curvature radius , an upper limit speed setting means for setting an upper limit of speed at which the lateral acceleration which the vehicle is caused on the vehicle when a U-turn in the road is equal to or less than a predetermined acceleration upper limit speed,
Vehicle behavior acquisition means for acquiring the behavior of the vehicle;
Based on the road width acquired by the road width acquisition unit and the behavior of the vehicle acquired by the vehicle behavior acquisition unit, a turn satisfying a condition that allows the vehicle to make a U-turn on the road And a U-turn determination unit that determines whether or not the vehicle has made a U-turn on the road by determining whether or not the vehicle is performed at an upper limit speed or less. When the road on which the vehicle travels is a one-way section and the U-turn determination means determines that the vehicle has made a U-turn on the road, it warns that the vehicle is running backward. The driving support apparatus according to claim 1 , further comprising a warning unit. A road width acquisition step of acquiring the road width of the road on which the vehicle is traveling;
Based on the road width acquired by the road width acquisition step , a width curvature radius that is the maximum turning curvature radius that can make a U-turn on the road is calculated, and based on the calculated width curvature radius the upper limit speed setting step for setting a speed upper limit lateral acceleration which the vehicle is caused on the vehicle when a U-turn in the road is equal to or less than a predetermined acceleration upper limit speed,
A vehicle behavior acquisition step of acquiring the behavior of the vehicle;
Based on the road width acquired in the road width acquisition step and the behavior of the vehicle acquired in the vehicle behavior acquisition step, a turn satisfying a condition that allows the vehicle to make a U-turn on the road And a U-turn determination step for determining whether or not the vehicle has made a U-turn on the road by determining whether or not the vehicle is performed at an upper limit speed or less. On the computer ,
A road width acquisition function for acquiring the road width of the road on which the vehicle travels;
Based on the road width acquired by the road width acquisition function , a width curvature radius that is the maximum turning curvature radius capable of making a U-turn on the road is calculated, and based on the calculated width curvature radius the upper limit speed setting function that sets the upper limit of the speed at which lateral acceleration which the vehicle is caused on the vehicle when a U-turn in the road is equal to or less than a predetermined acceleration upper limit speed,
A vehicle behavior acquisition function for acquiring the behavior of the vehicle;
Based on the road width acquired by the road width acquisition function and the behavior of the vehicle acquired by the vehicle behavior acquisition function, a turn satisfying a condition capable of making a U-turn on the road in the vehicle is A U-turn determination function for determining whether or not the vehicle has made a U-turn on the road by determining whether or not it has been performed at an upper limit speed or less;
A computer program for executing

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