JP5299623B2 - Vehicle driving support device - Google Patents

Description

  The present invention relates to a vehicle driving support device, and more particularly to a vehicle driving support device that suppresses an increase in fuel consumption when avoiding a collision between vehicles at an intersection.

  As a technology to support driving of the vehicle, use vehicle-to-vehicle communication to acquire information on the position, speed and traveling direction of other vehicles around the host vehicle, register the other vehicles in the attention list, and enable collision A technique for transmitting caution information to another vehicle having a characteristic is described in Patent Document 1 below.

JP 2008-90663 A

  In the conventional driving support technology, inter-vehicle communication in which data is transmitted and received between vehicles by radio is used for improving safety such as avoiding the danger of collision between vehicles. On the other hand, in recent years, the price of fuel for vehicles such as gasoline tends to increase, and it is desired to reduce the fuel consumption of the vehicle. However, in the conventional driving support technology, it has not been considered to suppress an increase in fuel consumption when avoiding a collision between vehicles at an intersection.

  Therefore, an object of the present invention is to provide a vehicle driving support device that suppresses an increase in fuel consumption when avoiding a collision between vehicles at an intersection using inter-vehicle communication. .

  In order to achieve the above object, a driving support apparatus for a vehicle according to the present invention is a driving support apparatus for a vehicle mounted on a vehicle, and includes an intersection detection means for detecting an intersection where there is no traffic signal that the host vehicle is approaching. The communication means for transmitting and receiving data including the vehicle position, vehicle speed and fuel consumption efficiency between the own vehicle and other vehicles near the intersection, and the position and vehicle speed data of the own vehicle and the other vehicle, A collision prediction means for predicting a collision between the host vehicle and another vehicle at the intersection, and a bypass for searching for a bypass route that bypasses the intersection for each of the other vehicle and the other vehicle that is predicted to collide with the host vehicle. Using the route search means and the fuel consumption efficiency data of the host vehicle and other vehicles, the reference fuel consumption when the host vehicle and the intersecting vehicle travel on the original route passing through the intersection respectively. The fuel increase amount calculating means for calculating the increase amount of the fuel consumption when taking the avoidance action on the detour route with respect to the amount, and the increase amount of the fuel consumption is the smallest among the avoidance actions of the own vehicle and the crossing vehicle The avoidance action selection means for selecting the avoidance action to be used, and the avoidance action instruction means for instructing the host vehicle or the crossing vehicle to take the avoidance action selected by the avoidance action selection means. It is said.

  Thus, in order to avoid a collision, if an avoidance action that minimizes the increase in fuel consumption is taken, it is possible to avoid a collision between vehicles at an intersection while suppressing an increase in fuel consumption. It is done. Thereby, according to this invention, when avoiding the collision of the vehicles in an intersection using a vehicle-to-vehicle communication, the increase in fuel consumption is suppressed.

Preferably, in the present invention, when the increase in fuel consumption when the own vehicle or the crossing vehicle takes an avoidance action is less than or equal to a predetermined value, the avoidance action selecting means And instruct to take the avoidance action.
As a result, when the fuel consumption when traveling on the original route and the fuel consumption when traveling on the detour route are substantially equal, the increase in fuel consumption is suppressed and the collision of vehicles at the intersection is prevented. Avoidance is achieved.

Preferably, in the present invention, the fuel increase amount calculation means for the own vehicle and the crossing vehicle decelerates before the intersection and then accelerates with respect to the reference fuel consumption, and then avoids the collision to avoid the original route. The amount of increase in fuel consumption when taking the avoidance action of traveling is further calculated.
Thus, as an action to avoid a collision, there is an avoidance action that minimizes the increase in fuel consumption from the case of traveling on a detour route and the case of decelerating before the intersection and then accelerating and traveling on the original route. Selected. As a result, it is possible to avoid a collision between vehicles at an intersection while further suppressing an increase in fuel consumption.

  In the present invention, preferably, the host vehicle and a series of vehicles following the host vehicle, in which the inter-vehicle distance between adjacent vehicles in the front and rear is equal to or less than a predetermined distance, are set as one host vehicle group. Vehicle group setting means for setting a series of vehicles following the vehicle as one intersection vehicle group, wherein the fuel increase amount calculation means is configured to decelerate before the intersection and then accelerate to avoid collision and to avoid collision. Fuel consumption when the host vehicle group decelerates and accelerates before the intersection with respect to the reference fuel consumption amount of the host vehicle group as an increase in fuel consumption when taking the avoidance action of traveling on the original route of the vehicle The amount of increase in fuel consumption is calculated when the intersection vehicle decelerates before the intersection and accelerates thereafter to avoid collision and take the avoidance action of traveling on the original route of the intersection vehicle. , The reference fuel consumption of intersection fleet, crossing the vehicle group to calculate the amount of increase in the fuel consumption in the case of deceleration and acceleration in front of the intersection.

  As described above, if the increase rate of the fuel consumption of the vehicle group including the own vehicle and the following vehicle of the crossing vehicle is calculated and the avoidance action that minimizes the increase amount is selected, the acceleration / deceleration of the own vehicle or the crossing vehicle is selected. The increase in fuel consumption in the entire vehicle group including the following vehicles that are affected by is suppressed.

In the present invention, preferably, the own vehicle takes an avoidance action when the increase amount of fuel consumption is minimized, and the crossing vehicle takes an avoidance action that minimizes the increase amount of fuel consumption. In the case where the difference from the increase amount in the case is equal to or less than the predetermined amount, the avoidance action selecting means is a vehicle having a small number of past avoidance actions selected from the own vehicle and the crossing vehicle, or a period from the previous avoidance action The avoidance action is selected for the longer vehicle or the vehicle determined on the basis of the priority order data that has been prioritized according to the vehicle type or engine type.
This increases the number of cases in which vehicles with high fuel consumption efficiency (vehicles with good fuel efficiency) that frequently take avoidance action are given, thereby reducing unfair feeling in traffic.

In the present invention, it is preferable to further include display means for displaying the positional relationship between the host vehicle and the crossing vehicle and the increase amount of the fuel consumption calculated by the fuel increase amount calculation means.
Thereby, the driver of the own vehicle can recognize the position and fuel consumption efficiency of each vehicle.

  According to the vehicle driving support device of the present invention, an increase in fuel consumption is suppressed when avoiding a collision between vehicles at an intersection using inter-vehicle communication.

It is a block diagram explaining the structure of the driving assistance device for vehicles of embodiment of this invention. It is a flowchart explaining the process by the vehicle driving assistance device of embodiment of this invention. It is a schematic diagram near an intersection.

Hereinafter, an embodiment of a vehicle driving support device of the present invention will be described with reference to the accompanying drawings.
First, with reference to the block diagram of FIG. 1, the structure of the vehicle driving assistance device of this embodiment is demonstrated. As shown in FIG. 1, the vehicle driving assistance device of the present embodiment is a vehicle driving assistance device mounted on a vehicle, and includes an intersection detection means 1, a communication means 2, a collision prediction means 3, and a detour. Route search means 4, fuel increase amount calculation means 5, avoidance action selection means 6, and avoidance action instruction means 7 are provided. Furthermore, the vehicle driving support device of the present embodiment includes a vehicle group setting means 14 and a display device 15.

  The intersection detection means 1 detects an intersection without a traffic signal that the host vehicle is approaching. The intersection is detected by the map data and the position of the host vehicle. The current position of the host vehicle is detected by a GPS (global positioning system) 9. Further, the position of the intersection and the presence / absence of a traffic light are specified by the map data of the navigation system 10.

The communication means 2 acquires data including the vehicle position, the vehicle speed, and the fuel consumption efficiency between the host vehicle and another vehicle near the intersection, that is, through inter-vehicle communication. The vehicle speed of the host vehicle is detected by a vehicle speed sensor 12. Further, the fuel consumption amount of the host vehicle is stored in the memory 11. The data preferably includes the destination of the host vehicle set in the navigation system (navigation) 10. Then, the transmission data creating means 16 creates transmission data including the position, fuel consumption, and destination of the host vehicle.
The fuel consumption efficiency (fuel consumption) refers to a travelable distance per unit fuel, for example, represented by the number of kilometers traveled per liter of fuel such as gasoline.

  The data of the other vehicle received by the communication unit 2 is temporarily stored in the reception data storage unit 13. The received data includes the position of the other vehicle, vehicle speed, fuel consumption, and destination. In addition, other vehicles in the vicinity of the intersection include vehicles traveling within a predetermined distance from the intersection. The predetermined distance can be set to any suitable value empirically.

  The collision prediction means 3 predicts a collision between the host vehicle and the other vehicle at the intersection using the data of the positions and vehicle speeds of the host vehicle and the other vehicle. For predicting the collision, any conventionally known suitable technique can be used.

The detour route searching means 4 searches for detour routes that detour around the intersection for the intersection vehicle and the own vehicle that are predicted to collide with the own vehicle among other vehicles. The detour route refers to a route that does not pass through the intersection among routes from the current position of the host vehicle to the destination set in the navigation system 10. When there are a plurality of detour routes, it is preferable to output, as a detour route, the shortest distance among these detour routes.
The other route is searched similarly for other vehicles.

  The fuel increase amount calculating means 5 uses the fuel consumption efficiency data of the own vehicle and other vehicles, and for the reference fuel consumption amount when traveling on the original route passing through the intersection for the own vehicle and the intersecting vehicle, respectively. The amount of increase in fuel consumption is calculated when an avoidance action is taken along a detour route. The fuel consumption when traveling on the detour route is calculated by dividing the distance of the detour route by the fuel consumption. Further, the increase amount of the fuel consumption amount is calculated by subtracting the reference fuel consumption amount from the fuel consumption amount when traveling on the detour route.

  Further, the fuel increase amount calculation means 5 takes the avoidance action for the own vehicle and the intersecting vehicle, respectively, with respect to the reference fuel consumption, decelerating before the intersection and then accelerating to avoid collision and travel on the original route. In this case, it is preferable to further calculate the amount of increase in fuel consumption. For example, a map of fuel consumption calculated from the current vehicle speed, the vehicle speed at the time of deceleration, and the fuel injection amount when the vehicle decelerates before the intersection and then accelerates to avoid collision and travels on the original route. May be sequentially generated and stored in a memory, and the map may be referred to.

  In the present embodiment, the fuel increase amount calculation means 5 increases the fuel consumption when the host vehicle decelerates before the intersection, accelerates thereafter, avoids a collision, and takes an avoidance action of traveling along the original route of the host vehicle. The amount of fuel consumption when the host vehicle group consisting of the host vehicle and a series of vehicles following the host vehicle affected by the host vehicle decelerates and accelerates before the intersection with respect to the reference fuel consumption of the host vehicle group. As the amount of increase in fuel consumption when calculating the increase amount and taking the avoidance action that the crossing vehicle decelerates before the intersection and then accelerates to avoid collision and travel on the original route of the crossing vehicle, An increase amount of fuel consumption is calculated when an intersecting vehicle group composed of an intersecting vehicle and a series of vehicles following the intersecting vehicle decelerates and accelerates before the intersection with respect to the reference fuel consumption of the group. The increase amount of the fuel consumption amount of the own vehicle group is calculated as the total increase amount of the fuel consumption amount of each vehicle included in the own vehicle group. Further, the increase amount of the fuel consumption amount of the intersecting vehicle group is calculated as the sum of the increase amount of the fuel consumption amount of each vehicle included in the intersection vehicle group.

  The avoidance action selection means 6 selects the avoidance action that minimizes the increase in fuel consumption among the avoidance actions of the host vehicle and the crossing vehicle. For example, when detour routes exist for both the own vehicle and the crossing vehicle, the detour route with the smaller increase in fuel consumption when traveling along the detour route is selected. This suppresses an increase in fuel consumption when avoiding a collision between vehicles at an intersection.

When the increase amount of the fuel consumption when the own vehicle or the crossing vehicle takes the avoidance action is equal to or less than the predetermined value, the avoidance action selecting means 6 takes the avoidance action for the own vehicle or the crossing vehicle. To instruct. As the predetermined value, any suitable value may be set empirically. Furthermore, the increase amount when the own vehicle takes an avoidance action that minimizes the increase in fuel consumption, and the increase amount when the crossing vehicle takes an avoidance action that minimizes the increase in fuel consumption. If the difference is less than or equal to the predetermined amount, the avoidance action selection means 6 is a vehicle having a smaller number of past avoidance actions selected from the own vehicle and the crossing vehicle, or a vehicle having a longer period from the previous avoidance action, Alternatively, an avoidance action is selected for a vehicle that is determined based on priority order data that is prioritized according to the vehicle type or engine type. The predetermined amount may be set to any suitable value empirically.
The number of avoidance actions selected, the period from the previous avoidance action, and priority data may be stored in a memory (not shown). In the period from the previous avoidance action, the time of the previous avoidance action may be stored, the length of the period from that time to the present may be calculated, or the elapsed time from the most recent avoidance action May be measured.

  The avoidance action instruction means instructs the avoidance action selected by the avoidance action selection means to the own vehicle or the crossing vehicle. Thereby, an instruction is given to the vehicle having the avoidance action that minimizes the fuel increase amount of the own vehicle and the crossing vehicle to perform the avoidance action. In the present embodiment, the instruction device 7 is provided as an instruction means for instructing the avoidance action for collision avoidance with respect to the own vehicle. In addition, instruction data creating means 8 is provided for instructing the avoidance action for avoiding a collision with respect to the crossing vehicle. The instruction data created by the instruction data creating means 8 is transmitted to the intersecting vehicle via the communication means 2. The instruction data received in the crossing vehicle is instructed in the crossing vehicle indicating device.

  In addition, the instruction | indication apparatus 7 includes the case where it functions as a guidance device with respect to a driver, the case where it functions as an automatic control device, and the case where it functions as both. When the instruction device 7 functions as a guidance device for the driver, it is preferable to guide the route of the host vehicle through the detour route or to decelerate the host vehicle by image display or voice instruction. Further, when the instruction device 7 functions as an automatic control means, it is preferable to automatically control the own vehicle by changing the course of the own vehicle or decelerating so as to take the instructed avoidance action. .

  The vehicle group setting means 14 sets a host vehicle and a series of vehicles following the host vehicle, in which the inter-vehicle distance between adjacent vehicles in the front and rear is equal to or less than a predetermined distance, as one host vehicle group. A crossing vehicle and a series of vehicles following the crossing vehicle are set as one crossing vehicle group. The predetermined distance can be set to any suitable value empirically.

The display device 15 displays the positional relationship between the host vehicle and the crossing vehicle, the increase amount of the fuel consumption calculated by the fuel increase amount calculation means, or the fuel consumption efficiency of each target vehicle.
The display unit 15 may also serve as the instruction unit 7.

  It should be noted that the intersection detection means 1, the collision prediction means 3, the detour route search means 4, the fuel increase amount calculation means 5, the avoidance action selection means 6, the instruction data creation means 8, the transmission data creation means 16, and the vehicle group setting means 14 Each block corresponds to a processing function in an in-vehicle ECU (electric control unit) 100. These processing functions are realized by executing a predetermined program in a computer or by a microchip.

Next, with reference to the flowchart of FIG. 2, the operation example of the vehicle driving assistance device of this embodiment is demonstrated.
First, own vehicle data is acquired (S1). In the host vehicle data, the position of the host vehicle detected by the GPS 9, the vehicle speed of the host vehicle detected by the vehicle speed sensor 12, the fuel consumption efficiency of the host vehicle stored in the memory 11, and the navigation system 10 are set. The data of the destination of the own vehicle is included. These data are taken into the transmission data by the transmission data creating means 16.

  Next, when the intersection detection unit 1 detects an intersection with no traffic signal that the host vehicle is approaching (in the case of “Yes” in S2), the host vehicle and other vehicles near the intersection are communicated with each other via the communication unit 2. (S3).

Here, FIG. 3 schematically shows the arrangement of vehicles near the intersection C. In the example shown in FIG. 3, the host vehicle 21 and the following vehicles 22 and 23 are traveling toward the intersection C, and the other vehicles 31 to 33 are traveling toward the intersection C on the intersection road.
The following process may be executed only when the host vehicle is the first vehicle in the vehicle group.

  Next, when a collision between the host vehicle 21 and the leading crossing vehicle 31 among the other vehicles 31 to 33 is predicted (in the case of “Yes” in S4), the vehicle group setting unit 14 causes the host vehicle 21 and thereafter The own vehicle group 20 including the follower vehicles 22 and 23 is set, and the intersecting vehicle group 30 including the intersecting vehicle 31 and the subsequent vehicles 32 and 33 is set (S5).

  Next, the detour route search means 4 searches for detour routes of the host vehicle and the crossing vehicle (S6). In the example shown in FIG. 3, there is a detour route indicated by a broken line II with respect to the original route indicated by the solid line I for the host vehicle 21. On the other hand, there is no detour route for the other vehicle 31.

  Next, the fuel increase amount calculating means 5 calculates the increase amount of the fuel consumption when the avoidance action of traveling on the detour route is taken (S7). As shown in Table 1 below, the reference fuel consumption when the host vehicle travels along the route (solid line I) from point P1 to point P2 in FIG. 3 is 1.51 (arbitrary unit). On the other hand, the fuel consumption when the host vehicle takes an avoidance action traveling on the detour route (broken line II) is also 1.51 (arbitrary unit). Therefore, the increase amount of the fuel consumption when the host vehicle travels on the detour route with respect to the reference fuel consumption is zero (+0.00).

  Next, the avoidance action selection means 6 selects an avoidance action that minimizes the increase in fuel consumption (S8). In this case, since the fuel does not increase even if the host vehicle travels on the detour route, the avoidance action by the host vehicle traveling on the detour route is selected.

  Next, an avoidance action is instructed by the avoidance action instruction means (S9). Here, since the avoidance action with the smallest increase amount is the avoidance action by the own vehicle 21, the instruction device 7 of the own vehicle instructs the own vehicle to pass the detour route. Moreover, it is good to display the arrangement | positioning of the vehicle of the vicinity of the intersection shown typically in FIG.

  In this way, an increase in fuel consumption is suppressed when avoiding a collision between vehicles at an intersection using inter-vehicle communication.

  Next, in Table 2 below, there are detour routes for both the own vehicle and the intersecting vehicle, and the own vehicle and the intersecting vehicle are decelerated before the above intersection with respect to the reference fuel consumption, and thereafter An example in which the increase amount of the fuel consumption is further calculated when the avoidance action of accelerating and avoiding the collision and traveling on the original route is taken is shown.

  In Table 2 below, the increase in fuel consumption when the host vehicle decelerates before the intersection and then accelerates to take the avoidance action of traveling on the original route of the host vehicle. The amount of increase in fuel consumption when the host vehicle decelerates and accelerates before the intersection is calculated. In addition, as the amount of increase in fuel consumption when the crossing vehicle decelerates before the above intersection and then accelerates and takes the avoidance action of traveling on the original route of the crossing vehicle, the crossing vehicle with respect to the reference fuel consumption of the crossing vehicle The amount of increase in fuel consumption when the vehicle decelerates and accelerates before the intersection is calculated.

  As shown in Table 2 above, the fuel consumption when the own vehicle 21 takes the avoidance action of traveling on the detour route is 1.81 (arbitrary unit), and the reference fuel consumption (1 The increment for .51) is 0.30. On the other hand, the fuel consumption when the crossing vehicle 31 takes the avoidance action of traveling on the detour route is 1.31 (arbitrary unit), and the increase amount with respect to the reference fuel consumption (0.81) of the crossing vehicle 31 is 0.50.

  Furthermore, the fuel consumption amount of the own vehicle is 2.31 when the own vehicle 21 decelerates before the intersection and then accelerates to take the avoidance action of traveling on the route. For this reason, the increase amount of the fuel consumption of the own vehicle with respect to the reference fuel consumption (1.51) of the own vehicle is 0.80. On the other hand, the fuel consumption of the crossing vehicle when the crossing vehicle 31 takes an avoidance action of decelerating before the crossing and then accelerating and driving on the original route is 1.21. For this reason, the increase amount of the fuel consumption of the crossing vehicle with respect to the reference fuel consumption (0.81) of the crossing vehicle is 0.40.

  In the example shown in Table 2 above, the amount of increase in fuel consumption when the host vehicle takes an avoidance action traveling on a detour route is the smallest. For this reason, the avoidance action selection means 6 selects the avoidance action so that the avoidance action is taken with respect to the own vehicle.

  In this way, by using the inter-vehicle communication by instructing the vehicle having the avoidance action with the smallest increase in the fuel consumption to perform the traveling in the case where the increase is the smallest. When avoiding a collision between vehicles at an intersection, an increase in fuel consumption is suppressed.

  The increase amount when the own vehicle takes an avoidance action that minimizes the increase in fuel consumption, and the increase amount when the crossing vehicle takes an avoidance action that minimizes the increase in fuel consumption. When the difference is equal to or less than a predetermined amount, particularly the equivalent, the avoidance action selection means 6 is a vehicle having a smaller number of past avoidance actions selected from the own vehicle and the crossing vehicle, or a longer period from the previous avoidance action The vehicle may be selected to take an avoidance action. Alternatively, in order to increase the number of cases in which the type of vehicle or engine type vehicle (for example, a vehicle type with a heavy vehicle weight or an engine type vehicle with low fuel consumption efficiency) that is expected to be transferred is increased. The avoidance action may be selected based on the prioritized priority order data.

  Next, in Table 3 below, there is no detour route for both the own vehicle and the intersecting vehicle, and the own vehicle and the intersecting vehicle decelerate before the intersection with respect to the reference fuel consumption. After that, an example in which the increase amount of the fuel consumption of the vehicle group is further calculated in the case of taking the avoidance action of accelerating and avoiding the collision and traveling on the original route will be shown.

  As shown in Table 3 above, when the own vehicle 21 decelerates in front of the intersection and then accelerates and takes an avoidance action to travel on the original route, the vehicles 22 and 23 following the own vehicle also have an effect. Therefore, the fuel consumption amount is calculated in the host vehicle group 20. That is, the fuel consumption of the host vehicle group when the host vehicle accelerates or decelerates is 7.31. For this reason, the increase amount of the fuel consumption of the whole own vehicle group with respect to the reference fuel consumption (4.51) of the own vehicle group 20 is 2.80. On the other hand, the fuel consumption of the intersecting vehicle group 30 is 6.21 when the intersecting vehicle group 30 decelerates before the intersection and then accelerates and then takes an avoidance action of traveling on the original route. For this reason, the increase amount of the fuel consumption of the whole intersection vehicle group with respect to the reference fuel consumption (3.81) of the intersection vehicle group is 2.40.

  In the example shown in Table 3 above, the amount of increase in fuel consumption when the intersecting vehicle group 30 takes avoidance action due to acceleration / deceleration is the smallest. For this reason, the avoidance action selection means 6 selects an avoidance action by acceleration / deceleration for each vehicle in the intersecting vehicle group 30.

  In such a case, the instruction data for instructing the avoidance action by the deceleration to the crossing vehicles 31, 32 and 33 is created by the instruction data creating unit 8 and transmitted by the communication unit 2. In the crossing vehicle that has received the instruction data, the vehicle may be decelerated as instructed by automatic control, or the driver may be guided to decelerate by voice or screen display.

  In each embodiment mentioned above, although the example which constituted the present invention on specific conditions was explained, the present invention can perform various change and combination, and is not limited to this. For example, in the above-described embodiment, as an increase in fuel consumption when the own vehicle and the crossing vehicle decelerate before the intersection and then accelerate to avoid collision and take an avoidance action of traveling on the original route of the own vehicle. Although the increase amount of the fuel consumption of the vehicle group is calculated, the increase amount of the fuel consumption amount of the own vehicle or the crossing vehicle alone may be calculated. Moreover, although the said embodiment demonstrated the example which used liquefied fuels, such as gasoline, as the fuel, the said fuel may be the electric power consumption in an electric vehicle, and when these are mixed, after implementing energy conversion The fuel consumption may be compared.

DESCRIPTION OF SYMBOLS 1 Intersection detection means 2 Communication means 3 Collision prediction means 4 Detour route search means 5 Fuel increase amount calculation means 6 Avoidance action selection means 7 Instruction device 8 Instruction data creation means 9 GPS
DESCRIPTION OF SYMBOLS 10 Navigation system 11 Memory 12 Vehicle speed sensor 13 Received data storage means 14 Vehicle group setting means 15 Display device 16 Transmission data creation means 100 ECU

Claims (6)

A vehicle driving support device mounted on a vehicle,
An intersection detection means for detecting an intersection without a traffic signal that the host vehicle is approaching;
Communication means for transmitting and receiving data including vehicle position, vehicle speed and fuel consumption efficiency between the own vehicle and other vehicles near the intersection;
Collision prediction means for predicting a collision between the host vehicle and the other vehicle at the intersection using the data of the position and speed of the host vehicle and the other vehicle;
A detour route search means for searching for a detour route that detours the intersection with respect to the cross vehicle and the own vehicle that are predicted to collide with the own vehicle among other vehicles,
Using the fuel consumption efficiency data of the host vehicle and other vehicles, the avoidance action of traveling on the detour route with respect to the reference fuel consumption amount when the host vehicle and the intersecting vehicle travel on the original route passing through the intersection, respectively. A fuel increase amount calculating means for calculating an increase amount of fuel consumption when taken;
An avoidance action selection means for selecting an avoidance action that minimizes the increase in fuel consumption among the avoidance actions of the host vehicle and the crossing vehicle;
A driving support apparatus for a vehicle, comprising: an avoidance action instruction means for instructing an avoidance action selected by the avoidance action selection means with respect to the host vehicle or the crossing vehicle.   When the increase in fuel consumption when the own vehicle or the crossing vehicle takes an avoidance action is less than or equal to a predetermined value, the avoidance action selecting means takes the avoidance action for the own vehicle or the crossing vehicle. The vehicle driving support device according to claim 1, wherein the vehicle driving support device is instructed.   The fuel increase amount calculation means takes an avoidance action for the own vehicle and the crossing vehicle, respectively, with respect to the reference fuel consumption, decelerating before the intersection and then accelerating to avoid collision and travel on the original route. The vehicle driving support apparatus according to claim 1, further calculating an increase amount of the fuel consumption in the case. A host vehicle and a series of vehicles following the host vehicle in which the inter-vehicle distance between adjacent vehicles is equal to or less than a predetermined distance is set as one host vehicle group. Vehicle group setting means for setting as two intersecting vehicle groups,
The fuel increase amount calculating means calculates the amount of increase in fuel consumption when the host vehicle decelerates before the intersection and then accelerates to avoid a collision and travels along the original route of the host vehicle. Calculate the increase in fuel consumption when the host vehicle group decelerates and accelerates before the intersection with respect to the reference fuel consumption of the group of vehicles, and the intersecting vehicle decelerates before the intersection and accelerates thereafter. As an increase in fuel consumption when avoiding a collision and taking an avoidance action of traveling on the original route of the intersecting vehicle, the intersecting vehicle group decelerates before the intersection with respect to the reference fuel consumption of the intersecting vehicle group, and The vehicle driving support device according to claim 1, wherein an increase amount of fuel consumption when accelerating is calculated.   The fuel increase amount when the own vehicle takes an avoidance action that minimizes the increase in fuel consumption and the fuel increase amount when the crossing vehicle takes an avoidance action that minimizes the increase in fuel consumption When the difference is less than or equal to a predetermined amount, the avoidance action selection means is a vehicle having a smaller number of past avoidance actions selected from the own vehicle and the crossing vehicle, or a vehicle having a longer period from the previous avoidance action, 2. The vehicle driving support apparatus according to claim 1, wherein an avoidance action is selected for a vehicle determined based on priority order data that is prioritized in accordance with a vehicle type or an engine type.   6. The display device according to claim 1, further comprising a display unit that displays a positional relationship between the host vehicle and the crossing vehicle and an increase amount of the fuel consumption calculated by the fuel increase amount calculation unit. Driving support system for vehicles.

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