JP5446306B2 - Driving assistance device - Google Patents

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JP5446306B2
JP5446306B2 JP2009032653A JP2009032653A JP5446306B2 JP 5446306 B2 JP5446306 B2 JP 5446306B2 JP 2009032653 A JP2009032653 A JP 2009032653A JP 2009032653 A JP2009032653 A JP 2009032653A JP 5446306 B2 JP5446306 B2 JP 5446306B2
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driving support
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克実 土田
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Toyota Motor Corp
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本発明は、車両の運転支援を行う運転支援装置に関するものである。   The present invention relates to a driving support device that supports driving of a vehicle.

従来の運転支援装置としては、例えば特許文献１に記載されているように、車両の走行状態（車速）及び信号機の状態に基づいて、交差点の最適な通行方法に関する情報を運転者に提供するようにしたものが知られている。   As a conventional driving support device, for example, as described in Patent Document 1, information on an optimal way of passing an intersection is provided to a driver based on a vehicle running state (vehicle speed) and a traffic light state. What is made is known.

特開２００２−３７３３９６号公報JP 2002-373396 A

上記従来技術のように車両が交差点を最適に通行するように運転支援を行うシステムとしては、燃費改善のために車両が交差点を青信号で通過できるように、車両の加速（アクセルＯＮ）を誘導するシステムと、車両が交差点を赤信号で進入することを防止するために、車両がアクセルＯＮ状態であるときに警報を行うシステムとがある。しかし、そのような２つのシステムが共存する場合には、互いに干渉する運転支援を行うことがあり、ドライバが戸惑いを起こしてしまう。   As a system that supports driving so that the vehicle passes through the intersection optimally as in the above-described prior art, the vehicle is accelerated (accelerator ON) so that the vehicle can pass through the intersection with a green light to improve fuel efficiency. There are a system and a system that issues an alarm when the vehicle is in an accelerator-on state in order to prevent the vehicle from entering the intersection with a red light. However, when such two systems coexist, driving assistance that interferes with each other may be performed, causing the driver to be confused.

本発明の目的は、２つの運転支援が干渉してドライバが戸惑うことを抑制できる運転支援装置を提供することである。   The objective of this invention is providing the driving assistance apparatus which can suppress that two driving assistances interfere and a driver is confused.

本発明は、自車両が現在の車速を維持して走行した場合、前記自車両が信号機交差点を赤信号で進入するとき、自車両が信号機を赤信号に変わる前の青信号の状態で通過可能となるように信号機の手前の区間で自車両の加速を促す第１運転支援手段と、自車両の現在の走行状態から自車両が信号機を赤信号の状態で進入すると推定されたときに、信号機の手前の区間で自車両の減速を促す第２運転支援手段と、第１運転支援手段が実施されている場合には第２運転支援手段を実施しないように運転支援の実施内容を決定する実施支援決定手段と、を備え、第１運転支援手段は、車両の車速が制限速度を超えず且つ信号機よりも所定距離だけ手前までの区間で自車両の加速動作を終了させるように促すことを特徴とするものである。なお、第１運転支援手段により自車両の加速を促すときは、自車両の車速が制限速度を超えないこと、急加速を行わないことが条件となる。また、自車両が信号機を通過する直前のタイミングで加速することが無いように、信号機よりも所定距離だけ手前までの区間で加速動作が終了するよう促すことが望ましい。 According to the present invention, when the host vehicle travels while maintaining the current vehicle speed, when the host vehicle enters the traffic signal intersection with a red signal, the host vehicle can pass in a state of a green signal before the signal signal changes to a red signal. The first driving support means for accelerating the host vehicle in the section in front of the traffic signal, and when the host vehicle is estimated to enter the traffic signal in a red signal state from the current running state of the host vehicle, Implementation support for determining the implementation details of the driving support so as not to implement the second driving support means when the first driving support means and the second driving support means for promoting deceleration of the host vehicle in the preceding section are implemented Determining means , wherein the first driving support means urges the vehicle to stop the acceleration operation in a section where the vehicle speed does not exceed the speed limit and is a predetermined distance before the traffic light. To do. Note that when the first driving support means prompts acceleration of the host vehicle, the vehicle speed of the host vehicle does not exceed the speed limit and rapid acceleration is not performed. Further, it is desirable to encourage the acceleration operation to end in a section up to a predetermined distance before the traffic light so that the host vehicle does not accelerate at a timing immediately before passing the traffic light.

このような運転支援装置においては、自車両が現在の速度をそのまま維持すると、自車両が信号機を赤信号の状態で進入すると推定される場合には、第１運転支援手段によって自車両が信号機を青信号の状態で通過可能となるように信号機の手前の区間で自車両の加速が促される。一方、上記の場合には、自車両が信号機を赤信号の状態で進入すると推定されるため、このままでは第２運転支援手段によって信号機の手前の区間で自車両の減速も促されてしまう。そこで本発明では、第１運転支援手段が実施されている場合には第２運転支援手段を実施しないようにすることにより、第１運転支援手段と第２運転支援手段との干渉が防止される。これにより、ドライバが戸惑いを起こすことを抑制できる。さらに、第１運転支援手段は、信号機交差点よりも所定距離だけ手前までの区間で加速動作を終了させておくことにより、信号機交差点の進入直線のタイミングで加速することがないようにすることができる。 In such a driving support device, if it is estimated that if the host vehicle maintains the current speed as it is, the host vehicle will enter the traffic light in a red signal state, the first driving support means will cause the host vehicle to The acceleration of the host vehicle is urged in the section in front of the traffic light so that the vehicle can pass in the state of a green light. On the other hand, in the above case, it is presumed that the host vehicle enters the traffic light in a red signal state, and therefore, the deceleration of the host vehicle is also urged by the second driving support means in the section before the traffic signal. Therefore, in the present invention, when the first driving support means is implemented, the second driving support means is not implemented, thereby preventing the interference between the first driving support means and the second driving support means. . Thereby, it can suppress that a driver causes confusion. Furthermore, the first driving support means can stop the acceleration at the timing of the approach straight line at the traffic signal intersection by ending the acceleration operation in a section that is a predetermined distance before the traffic signal intersection. .

好ましくは、実施支援決定手段は、自車両の現在の走行状態に基づいて、自車両を加速させた場合に自車両が信号機を青信号の状態で通過できるかどうかを判断し、自車両を加速させた場合に自車両が信号機を青信号の状態で通過できると判断されたときは、第１運転支援手段を実施するように決定し、自車両を加速させた場合に自車両が信号機を青信号の状態で通過できないと判断されたときは、第２運転支援手段を実施するように決定する。自車両を加速させた場合に自車両が信号機を青信号の状態で通過できるか否かを判断することで、第１運転支援手段と第２運転支援手段との干渉防止を容易に行うことができる。   Preferably, the implementation support determining means determines whether or not the own vehicle can pass the traffic light in a green state when the own vehicle is accelerated based on the current running state of the own vehicle and accelerates the own vehicle. If it is determined that the host vehicle can pass the traffic light in a green signal state, it is decided to implement the first driving support means, and when the host vehicle is accelerated, the host vehicle passes the traffic signal in a green signal state. When it is determined that the vehicle cannot pass, the second driving support means is determined to be implemented. When the host vehicle is accelerated, it is possible to easily prevent interference between the first driving support unit and the second driving support unit by determining whether the host vehicle can pass through the traffic light in a green signal state. .

また、好ましくは、第２運転支援手段は、自車両が信号機を赤信号の状態で進入すると推定されたときに、自車両が信号機に到達するまでの時間が所定値以下であり且つ自車両がアクセルＯＮ状態となっていると、自車両の減速を促す。第２運転支援手段としては、自車両がアクセルＯＮ状態となっているときに、自車両の減速を促すことが特に効果的である。 Preferably, the second driving support means is configured such that when it is estimated that the own vehicle enters the traffic signal in a red signal state, the time until the own vehicle reaches the traffic signal is less than a predetermined value and the own vehicle is When the accelerator is in an ON state, the host vehicle is prompted to decelerate. As the second driving support means, it is particularly effective to promote deceleration of the host vehicle when the host vehicle is in the accelerator ON state .

本発明によれば、２つの運転支援の干渉が防止されるため、ドライバが戸惑うことを抑制できる。これにより、２つの運転支援を有効に共存させて実施することが可能となる。   According to the present invention, it is possible to prevent the driver from being confused because interference between the two driving assists is prevented. As a result, the two driving assists can be effectively coexisted.

図１は、本発明に係わる運転支援装置の一実施形態の概略構成を示すブロック図である。FIG. 1 is a block diagram showing a schematic configuration of an embodiment of a driving support apparatus according to the present invention. 図１に示したアクセルインジケータの一例を示す概念図である。It is a conceptual diagram which shows an example of the accelerator indicator shown in FIG. 図１に示したＥＣＵにより実行される運転支援処理手順を示すフローチャートである。FIG. 2 is a flowchart showing a driving support processing procedure executed by an ECU shown in FIG. 1. FIG. 信号機の灯色と自車両の車速と自車両のアクセル状態との関係の一例を示すタイミング図である。It is a timing diagram which shows an example of the relationship between the light color of a traffic light, the vehicle speed of the own vehicle, and the accelerator state of the own vehicle. 図３に示した警報による赤信号進入防止機能の処理手順の詳細を示すフローチャートである。It is a flowchart which shows the detail of the process sequence of the red signal approach prevention function by the alarm shown in FIG.

以下、本発明に係わる運転支援装置の好適な実施形態について、図面を参照して詳細に説明する。   DESCRIPTION OF EMBODIMENTS Hereinafter, a preferred embodiment of a driving support apparatus according to the present invention will be described in detail with reference to the drawings.

図１は、本発明に係わる運転支援装置の一実施形態の概略構成を示すブロック図である。同図において、本実施形態の運転支援装置１は、車両に搭載され、信号機が設置された交差点（信号機交差点）において車両の運転支援を行う装置である。   FIG. 1 is a block diagram showing a schematic configuration of an embodiment of a driving support apparatus according to the present invention. In the figure, a driving support device 1 of the present embodiment is a device that is mounted on a vehicle and that supports driving of the vehicle at an intersection (a traffic signal intersection) where a traffic light is installed.

運転支援装置１は、インフラセンサ２と、車速センサ３と、アクセル開度センサ４と、アクセルインジケータ５と、警報器６と、ＥＣＵ（Electronic Control Unit）７とを備えている。   The driving support device 1 includes an infrastructure sensor 2, a vehicle speed sensor 3, an accelerator opening sensor 4, an accelerator indicator 5, an alarm device 6, and an ECU (Electronic Control Unit) 7.

インフラセンサ２は、道路に設置された光ビーコン等のインフラ装置８（図４参照）から送信されるインフラ情報を受信して取得する機器である。インフラ情報としては、例えば信号機情報（信号機の形態、信号サイクル、表示時間等）、道路情報（道路勾配、道路曲率、停止線までの距離等）が含まれている。   The infrastructure sensor 2 is a device that receives and acquires infrastructure information transmitted from an infrastructure device 8 (see FIG. 4) such as an optical beacon installed on a road. The infrastructure information includes, for example, traffic signal information (traffic signal type, signal cycle, display time, etc.) and road information (road gradient, road curvature, distance to stop line, etc.).

車速センサ３は、自車両の車速を検出するセンサである。アクセル開度センサ４は、自車両のアクセル開度を検出するセンサである。   The vehicle speed sensor 3 is a sensor that detects the vehicle speed of the host vehicle. The accelerator opening sensor 4 is a sensor that detects the accelerator opening of the host vehicle.

アクセルインジケータ５は、自車両のアクセル開度を表示する機器である。アクセルインジケータ５の一例を図２に示す。同図に示すアクセルインジケータ５は、現在のアクセル開度（Ｐ参照）及び目標アクセル開度の範囲（Ｑ参照）をレベル表示するものである。なお、現在のアクセル開度及び目標アクセル開度を数値で表示させても良い。   The accelerator indicator 5 is a device that displays the accelerator opening of the host vehicle. An example of the accelerator indicator 5 is shown in FIG. The accelerator indicator 5 shown in the figure displays the current accelerator opening (see P) and the target accelerator opening range (see Q) in levels. The current accelerator opening and target accelerator opening may be displayed numerically.

ＥＣＵ７は、ＣＰＵ、ＲＯＭやＲＡＭ等のメモリ、入出力回路等により構成されている。ＥＣＵ７は、インフラセンサ２で取得したインフラ情報、車速センサ３及びアクセル開度センサ４の検出値を入力し、所定の処理を行い、アクセルインジケータ５より目標アクセル開度の範囲を現在のアクセル開度と共に表示させるか、或いは警報器６より警告音を発生させる。   The ECU 7 includes a CPU, a memory such as a ROM and a RAM, an input / output circuit, and the like. The ECU 7 inputs the infrastructure information acquired by the infrastructure sensor 2, the detection values of the vehicle speed sensor 3 and the accelerator opening sensor 4, performs predetermined processing, and sets the target accelerator opening range from the accelerator indicator 5 to the current accelerator opening. Or a warning sound is generated from the alarm device 6.

図３は、ＥＣＵ７により実行される運転支援処理手順を示すフローチャートである。同図において、まずインフラセンサ２で取得した信号機情報及び道路情報と車速センサ３で検出した車速とに基づいて、自車両を加速（アクセルＯＮ）誘導させることで自車両が前方の信号機交差点を青信号で抜けられるかどうかを判断する（手順Ｓ５１）。このとき、信号サイクル等の信号機情報、道路勾配や停止線までの距離等の道路情報及び車速データを用いて、既知の手法により判断を行う。なお、この時の加速誘導は、車速が制限速度を超えず、且つ急加速とならずに自然な加速となるようなものとする。また、信号機交差点の進入直前のタイミングで加速することがないように、信号機交差点よりも所定距離だけ手前までの区間で加速動作を終了させておくことが望ましい。   FIG. 3 is a flowchart showing a driving support processing procedure executed by the ECU 7. In the figure, first, based on the traffic signal information and road information acquired by the infrastructure sensor 2 and the vehicle speed detected by the vehicle speed sensor 3, the host vehicle accelerates (accelerates ON) to cause the host vehicle to light a traffic light intersection ahead. In step S51, it is determined whether or not At this time, the determination is performed by a known method using traffic signal information such as a signal cycle, road information such as a road gradient and a distance to a stop line, and vehicle speed data. The acceleration guidance at this time is such that the vehicle speed does not exceed the speed limit, and natural acceleration is achieved without sudden acceleration. In addition, it is desirable that the acceleration operation is terminated in a section that is a predetermined distance before the traffic signal intersection so as not to accelerate at the timing immediately before the traffic signal intersection enters.

自車両を加速誘導させることで自車両が前方の信号機交差点を青信号で抜けられると判断されたときは、図２に示すようなアクセルインジケータ５による加速誘導機能を実施することにより、ドライバに対して信号機交差点の手前の区間で加速を促すようにする（手順Ｓ５２）。例えば図４に示すように、自車両が現在の車速Ｖを維持して走行する場合には、自車両が信号機交差点を赤信号で進入することになる（破線参照）が、自車両が適切な加速度で加速した場合には、自車両が信号機交差点を青信号で通過可能となる（実線参照）ときには、アクセルインジケータ５において目標アクセル開度を高くして表示させる（図２参照）。   When it is determined that the host vehicle can accelerate through the traffic signal intersection ahead by a green signal by accelerating and guiding the host vehicle, the acceleration guidance function by the accelerator indicator 5 as shown in FIG. Acceleration is urged in the section before the traffic signal intersection (step S52). For example, as shown in FIG. 4, when the host vehicle travels while maintaining the current vehicle speed V, the host vehicle enters the traffic signal intersection with a red signal (see the broken line). When the vehicle is accelerated by acceleration and the vehicle can pass through the traffic signal intersection with a green light (see solid line), the accelerator indicator 5 displays the target accelerator opening at a higher level (see FIG. 2).

一方、自車両を加速誘導させても自車両が前方の信号機交差点を青信号で抜けられないと判断されたときは、警報による赤信号進入防止機能を実施することにより、ドライバに対して信号機交差点の手前の区間で減速または停止を促すようにする（手順Ｓ５３）。   On the other hand, if it is determined that the vehicle is not able to exit the traffic signal intersection ahead with a green light even if the vehicle is accelerated and guided, a red traffic light entry prevention function is implemented by warning. Deceleration or stop is urged in the previous section (step S53).

その警報による赤信号進入防止機能の処理手順の詳細を図５に示す。同図において、まずインフラセンサ２で取得した信号機情報及び道路情報と車速センサ３で検出した車速とに基づいて、自車両が現在の車速を維持して走行した場合に自車両が信号機交差点を赤信号で進入するかどうかを判断する（手順Ｓ６１）。このとき、自車両が信号機交差点を赤信号で進入しないと判断されたときは、本処理を終了する。   The details of the processing procedure of the red signal entry prevention function by the alarm are shown in FIG. In the figure, based on the traffic signal information and road information acquired by the infrastructure sensor 2 and the vehicle speed detected by the vehicle speed sensor 3, when the host vehicle travels while maintaining the current vehicle speed, It is determined whether or not the vehicle enters with a signal (step S61). At this time, when it is determined that the own vehicle does not enter the traffic light intersection with a red light, this processing is terminated.

自車両が信号機交差点を赤信号で進入すると判断されたときは、インフラセンサ２で取得した道路情報と車速センサ３で検出した車速とに基づいて、自車両が信号機交差点に達するまでの時間ＴＴＣ（Time To Crossroad）が警報タイミング相当時間Ｔｃに達していないかどうかを判断する（手順Ｓ６２）。警報タイミングは、自車両が信号機交差点に到達する所定時間（例えば数秒）前に行うものとして予め設定されている。自車両が信号機交差点に達するまでの時間ＴＴＣが警報タイミング相当時間Ｔｃに達していると判断されたときは、本処理を終了する。   When it is determined that the host vehicle enters the traffic light intersection with a red light, based on the road information acquired by the infrastructure sensor 2 and the vehicle speed detected by the vehicle speed sensor 3, the time TTC (until the host vehicle reaches the traffic signal intersection) It is determined whether or not (Time To Crossroad) has reached the alarm timing equivalent time Tc (step S62). The alarm timing is set in advance to be performed a predetermined time (for example, several seconds) before the host vehicle reaches the traffic signal intersection. When it is determined that the time TTC until the host vehicle reaches the traffic signal intersection has reached the alarm timing equivalent time Tc, this processing is terminated.

自車両が信号機交差点に達するまでの時間ＴＴＣが警報タイミング相当時間Ｔｃに達していないと判断されたときは、アクセル開度センサ４の検出信号に基づいて、自車両がアクセルＯＮ状態であるかどうかを判断する（手順Ｓ６３）。自車両がアクセルＯＮ状態でないと判断されたときは、本処理を終了する。自車両がアクセルＯＮ状態であると判断されたときは、警報器６により警報音を発生させる（手順Ｓ６４）。   If it is determined that the time TTC until the host vehicle reaches the traffic signal intersection has not reached the alarm timing equivalent time Tc, whether or not the host vehicle is in the accelerator ON state based on the detection signal of the accelerator opening sensor 4 Is determined (step S63). When it is determined that the host vehicle is not in the accelerator ON state, this process is terminated. When it is determined that the host vehicle is in the accelerator ON state, an alarm sound is generated by the alarm device 6 (step S64).

従って、図４に示すように、自車両が現在の車速Ｖを維持して走行した場合に、自車両が信号機交差点を赤信号で進入すると予想され（破線参照）、自車両が信号機交差点に達するまでの時間ＴＴＣが警報タイミング相当時間Ｔｃに達しておらず、自車両がアクセルＯＮ状態になっているときは、警報器６からの警報によってドライバに対して信号機交差点の手前の区間で減速または停止を促すようにする。   Therefore, as shown in FIG. 4, when the host vehicle travels while maintaining the current vehicle speed V, the host vehicle is expected to enter the traffic signal intersection with a red signal (see the broken line), and the host vehicle reaches the traffic signal intersection. When the time TTC until TTC has not reached the alarm timing equivalent time Tc and the host vehicle is in the accelerator ON state, the driver decelerates or stops in the section just before the traffic light intersection with the alarm from the alarm device 6 To encourage.

以上において、インフラセンサ２、車速センサ３、アクセルインジケータ５及びＥＣＵ７の上記手順Ｓ５２は、自車両が信号機を青信号の状態で通過可能となるように信号機の手前の区間で自車両の加速を促す第１運転支援手段を構成する。インフラセンサ２、車速センサ３、アクセル開度センサ４、警報器６及びＥＣＵ７の上記手順Ｓ５３は、自車両の現在の走行状態から自車両が信号機を赤信号の状態で進入すると推定されたときに、信号機の手前の区間で自車両の減速を促す第２運転支援手段を構成する。インフラセンサ２、車速センサ３及びＥＣＵ７の上記手順Ｓ５１は、第１運転支援手段が実施されている場合には第２運転支援手段を実施しないように運転支援の実施内容を決定する実施支援決定手段を構成する。   In the above, the above-described procedure S52 of the infrastructure sensor 2, the vehicle speed sensor 3, the accelerator indicator 5, and the ECU 7 is the step for accelerating the acceleration of the host vehicle in the section in front of the traffic signal so that the host vehicle can pass the traffic signal in a green signal state. 1 constitutes driving support means. The above-described procedure S53 of the infrastructure sensor 2, the vehicle speed sensor 3, the accelerator opening sensor 4, the alarm device 6 and the ECU 7 is performed when the own vehicle is estimated to enter the traffic light in a red signal state from the current running state of the own vehicle. The second driving support means for accelerating the deceleration of the host vehicle is configured in the section in front of the traffic light. The procedure S51 of the infrastructure sensor 2, the vehicle speed sensor 3, and the ECU 7 is an implementation support determination unit that determines the implementation details of the drive support so that the second drive support unit is not implemented when the first drive support unit is implemented. Configure.

以上のように本実施形態にあっては、自車両を適切な速度で加速誘導させた場合に自車両が信号機交差点を青信号で抜けられると判断されたときは、アクセルインジケータ５による加速誘導機能の実施を有効化し、警報による赤信号進入防止機能の実施を無効化する。また、自車両を適切な速度で加速誘導させた場合でも自車両が信号機交差点を青信号で抜けられないと判断されたときは、警報による赤信号進入防止機能の実施を有効化し、アクセルインジケータ５による加速誘導機能の実施を無効化する。   As described above, in the present embodiment, when it is determined that the host vehicle can exit the traffic signal intersection with a green signal when the host vehicle is accelerated and guided at an appropriate speed, the acceleration indicator function of the accelerator indicator 5 is provided. Enable the implementation and disable the implementation of the red light entry prevention function by alarm. Also, even if the host vehicle is accelerated and guided at an appropriate speed, if it is determined that the host vehicle cannot pass through the traffic light intersection with a green light, the implementation of the red signal entry prevention function by warning is enabled and the accelerator indicator 5 is used. Disable the implementation of the acceleration guidance function.

つまり、アクセルインジケータ５による加速誘導機能と、警報による赤信号進入防止機能とを同時には実施しないようにしたので、ドライバがアクセルインジケータ５を見てアクセルＯＮとしたにもかかわらず、車両が赤信号で進入するとして警報されてしまうことが防止される。これにより、アクセルインジケータ５による加速誘導機能と警報による赤信号進入防止機能との干渉が防止されるため、ドライバの戸惑いを回避することができる。その結果、アクセルインジケータ５による加速誘導機能と警報による赤信号進入防止機能という２つの運転支援を効果的に実施することが可能となる。   In other words, since the acceleration guidance function by the accelerator indicator 5 and the red signal entry prevention function by warning are not performed at the same time, the vehicle turns red even though the driver looks at the accelerator indicator 5 and turns on the accelerator. It is prevented that it is warned that it is approaching with. Thereby, since interference with the acceleration guidance function by the accelerator indicator 5 and the red signal approach prevention function by warning is prevented, it is possible to avoid the driver's confusion. As a result, it is possible to effectively implement two driving assistances, that is, an acceleration guidance function by the accelerator indicator 5 and a red signal approach prevention function by an alarm.

１…運転支援装置、２…インフラセンサ（第１運転支援手段、第２運転支援手段、実施支援決定手段）、３…車速センサ（第１運転支援手段、第２運転支援手段、実施支援決定手段）、４…アクセル開度センサ（第２運転支援手段）、５…アクセルインジケータ（第１運転支援手段）、６…警報器（第２運転支援手段）、７…ＥＣＵ（第１運転支援手段、第２運転支援手段、実施支援決定手段）。

DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 2 ... Infrastructure sensor (1st driving assistance means, 2nd driving assistance means, implementation assistance determination means), 3 ... Vehicle speed sensor (1st driving assistance means, 2nd driving assistance means, implementation assistance determination means) 4) Accelerator opening sensor (second driving support means), 5 ... Accelerator indicator (first driving support means), 6 ... Alarm (second driving support means), 7 ... ECU (first driving support means, Second driving support means, implementation support determination means).

Claims (3)

自車両が現在の車速を維持して走行した場合、前記自車両が信号機交差点を赤信号で進入するとき、前記自車両が信号機を前記赤信号に変わる前の青信号の状態で通過可能となるように前記信号機の手前の区間で前記自車両の加速を促す第１運転支援手段と、
前記自車両の現在の走行状態から前記自車両が前記信号機を赤信号の状態で進入すると推定されたときに、前記信号機の手前の区間で前記自車両の減速を促す第２運転支援手段と、
前記第１運転支援手段が実施されている場合には前記第２運転支援手段を実施しないように運転支援の実施内容を決定する実施支援決定手段と、を備え、
前記第１運転支援手段は、前記車両の車速が制限速度を超えず且つ前記信号機よりも所定距離だけ手前までの区間で前記自車両の加速動作を終了させるように促すことを特徴とする運転支援装置。 When the host vehicle travels while maintaining the current vehicle speed, when the host vehicle enters the traffic signal intersection with a red signal, the host vehicle can pass through the traffic signal in the state of a green signal before changing to the red signal. First driving support means for accelerating acceleration of the host vehicle in a section before the traffic light;
Second driving support means for accelerating deceleration of the host vehicle in a section before the traffic signal when the host vehicle is estimated to enter the traffic signal in a red signal state from the current running state of the host vehicle;
When the first driving support means is implemented, an implementation support determining means for determining the implementation details of the driving support so as not to implement the second driving support means ,
The first driving support means urges that the acceleration operation of the host vehicle be terminated in a section in which the vehicle speed of the vehicle does not exceed the speed limit and is a predetermined distance before the traffic light. apparatus. 前記実施支援決定手段は、前記自車両の現在の走行状態に基づいて、前記自車両を加速させた場合に前記自車両が前記信号機を青信号の状態で通過できるかどうかを判断し、前記自車両を加速させた場合に前記自車両が前記信号機を青信号の状態で通過できると判断されたときは、前記第１運転支援手段を実施するように決定し、前記自車両を加速させた場合に前記自車両が前記信号機を青信号の状態で通過できないと判断されたときは、前記第２運転支援手段を実施するように決定することを特徴とする請求項１記載の運転支援装置。   The implementation support determining means determines whether or not the host vehicle can pass the traffic light in a green state when the host vehicle is accelerated based on the current running state of the host vehicle. When it is determined that the host vehicle can pass through the traffic light in a state of a green signal when the vehicle is accelerated, it is determined to implement the first driving support means, and the host vehicle is accelerated when the host vehicle is accelerated. 2. The driving support device according to claim 1, wherein when it is determined that the host vehicle cannot pass through the traffic light in a green signal state, the second driving support means is determined to be implemented. 前記第２運転支援手段は、前記自車両が前記信号機を赤信号の状態で進入すると推定されたときに、前記自車両が前記信号機に到達するまでの時間が所定値以下であり且つ前記自車両がアクセルＯＮ状態となっていると、前記自車両の減速を促すことを特徴とする請求項１または２記載の運転支援装置。 When it is estimated that the own vehicle enters the traffic signal in a red signal state, the second driving support means has a time until the own vehicle reaches the traffic signal being a predetermined value or less and the own vehicle The driving support device according to claim 1, wherein when the vehicle is in an accelerator-on state, the vehicle is prompted to decelerate .
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