JP5459278B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device.

  In recent years, some vehicles such as automobiles are equipped with a driving assistance device that assists driving by a driver. For example, Patent Document 1 discloses a vehicle traveling speed in which an actual traveling speed of a vehicle is compared and displayed as a relative value with respect to a recommended traveling speed or a corrected recommended traveling speed as a reference value fixedly displayed on a display screen. The display method is described. Patent Document 2 also obtains signal switching information of a plurality of traffic lights, calculates which section to the destination and at which recommended speed, and calculates the calculated recommended speed to the driver. An output device is described.

JP 2009-289007 A JP 2009-9288 A

  The device described in Patent Literature 1 or Patent Literature 2 can display a recommended traveling speed to notify the driver of a traveling condition in which a signal can pass. However, in the device described in Patent Document 1 or Patent Document 2, it may be difficult to recognize the traveling speed that can pass through a plurality of traffic lights.

  An object of the present invention is to provide a driving support device that displays information that can be easily recognized by a driver and can appropriately support driving.

The present invention is a driving support device that supports driving of a vehicle, and is a signal cycle that is a cycle in which the display of the traffic light is switched for the traffic lights respectively disposed at two or more traffic light points in the traveling direction of the vehicle. An infrastructure communication unit that obtains information, a position calculation unit that calculates relative position information of the vehicle and the traffic signal point at each of the plurality of traffic signal points, and a plurality of traffic signal points at the position calculation unit, respectively. Based on the calculated relative position information between the vehicle and the traffic signal point and information on the signal cycle of the traffic signal at the traffic signal point acquired by the infrastructure communication unit, the traffic signal is displayed in a passable display state. The speed range in which the vehicle can pass the traffic signal point is calculated as the reference target vehicle speed range, and the target vehicle speed information is determined based on the reference target vehicle speed range. And the target vehicle speed control unit which is characterized by having a and the target vehicle speed display unit for displaying each said traffic signal point each of the target vehicle speed information for a plurality of traffic signal point determined by the target vehicle speed control unit.

  In addition, the target vehicle speed control unit presets a difference between the target vehicle speed information at a traffic light point that is closer to the front in the traveling direction and the target vehicle speed information at a traffic light point that is farther in the traveling direction than the traffic light point. When exceeding a threshold value, it is preferable not to display the target vehicle speed information of the traffic light point in the traveling direction behind the traffic light point on the target vehicle speed display unit.

  In addition, the target vehicle speed control unit, when the distance between the traffic light point that is closer to the front in the traveling direction and the traffic light point that is deeper in the traveling direction than the traffic light point exceeds a preset threshold value, It is preferable not to display the target vehicle speed information of the traffic light point in the traveling direction on the target vehicle speed display unit.

  Further, when the target vehicle speed control unit determines not to display the target vehicle speed information of the traffic light point that is closer to the front in the traveling direction, the target vehicle speed control unit displays the target vehicle speed information of the traffic light point that is deeper in the traveling direction than the traffic light point. It is preferable not to display on the target vehicle speed display section.

  In addition, when the target vehicle speed control unit determines that the vehicle cannot pass through the traffic signal point while the traffic signal is in a passable display state based on a reference target vehicle speed range of the traffic signal point and a set reference. It is preferable not to display the target vehicle speed information at the traffic light point located behind the traffic light point in the traveling direction on the target vehicle speed display unit.

  The vehicle further includes a vehicle speed sensor that detects a traveling speed of the vehicle, wherein the target vehicle speed control unit sets a display upper limit speed based on a current vehicle speed detected by the vehicle speed sensor, and the entire area of the reference target vehicle speed range is When the display upper limit speed is exceeded, it is preferable to determine that the vehicle cannot pass through the traffic signal point while the traffic signal is in the passable display state.

  The information acquisition unit further acquires a limited vehicle speed of a road on which the vehicle is traveling, the limited vehicle speed acquired by the information acquisition unit is set as a display upper limit speed, and the entire region of the reference target vehicle speed range is When the display upper limit speed is exceeded, it is preferable to determine that the vehicle cannot pass through the traffic signal point while the traffic signal is in the passable display state.

  The target vehicle speed control unit preferably uses the target vehicle speed information as speed information equal to or lower than the display upper limit speed.

  Moreover, when the said target vehicle speed control part determines that the said vehicle cannot pass the said traffic signal point, it is preferable to make the said target vehicle speed information of the said traffic signal point into speed information containing 0 km / h.

  Moreover, it is preferable that the target vehicle speed information is information on a speed range in which the upper limit speed and the lower limit speed are different.

  Further, the target vehicle speed control unit is configured to perform only the speed at which the target vehicle speed information at a traffic light point on the far side in the travel direction overlaps with the target vehicle speed information at a traffic light point in front of the traffic signal point in the travel direction. It is preferable to display on the target vehicle speed display section as the target vehicle speed information of the traffic light point located in the back in the direction.

  The driving support apparatus according to the present invention displays information that is easy for the driver to recognize, and has the effect of being able to support driving appropriately.

FIG. 1 is an explanatory diagram illustrating an example of a driving support system according to the present embodiment. FIG. 2 is a block diagram illustrating a schematic configuration of a vehicle on which the driving support device according to the embodiment is mounted. FIG. 3 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 4 is a flowchart illustrating an example of processing of the driving support device. FIG. 5 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 6 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 7 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 8 is a flowchart illustrating another example of the process of the driving support device. FIG. 9 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 10 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 11 is a flowchart illustrating another example of processing of the driving support device. FIG. 12 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 13 is a schematic diagram illustrating another example of the speed display area of the display device. FIG. 14 is an explanatory diagram for explaining processing of the driving support device.

  Hereinafter, a driving assistance apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art or those that are substantially the same.

(Embodiment)
The embodiment will be described with reference to FIGS. 1 to 6. The present embodiment relates to a driving support system having a vehicle on which a driving support device is mounted. First, the configuration of a driving support system having a vehicle equipped with a driving support device will be described with reference to FIGS. 1 to 3. FIG. 1 is an explanatory diagram illustrating an example of a driving support system according to the present embodiment. FIG. 2 is a block diagram illustrating a schematic configuration of a vehicle on which the driving support device according to the embodiment is mounted. FIG. 3 is a schematic diagram illustrating an example of a speed display area of the display device.

  The driving support system 1 shown in FIG. 1 includes a plurality of vehicles 10, a plurality of traffic lights 12, 12a, a plurality of infrastructure information transmitting devices 14, and a GPS satellite 16. In the driving support system 1, a vehicle 10 equipped with a driving support device 19, which will be described later, out of a plurality of vehicles 10 detects a relationship with another vehicle 10 or acquires from the infrastructure information transmission device 14 or the GPS satellite 16. It is a system that supports the driving of the driver based on the information obtained by doing.

  The vehicle 10 is a vehicle capable of traveling on a road, such as an automobile or a truck. The vehicle 10 can travel on the road where the traffic lights 12 and 12a are arranged. The configuration of the vehicle 10 will be described later.

  The traffic lights 12, 12a are lighting devices arranged at intersections. The traffic light 12 includes a lighting section of three colors of green, yellow, and red. The traffic light 12a includes a lighting part (arrow lamp) that displays an arrow in addition to the lighting parts of three colors of green, yellow, and red. The traffic lights 12, 12a are arranged in the traveling direction of the vehicle on the road. The traffic light 12 is in a state in which the vehicle 10 may pass through the traveling direction of the vehicle 10 on the road by switching the lighting portion to emit light among the lighting portions of green, yellow, and red. Indicates a state in which it cannot pass, that is, a state to be stopped. In addition, although the driving assistance system 1 shown in FIG. 1 has shown the case where the traffic lights 12 and 12a are arrange | positioned at an intersection, the arrangement position of the traffic lights 12 and 12a is not limited to an intersection. The traffic lights 12, 12a may be arranged with respect to a pedestrian crossing, for example.

  The infrastructure information transmitting device 14 transmits infrastructure information such as road information of a road on which the vehicle 10 travels and signal information related to traffic lights 12 and 12a ahead of the vehicle 10 in the traveling direction. The infrastructure information transmission device 14 according to the present embodiment is arranged at each intersection and transmits infrastructure information to the vehicle 10 traveling in a certain range around by wireless communication. Here, the road information typically includes speed limit information of a road on which the vehicle 10 travels, stop line position information of an intersection, and the like. The signal information typically includes signal cycle information such as lighting cycles and signal change timings of the blue, yellow, and red signals of the traffic lights 12 and 12a. The infrastructure information transmitting device 14 may be provided for each of the traffic lights 12 and 12a, or may be provided at a plurality of intersections.

  The GPS satellite 16 is a satellite that outputs a GPS signal necessary for position detection by GPS (GPS: Global Positioning System, Global Positioning System). Although only one GPS satellite 16 is shown in FIG. 1, the driving support system 1 includes at least three GPS satellites 16. The device that detects the position by GPS receives GPS signals output from at least three GPS satellites 16 and compares the received GPS signals to detect the position of the device itself.

  Next, the vehicle 10 equipped with the driving support device 19 will be described with reference to FIG. In the driving support system 1 illustrated in FIG. 1, all the vehicles are the vehicles 10 on which the driving support device 19 is mounted. However, at least one vehicle 10 may be mounted on the driving support device 19. That is, in the driving support system 1, a vehicle that does not include the driving support device 19 may travel before and after the vehicle 10 that includes the driving support device 19.

  The vehicle 10 includes an ECU 20, a storage unit 22, an accelerator actuator 24, a brake actuator 26, a car navigation device 28, a speaker 30, a GPS communication unit 32, an in-vehicle camera 34, a millimeter wave radar 36, an infrastructure, The communication unit 38, the vehicle speed sensor 40, the display device 42, the ACC switch 44, and the PCS switch 46 are included. The ECU 20 of the vehicle 10, the storage unit 22, the accelerator actuator 24, the brake actuator 26, the car navigation device 28, the speaker 30, the GPS communication unit 32, the in-vehicle camera 34, the millimeter wave radar 36, The infrastructure communication unit 38, the vehicle speed sensor 40, the display device 42, the ACC switch 44, and the PCS switch 46 also serve as the driving support device 19 for the vehicle 10. In addition to the above-described parts, the vehicle 10 includes various parts generally provided in the vehicle, a vehicle body, a drive source, a brake device, an operation part (for example, a handle, an accelerator pedal, and a brake pedal).

  The ECU 20 is an electronic control unit, and each part of the vehicle 10, an accelerator actuator 24, a brake actuator 26, a car navigation device 28, a speaker 30, a GPS communication unit 32, an in-vehicle camera 34, a millimeter wave radar 36, an infrastructure communication unit 38, a vehicle speed. The sensor 40 and the display device 42 are controlled. The ECU 20 includes information acquired by the GPS communication unit 32, the in-vehicle camera 34, the millimeter wave radar 36, the infrastructure communication unit 38, and the vehicle speed sensor 40, the ACC switch 44, the PCS switch 46, an accelerator pedal, a brake pedal, and the like not shown. Based on the operation of the driver or the like input from various operation units, the operation of each unit is controlled. The ECU 20 includes an inter-vehicle distance control unit 20a, a vehicle maintenance control unit 20b, and a target vehicle speed control unit 20c. The inter-vehicle distance control unit 20a, the vehicle maintenance control unit 20b, and the target vehicle speed control unit 20c will be described later.

  The storage unit 22 is a storage device such as a memory, and stores conditions and data necessary for various processes in the ECU 20 and various programs executed by the ECU 20. The storage unit 22 stores a map information database 22a. The map information database 22a stores information (map, straight road, curve, uphill / downhill, highway, sag, tunnel, etc.) necessary for vehicle travel. The map information database 22a includes a map data file, an intersection data file, a node data file, and a road data file. The ECU 20 reads out necessary information with reference to the map database 22a.

  The accelerator actuator 24 controls the output of the power source of the vehicle 10 such as an engine and a motor. The accelerator actuator 24 can control, for example, the intake amount to the engine, the intake timing and the ignition timing, the voltage value supplied by the motor, the frequency, and the like. The accelerator actuator 24 is electrically connected to the ECU 20 and its operation is controlled by the ECU 20. The ECU 20 operates the accelerator actuator 24 according to the accelerator control signal, and adjusts the intake amount to the engine, the intake timing and the ignition timing, the voltage value and the frequency supplied by the motor. In other words, the accelerator actuator 24 is a device for automatically controlling the driving force by the power source, receives the accelerator control signal output from the ECU 20, and drives each part to control the driving conditions and drive as desired. Generate power. Thus, the accelerator actuator 24 adjusts the acceleration by controlling the driving force acting on the vehicle 10.

  The brake actuator 26 controls driving of a brake device mounted on the vehicle 10. The brake actuator 26 controls the hydraulic pressure of a wheel cylinder provided in the brake device, for example. The brake actuator 26 is electrically connected to the ECU 20 and its operation is controlled by the ECU 20. The ECU 20 operates the brake actuator 26 according to the brake control signal to adjust the brake hydraulic pressure of the wheel cylinder. In other words, the brake actuator 26 is a device for automatically controlling the braking force by the brake, and drives a solenoid or a motor of a mechanism that receives a brake control signal output from the ECU 20 and supplies hydraulic oil to the wheel cylinder. As a result, the brake hydraulic pressure is controlled to generate a desired braking force. In this way, the brake actuator 26 adjusts the deceleration by controlling the braking force acting on the vehicle 10.

  The car navigation device 28 is a device that guides the vehicle 10 to a predetermined destination. The car navigation device 28 is capable of bidirectional communication with the ECU 20. The car navigation device 28 includes a display unit, and based on the information stored in the map information database 22a and the current position information acquired by the GPS communication unit 32 described later, the surrounding map information is displayed on the display unit. indicate. In addition, the car navigation device 28 uses the information stored in the map information database 22a, the current position information acquired by the GPS communication unit 32, which will be described later, and the destination information input by the driver or the like. And the detected route information is displayed on the display unit. The car navigation device 28 includes a map information database and a GPS communication unit in its own device separately from the map information database 22a and the GPS communication unit 32, and performs route guidance and notification of current location information using each unit of the own device. You may do it.

  The speaker 30 outputs sound into the vehicle 10. The speaker 30 outputs sound corresponding to the sound signal transmitted from the ECU 20 into the vehicle.

  The GPS communication unit 32 receives GPS signals output from the plurality of GPS satellites 16. The GPS communication unit 32 sends the received GPS signal to the ECU 20. The ECU 20 detects the position information of its own device by analyzing the plurality of received GPS signals.

  The in-vehicle camera 34 is an imaging device arranged in front of the vehicle 10 and acquires an image in front of the vehicle 10 (front side in the traveling direction). The in-vehicle camera 34 sends the acquired front image of the vehicle 10 to the ECU 20. The ECU 20 analyzes the image acquired by the in-vehicle camera 34 to obtain information such as the state in front of the vehicle 10, that is, whether there is another vehicle 10 ahead, whether the traffic lights 12, 12a are close, or the intersection is close. Can be acquired.

  The millimeter wave radar 36 is a sensor that measures an inter-vehicle distance between the host vehicle and a front vehicle (a vehicle in front of the vehicle 10). The millimeter wave radar 36 emits millimeter wave band radio waves to the front of the vehicle 10 and receives radio waves reflected from an object (front vehicle) and returned to the own aircraft among the emitted radio waves. The millimeter wave radar 36 calculates the distance from the preceding vehicle by comparing the output condition of the emitted radio wave with the detection result of the received radio wave. The millimeter wave radar 36 may detect a distance from an obstacle ahead of the host vehicle. The millimeter wave radar 36 transmits the calculated distance information to the front vehicle to the ECU 20. In the present embodiment, the millimeter wave radar 36 is used as a sensor for measuring the inter-vehicle distance between the host vehicle and the preceding vehicle (the vehicle in front of the vehicle 10), but the distance from the object in front of the vehicle 10 is measured. Various sensors that can be used can be used. For example, the vehicle 10 and the driving support device 19 may use a laser radar sensor instead of the millimeter wave radar 36.

  The infrastructure communication unit 38 communicates with the above-described infrastructure information transmission device 14 wirelessly. The infrastructure communication unit 38 acquires the infrastructure information transmitted from the infrastructure information transmission device 14 and transmits the acquired infrastructure information to the ECU 20. The infrastructure communication unit 38 may always communicate with the communicable infrastructure information transmission device 14 to acquire infrastructure information, or communicate with the infrastructure information transmission device 14 at regular time intervals to acquire infrastructure information. Alternatively, when communication with a new infrastructure information transmission apparatus 14 becomes possible, communication with the infrastructure information transmission apparatus 14 may be performed to acquire infrastructure information.

  The vehicle speed sensor 40 detects the vehicle speed of the vehicle 10. The vehicle speed sensor 40 transmits the acquired vehicle speed information to the ECU 20.

  The display device 42 is a display device that displays various types of information notified to the driver, and is, for example, an instrument panel arranged on the dashboard of the vehicle 10. The display device 42 may be a liquid crystal display device or a display device in which various instruments are arranged. The display device 42 displays information such as the remaining amount of fuel, the output of the drive source (engine speed), the door opening / closing state, the seat belt wearing state, and the like. The display device 42 includes a speed display area 48 that displays the vehicle speed.

  As shown in FIG. 3, the speed display area 48 includes a scale display unit 50 and a needle 52. The scale display unit 50 has an arc shape and has a scale from 0 km / h to 160 km / h. The needle 52 indicates the vehicle speed of the measurement result, and in FIG. 3, it indicates 40 km / h. The speed display area 48 is an analog meter, and the position of the scale display unit 50 pointed to by the needle 52 changes according to the current vehicle speed. Accordingly, the driver can recognize the current detection result of the vehicle speed by confirming the position of the hand 52 in the speed display area 48.

  An ACC (Adaptive Cruise Control) switch (ACC control switch) 44 is for the driver to perform various operations of ACC control. The driver can use the ACC switch 44 to turn on / off ACC control, input a set vehicle speed, input a predetermined distance in follow-up traveling, and the like. The ACC switch 44 sends an operation input by the driver to the ECU 20 as an operation signal. The inter-vehicle distance control unit 20 a of the ECU 20 executes various controls based on the operation signal sent from the ACC switch 44.

  A PCS (Pre-Crash Safety or Pre-Collision System) switch (PCS control switch) 46 is for a driver to perform various operations of PCS control. The driver can turn on / off the PCS control, input the detection target distance, set the safety level, and the like by the PCS switch 46. The PCS switch 46 sends an operation input by the driver to the ECU 20 as an operation signal. The vehicle maintenance control unit 20 b of the ECU 20 executes various controls based on the operation signal sent from the PCS switch 46.

  Next, control executed by the inter-vehicle distance control unit 20a, the vehicle maintenance control unit 20b, and the target vehicle speed control unit 20c of the ECU 20 will be described. The inter-vehicle distance control unit 20a performs ACC (Adaptive Cruise Control) control. The inter-vehicle distance control unit 20a detects the preceding vehicle by the in-vehicle camera 34 or the millimeter wave radar 36, and follows the following control so as to keep a constant inter-vehicle distance according to the preceding vehicle, and the vehicle speed of the vehicle 10 is a constant vehicle speed. The constant speed traveling control for causing the vehicle 10 to travel is executed.

  The vehicle maintenance control unit 20b executes PCS (Pre-Crash Safety or Pre-Collision System) control. Specifically, the vehicle maintenance control unit 20b performs various processing (warning to the driver, assisting operation of the brake, etc.) by detecting an obstacle with the in-vehicle camera 34 or the millimeter wave radar 36 and preparing for a collision. Further, the vehicle maintenance control unit 20b may drive an occupant protection device that can protect an occupant provided in the vehicle 10 as various types of processing to prepare for a collision. As an actuator that plays the role of an occupant protection device, there are an actuator used for brake assist that assists a braking force for a driver's braking operation, a seat belt winding motor that performs a seat belt winding operation, and the like.

  Next, the target vehicle speed control unit 20c will be described. The target vehicle speed control unit 20c calculates a reference target vehicle speed range based on information acquired by each part of the vehicle 10, and processes the calculated reference target vehicle speed range based on a reference that sets the target vehicle speed range (target speed range). And the determined target vehicle speed range is displayed in the speed display area 48 of the display device 42. Specifically, the target vehicle speed control unit 20c acquires signal cycle information such as lighting cycles and signal change timings of the traffic lights 12 and 12a arranged for each of a plurality of passing objects (intersections and crosswalks) acquired by the infrastructure communication unit 38. The distance between the vehicle 10 for each passing object (also referred to as a traffic signal point) and the traffic signals 12, 12a (to be exact, an intersection or a pedestrian crossing where the traffic signals 12, 12a are disposed (also referred to as a passing object or a traffic signal point). Range of travel speed required to pass the traffic lights 12 and 12a during the green light state (that is, during the traffic light display state) for each traffic light point based on information such as (Reference target vehicle speed range) is calculated. Further, the target vehicle speed control unit 20c determines a target vehicle speed range for each calculated reference target vehicle speed range based on the reference target vehicle speed range and preset conditions, and calculates the calculated target vehicle speed range (recommended travel speed range). ) Is displayed in the speed display area 48. Further, when the target vehicle speed control unit 20c calculates the target vehicle speed range for passing through the plurality of traffic light points, the target vehicle speed range is displayed in the speed display region 48. As a condition set in advance, for example, there is a method in which a target vehicle speed range is set to a speed range that satisfies the relationship set for the current vehicle speed compared with the current vehicle speed. In this way, the target vehicle speed control unit 20c performs green wave support, which is control for guiding the vehicle speed to the driver so that the number of times the vehicle 10 stops at a red signal can be further reduced. The signal indicating that the traffic signal is in a passable display state is a state in which the traffic signal is executing a display indicating that the target route can be passed. Including the state that is. Further, the state in which the yellow signal is displayed by setting can also be regarded as the display state in which the traffic light can pass.

  Hereinafter, the control executed by the target vehicle speed control unit 20c of the ECU 20 of the vehicle 10 will be described in more detail with reference to FIGS. FIG. 4 is a flowchart illustrating an example of processing of the driving support device. FIG. 5 and FIG. 6 are schematic diagrams each showing an example of a speed display area of the display device.

  The target vehicle speed control unit 20c of the ECU 20 determines in step S12 whether green wave support is possible for the traffic signal (traffic signal point) that passes next. Specifically, the target vehicle speed control unit 20c is necessary for calculating the target vehicle speed range for the traffic signal arranged at the nearest traffic signal point (first traffic signal point) in the travel direction (travel route). It is determined whether or not a condition in which the target vehicle speed range can be displayed is satisfied in a state where accurate information is acquired. The information necessary for calculating the target vehicle speed range includes the infrastructure information such as the lighting cycle and signal change timing of the traffic signals 12 and 12a to be passed, and the distance between the vehicle 10 and the traffic signals 12 and 12a. This is map information including information on the current position necessary for calculation and position information of the traffic lights 12 and 12a. Further, as a condition for displaying the target vehicle speed range, the distance between the vehicle 10 and the traffic lights 12 and 12a (the distance to the target intersection or the like) is a certain distance or more, and the current vehicle speed of the vehicle 10 is constant. It is more than speed. When the distance between the vehicle 10 and the traffic lights 12 and 12a (the distance to the target intersection, etc.) is less than a certain distance, the target vehicle speed control unit 20c can respond to the display even if the target vehicle speed range is displayed. Since it is difficult to drive, it is determined that green wave support will not be provided. Further, when the current vehicle speed of the vehicle 10 is less than a certain speed, the target vehicle speed control unit 20c is congested on the road on which the vehicle 10 is traveling and the travel speed is limited, or the target vehicle speed control unit 20c is about to stop or stop for some reason. Since it is difficult for the driver to drive corresponding to the display even if the target vehicle speed range is displayed, it is determined that the green wave support is not performed. If the target vehicle speed control unit 20c determines that it is not possible to support in step S12 (No), that is, it is impossible to calculate the target vehicle speed range for the next traffic signal point, the process ends.

  Moreover, when it determines with the target vehicle speed control part 20c being able to support in step S12 (Yes), as step S14, it is arrange | positioned in the traffic signal point which passes the 2nd (the traffic signal point which passes 2nd in a driving direction). It is determined whether the cycle of the traffic light (signal cycle) has been acquired. That is, the target vehicle speed control unit 20c determines whether green wave support is possible for the second traffic signal. Note that the target vehicle speed control unit 20c determines that the conditions other than the signal cycle of the second passing traffic light are satisfied when it is determined Yes in step S12, and does not determine in step S14. In other words, the target vehicle speed control unit 20c acquires the signal cycle of the traffic signal passing through the second, thereby enabling green wave support for the traffic signal passing through the second. If the target vehicle speed control unit 20c determines that support is not possible (No) in step S12, that is, it cannot be supported, the process ends.

  If the target vehicle speed control unit 20c determines in step S14 that the cycle of the second traffic signal cannot be acquired (No), that is, the target vehicle speed range cannot be calculated for the second traffic signal point, Proceed to step S20.

  If the target vehicle speed control unit 20c determines in step S14 that the cycle of the second traffic signal that has passed can be acquired (Yes), in step S16, the distance to the second traffic signal that passes is less than the threshold value. Determine whether. The distance to the traffic signal passing through the second is the distance between the current vehicle and the traffic signal point (intersection, pedestrian crossing). The threshold value is a preset value. As the threshold value, a distance within a range where the traffic light can be visually confirmed, a distance that can be reached at an average legal speed in a certain time (for example, 10 seconds), or the like can be used.

  When the target vehicle speed control unit 20c determines in step S16 that the distance to the second traffic signal that passes through is less than the threshold (Yes), that is, the distance between the current vehicle and the traffic signal point is less than the threshold distance. In step S18, the target vehicle speed ranges of the two traffic lights are displayed. In other words, the target vehicle speed control unit 20c calculates a reference target vehicle speed range for the next traffic signal as a passing support display, and based on the calculated reference target vehicle speed range, the target vehicle speed range (hereinafter also referred to as a first target vehicle speed range). And a reference target vehicle speed range for the second traffic signal is calculated, and a target vehicle speed range (hereinafter also referred to as a second target vehicle speed range) is determined based on the calculated reference target vehicle speed range. Here, the reference target vehicle speed range is the target intersection, pedestrian crossing, etc., that is, the range of vehicle speed that can pass through the traffic light point, that is, the target intersection, pedestrian crossing while the target traffic light is green. It is the range of the vehicle speed that can pass through. The target vehicle speed control unit 20c displays the two determined target vehicle speed areas in the speed display area.

  For example, the target vehicle speed control unit 20c displays a speed display area 48a shown in FIG. The speed display area 48 a displays a mark 62 and a mark 64 in a speed range that overlaps the target vehicle speed range of the scale display unit 50. The mark 62 is a display indicating the first target vehicle speed range, and the mark 64 is a display indicating the second target vehicle speed range. Here, in the speed display area 48a shown in FIG. 5, the mark 62 is displayed in the speed range of 15 km / h to 40 km / h of the scale display section 50, and the mark 64 is 30 km / h to 50 km / h of the scale display section 50. Displayed in the speed range. Further, in the speed display area 48 a, the mark 62 is arranged on the inner peripheral side of the mark 64. Here, the target vehicle speed control unit 20 c displays the target vehicle speed range corresponding to the traffic signal point on the near side on the inner peripheral side of the scale display unit 50. Accordingly, the driver can recognize that the mark 62 indicates the first target vehicle speed range and the mark 64 indicates the second target vehicle speed range by checking the speed display area 48a. The first target vehicle speed range, which is a speed range necessary for passing the next traffic light point, is 15 km / h to 40 km / h, and is necessary for passing the second traffic light point. It can be recognized that the second target vehicle speed range that is the speed range is 30 km / h to 50 km / h.

  When the scale display unit 50 is displayed as an image on the liquid crystal display device, the speed display area 48a may be formed by superimposing the images of the marks 62 and 64 as images to be displayed on the liquid crystal display device. In addition, when the scale display unit 50 is filled with ink or the like, the speed display area 48a is arranged by placing a light emitting unit on the scale display part of the scale display unit 50 and turning on the light emitting unit in the target vehicle speed range. 62 and 64 may be displayed. In this manner, the target vehicle speed control unit 20c can display the determined target vehicle speed range as marks 62 and 64 on the scale display unit 50 so that the user can recognize the determined target vehicle speed range. When the target vehicle speed control unit 20c performs the process shown in step S18, the process proceeds to step S22.

  When the target vehicle speed control unit 20c determines No in step S14 and No in step S16, the target vehicle speed control unit 20c displays the target vehicle speed range of only the traffic signal that passes next as step S20. In other words, the target vehicle speed control unit 20c calculates a reference target vehicle speed range for the next traffic signal as a passing support display, and based on the calculated reference target vehicle speed range, the target vehicle speed range (hereinafter also referred to as a first target vehicle speed range). To decide. The target vehicle speed control unit 20c displays one determined target vehicle speed range in the speed display area.

  For example, the target vehicle speed control unit 20c displays a speed display area 48b shown in FIG. The speed display area 48 b displays a mark 66 in a speed range that overlaps the target vehicle speed area of the scale display unit 50. The mark 66 is a display indicating the first target vehicle speed range. Here, in the speed display area 48 b shown in FIG. 6, the mark 66 is displayed in the speed range of 30 km / h to 50 km / h of the scale display unit 50. Accordingly, the driver recognizes that the first target vehicle speed range, which is a speed range necessary for passing the next traffic light point, is 30 km / h to 50 km / h by checking the speed display area 48b. can do. Note that the speed display area 48b shown in FIG. 6 and the speed display area 48a shown in FIG. 5 have different values because the conditions are different. When the target vehicle speed control unit 20c performs the process shown in step S20, the process proceeds to step S22.

  The target vehicle speed control part 20c will determine whether display end conditions are satisfied as step S22, if the process of step S18 or the process of step S20 is performed. Here, the display end condition is a display end condition of the target vehicle speed range set in advance. For example, when the distance between the vehicle and the intersection (target traffic signal) is less than a certain range, the vehicle speed is out of the certain range. Or a certain time has elapsed since the target vehicle speed range was displayed. When it is determined that the condition is not satisfied (No) in the target vehicle speed control unit 20c and step S22, the process proceeds to step S12 and the above-described processing is repeated. That is, it is determined whether the target vehicle speed range for each traffic light can be displayed and the target vehicle speed range is calculated, and the target target vehicle speed range is displayed again. If the target vehicle speed control unit 20c determines that the condition is satisfied (Yes) in step S22, the target vehicle speed control unit 20c ends the process.

  The driving support device 19 (and the vehicle 10 having the same, the driving support system 1) calculates a target vehicle speed range with each of a plurality of traffic signal points in the traveling direction (in the traveling direction), and calculates the calculated target vehicle speed. By displaying the area in the speed display area 48 in order from the target vehicle speed area of the traffic light point in front of the traveling direction, the driver can easily understand the target vehicle speed area for passing through the plurality of traffic light points. it can. In addition, the driving support device 19 can easily calculate the target vehicle speed range by calculating the target vehicle speed range from the current position of the vehicle 10 for each of the plurality of traffic light points. Accordingly, the driver can easily understand what speed the current vehicle speed needs to be in order to pass the target traffic light point by checking the speed display area.

  Further, the driving support device 19 cannot perform green wave support, that is, when there is a traffic light point where the target vehicle speed range cannot be detected or displayed, by not displaying the target vehicle speed range of the traffic light point farther than the traffic light point, The target vehicle speed range can be displayed in an easy-to-understand manner to the driver.

  In addition, when the distance from the target traffic signal point is equal to or greater than a certain distance, the driving support device 19 does not display the target vehicle speed range of the traffic signal point, thereby suppressing the display of an excessive number of target vehicle speed ranges. be able to. Thereby, the driving assistance device 19 can display the target vehicle speed range in an easy-to-understand manner to the driver. In other words, the driving support device 19 does not display the target vehicle speed range for the traffic signal point that should be displayed again when the distance is long and the target traffic speed point is approached. The information can be displayed in an easy-to-understand manner, and the risk of giving unnecessary stress to the driver can be reduced.

  Further, the driving support device 19 displays the target vehicle speed range of the traffic light closer to the front (inner diameter side in the present embodiment) in the traveling direction, and the target vehicle speed range of the traffic signal farther behind (in this embodiment, the outer side). By displaying on the radial side, it is possible to easily grasp the relative positional relationship between the target vehicle speed range and the other target vehicle speed range. Thereby, a plurality of target vehicle speed ranges can be displayed in an easily understandable manner to the driver.

  In addition, the driving support device 19 of the present embodiment is a case where two target vehicle speed ranges are calculated for two traffic signal points. However, the number of traffic signal points and the number of target traffic signal points for calculating the target vehicle speed range are described. As long as there are two or more, any number is acceptable.

  In FIG. 5, the driving support device 19 displays the mark 62 indicating the first target vehicle speed range and the mark 64 indicating the second target vehicle speed range in the speed display area 48a, but the first target vehicle speed range and the second target vehicle speed range are displayed. The display method for displaying in the speed display area is not limited to this.

  Another example of the target vehicle speed range display method will be described with reference to FIG. FIG. 7 is a schematic diagram illustrating an example of a speed display area of the display device. In the speed display area 48c shown in FIG. 7, the first target vehicle speed range is 15 km / h to 40 km / h, and the second target vehicle speed range is a speed range required to pass the second traffic light point. It is an example of a display in case that is 30 km / h to 50 km / h. A speed display area 48c shown in FIG. 7 displays a mark 70 in a speed range that overlaps the target vehicle speed area of the scale display unit 50. The mark 70 is a display indicating the first target vehicle speed range. The mark 70 has a first region 72 and a second region 74. The first area 72 is an area of less than 30 km / h in the display range of the mark 70. The second area 74 is an area of 30 km / h or more in the display range of the mark 70. That is, in the mark 70, a region that does not overlap the second target vehicle speed region (a region that is only the first target vehicle speed region) is the first region 72, and a region that overlaps the second target vehicle speed region (the first target vehicle speed region and the second target vehicle speed region). A region where the target vehicle speed region overlaps) is the second region 74. The first area 72 is different from the second area 74 in at least one of display color and pattern. In addition, it is also preferable that the mark 70 displays the first area 72 and the second area 74 in different sizes, preferably in a shape in which the second area 74 is larger than the first area 72.

  As in the speed display area 48c, the driving assistance device 19 may display only the area that overlaps the first target vehicle speed area in the calculated second speed area. As described above, the second target vehicle speed region can pass through the two traffic signal points without stopping by displaying only the region overlapping with the first target vehicle speed region so as to perform steady operation at any speed range. That is, it is possible to grasp whether the vehicle can pass during the passable period. Further, by displaying the farther target vehicle speed range in the nearer target vehicle speed range in the traveling direction, the relationship between the relative positions of the target vehicle speed range and other target vehicle speed ranges can be displayed in an easily understandable manner.

  In the example shown in FIG. 7, the upper limit of the first target vehicle speed range is the same as the upper limit of the second target vehicle speed range (the speed used as the reference for calculation is the upper limit of the speed of the second target vehicle speed range). However, the lower limit of the first target vehicle speed range is set to be slower than the lower limit of the second target vehicle speed range. However, the driving support device 19 uses the first target vehicle speed range and the second target vehicle speed range. The same processing can be performed in the case where the first target vehicle speed range and the second target vehicle speed range overlap with each other, and the first target vehicle speed range and the second target vehicle speed range do not overlap with each other. By changing the display at, the relative position relationship between the target vehicle speed range and other target vehicle speed ranges can be displayed to the driver in an easy-to-understand manner. In addition, even when the entire first target vehicle speed range overlaps with the second target vehicle speed range, the display can be made with the color and size adjusted so that this can be understood, so that the driver can see the target vehicle speed range and other target vehicle speed ranges. The relationship of the relative position with the vehicle speed range can be displayed in an easy-to-understand manner.

  In addition, the driving support device 19 displays the second target vehicle speed range in the speed display area 48c so as to overlap the mark 70, but displays the speed width mark corresponding to the second area separately from the mark 70. It may be. Further, the driving support device 19 processes the reference target vehicle speed range based on the first target vehicle speed range at the time of calculating the second target vehicle speed range, and sets only the range that overlaps the first target vehicle speed range in the reference target vehicle speed range to the second range. It may be the target vehicle speed range.

  Next, another example of the process of the driving support device will be described with reference to FIGS. Here, FIG. 8 is a flowchart illustrating another example of the process of the driving support apparatus. FIG. 9 and FIG. 10 are schematic diagrams each showing an example of the speed display area of the display device. The process shown in FIG. 8 is a process executed in place of step S18 in FIG. 4 described above. That is, the process shown in FIG. 8 is executed when it is determined Yes in step S16 shown in FIG. 4, and when this process ends, the process proceeds to step S22.

  The target vehicle speed control unit 20c of the ECU 20 determines whether the next traffic signal passes or stops as step S30. That is, the target vehicle speed control unit 20c calculates the reference target vehicle speed range of the next traffic signal based on the information acquired about the next traffic signal (signal point) as step S30, and calculates the reference target vehicle speed range from the calculated reference target vehicle speed range. It is determined whether to perform passage support (can pass) or stop support. Further, the target vehicle speed control unit 20c of the present embodiment, when the calculated lower limit of the reference target vehicle speed range is a speed higher than the current vehicle speed by α or more, that is, (current vehicle speed + α) <(lower limit of the reference target vehicle speed range). Speed), it is determined that stop assistance is performed.

  When the target vehicle speed control unit 20c determines in step S30, the target vehicle speed control unit 20c determines whether or not the vehicle can pass as step S32, that is, whether or not the result determined in step S32 can be passed. If the target vehicle speed control unit 20c determines in step S32 that the vehicle cannot pass, that is, the vehicle cannot support passage (No), the process proceeds to step S42.

  Further, when the target vehicle speed control unit 20c determines that the vehicle can pass in step S32 (Yes), that is, the vehicle can support passage, in step S34, the target vehicle speed control unit 20c determines whether or not the second traffic signal passes. That is, the target vehicle speed control unit 20c calculates the reference target vehicle speed range of the next traffic signal to be passed based on the information acquired about the second traffic signal (traffic signal point) as step S34, and calculates the calculated reference target vehicle speed. Judgment is made as to whether to support passage (can pass) or stop support from the area. Note that the same criterion as in step S30 can be used as the determination criterion in step S34.

  When the target vehicle speed control unit 20c determines in step S34, the target vehicle speed control unit 20c determines whether or not the vehicle can pass as step S36, that is, whether or not the result determined in step S36 can be supported. When it is determined that the target vehicle speed control unit 20c can pass in step S36 (Yes), that is, it is possible to support passage, the target vehicle speed control unit 20c displays the target vehicle speed ranges of the two traffic lights as step S38. That is, the same display as in step S18 described above is performed. In addition, the target vehicle speed control unit 20c of the present embodiment sets the upper limit value of the target vehicle speed range to the current vehicle speed + α and the current vehicle speed + α when a part of the calculated reference target vehicle speed range is faster than the current vehicle speed + α. Even does not display fast speed. The target vehicle speed control unit 20c ends this process after performing the process shown in step S38.

  If the target vehicle speed control unit 20c determines that the vehicle cannot pass in step S36, that is, the passage support is not possible (No), the target vehicle speed control unit 20c passes the target vehicle speed range of the traffic signal that passes next as the second pass as step S40. Display stop support for traffic lights. The target vehicle speed control unit 20c displays an image that recommends deceleration in the speed display area as the stop support display in step S40. Note that the target vehicle speed control unit 20c determines the second target vehicle speed range to be displayed based on the first target vehicle speed range when the stop support display is executed in step S40. The target vehicle speed control unit 20c of the present embodiment sets the lower limit of the second target vehicle speed range as the lower limit of the first target vehicle speed range, and the upper limit of the second target vehicle speed range is a value obtained by decreasing the upper limit of the first target vehicle speed range by a certain percentage. And

  For example, the target vehicle speed control unit 20c displays a speed display area 48d shown in FIG. A speed display area 48d shown in FIG. 9 displays a mark 80 in a speed range that overlaps the target vehicle speed range of the scale display unit 50. The mark 80 is a display indicating the first target vehicle speed range. The mark 80 has a first region 83 and a second region 84. The first area 83 is an area of 30 km / h or more in the display range of the mark 80. The second area 84 is an area of less than 30 km / h in the display range of the mark 80. In the mark 80, a region that does not overlap with the second target vehicle speed region (region that is only the first target vehicle speed region) is the first region 83, and a region that overlaps with the second target vehicle speed region (the first target vehicle speed region and the second target vehicle speed region). The area overlapping the area) is the second area 84. The target vehicle speed control unit 20c ends this process after performing the process shown in step S40.

  If the target vehicle speed control unit 20c determines that the vehicle cannot pass in step S32, the target vehicle speed control unit 20c executes a stop support display as step S42. Here, the target vehicle speed control unit 20c displays a speed range near 0 km / h as the target vehicle speed range as the stop support display in step S42. For example, the target vehicle speed control unit 20c displays a speed display area 48e shown in FIG. The speed display area 48e displays a mark 90 in a speed range that overlaps the target vehicle speed range of the scale display unit 50. The mark 90 is displayed in the speed range near 0 km / h of the scale display unit 50 in the speed display area 48e. In this way, the target vehicle speed control unit 20c displays the determined target vehicle speed range as the mark 90 on the scale display unit 50, so that the driver can only see the speed display region 48e and the target vehicle speed range is 0 km / It is possible to recognize that the vehicle 10 is stopped in a speed range near h (speed range including 0 km / h, in this embodiment, from 0 km / h to 10 km / h). The target vehicle speed control unit 20c ends this process after performing the process shown in step S42.

  As described above, the driving support device 19 according to the present embodiment determines, for each traffic signal point, whether passage support is possible. Specifically, the calculated reference target vehicle speed range is set based on the current vehicle speed. If the calculated reference target vehicle speed range exceeds the upper limit set based on the current vehicle speed, the stop assistance display is executed, so that the vehicle will suddenly pass through the target intersection or pedestrian crossing. It is possible to prevent the reference target vehicle speed range that needs to be accelerated from being displayed as the target vehicle speed range. Thereby, it is possible to suppress the display of the target vehicle speed range that requires rapid acceleration, and it is possible to display the target vehicle speed range that is less likely to cause discomfort and stress to the driver. In addition, since the driver can travel in the target vehicle speed range with an appropriate range of acceleration and deceleration, the driver can easily drive while maintaining a suitable condition (in this embodiment, stop with a red signal) The vehicle can be driven while reducing

  When it is determined that the stop assist display is to be performed with the traffic signal on the near side (the traffic signal that passes next in the present embodiment) in the traveling direction, the driving assistance device 19 of the present embodiment targets the target vehicle speed of the traffic signal at the back of the traffic signal. By not determining the area and not displaying the target vehicle speed range of the traffic light in the back, it is possible to display the target vehicle speed range that is easy to understand for the driver.

  When it is determined that the stop support display is performed with the traffic signal at the back in the traveling direction, the driving support device 19 of the present embodiment travels at a lower vehicle speed in the target vehicle speed range with respect to the preceding traffic signal as the stop support display. By performing the display that recommends this, it is possible to reduce the possibility of unnecessary acceleration by the user. Note that the driving support device 19 may perform any stop display if the driving support device 19 determines to perform the stop support display at the traffic light in the traveling direction as long as it is a display that recommends the driver to stop. It can be carried out.

  Further, when the calculated reference target vehicle speed range exceeds the upper limit value set based on the current vehicle speed, the driving support device 19 executes the stop support display so that the target vehicle speed range displayed in the speed display area 48 is The target vehicle speed range is set to be equal to or lower than the upper limit value set based on the current vehicle speed. In other words, the driving support device 19 can prevent a speed higher than the upper limit value (display upper limit speed) set based on the current vehicle speed from being displayed as the target vehicle speed area displayed in the speed display area 48. As a result, the driving support device 19 can suppress the display of the target vehicle speed range that requires rapid acceleration, and can display the target vehicle speed range that is less likely to cause discomfort or stress to the driver. it can. In addition, since the driver can travel in the target vehicle speed range with an appropriate range of acceleration and deceleration, the driver can easily drive while maintaining a suitable condition (in this embodiment, stop with a red signal) The vehicle can be driven while reducing

  Further, the driving support device 19 uses the current vehicle speed + α, that is, a reference speed for determining whether or not the vehicle can be supported at a constant speed higher than the current vehicle speed, thereby increasing the acceleration required to bring the vehicle speed to the target vehicle speed range. This can be suppressed. Thereby, the vehicle 10 and the driving support device 19 can display a target vehicle speed range that is less likely to give the driver a sense of discomfort or stress.

  In addition, the driving support device 19 displays the target vehicle speed range for stop support by displaying the target vehicle speed range for stop assistance when passage support is not possible, specifically when the reference target vehicle speed range is higher than the display upper limit speed. Can be recommended to stop. As a result, the driving support device 19 can recommend stopping to the driver without recommending unreasonable driving when rapid acceleration is required to pass the target traffic light, and the driver feels uncomfortable or stressed. This can reduce the risk of giving.

  In this embodiment, when the passing support is not possible, specifically, when the reference target vehicle speed range is higher than the display upper limit speed or when it is not a green signal, the target vehicle speed range for stop support is displayed. It is not limited to this. The driving assistance device 19 may not display the target vehicle speed range in place of the processing in step S42 when the passage assistance is not possible or the signal is not green.

  In the driving support device 19 of the present embodiment, the display upper limit speed (the reference speed for determining whether or not the passage support is possible) is set to the current vehicle speed + α, that is, a speed that is a constant speed higher than the current vehicle speed, but is not limited thereto. Here, the driving support device 19 may set the display upper limit speed to the current vehicle speed + G × t. Here, G is acceleration and t is time. That is, the driving support device 19 may set the reference speed for determining whether or not the passage support is possible to the current vehicle speed + G × t, that is, the speed that can be realized with the acceleration G in t seconds. Here, t seconds may be a value that changes based on the distance to the traffic light and the current vehicle speed. For example, t may be increased when the distance to the traffic signal is long, and t may be decreased when the distance to the traffic signal is short.

  Further, the driving support device 19 of the present embodiment may set the display upper limit speed to the current vehicle speed. In this manner, the target vehicle speed control unit 20c can set the target vehicle speed range to a speed that does not require acceleration by setting the current speed as the reference speed for determining whether passage assistance is possible. Thereby, since the driving assistance device 19 does not recommend the target vehicle speed range that needs to be accelerated to the driver, it is possible to display the target vehicle speed range that is less likely to give the driver a sense of discomfort or stress.

  Moreover, although the driving assistance apparatus 19 of the said embodiment all determined the display upper limit speed using the present vehicle speed, it is not limited to this. The driving assistance device 19 may use the speed limit of the road (road) on which the vehicle is traveling as the display upper limit speed. Here, the speed limit is, for example, the legal speed of the road on which the vehicle is currently traveling. The map information database 22a is detected by detecting the current position from the infrastructure information acquired by the infrastructure communication unit 38 or the GPS signal received by the GPS communication unit 32. May be obtained from the information of the current position stored in. The driving support device 19 can use a combination of the infrastructure communication unit 38, the GPS communication unit 32, and the map information database 22a as an information acquisition unit that acquires information on the speed limit. The information acquisition unit that acquires information on the speed limit may use another function of the driving support device 19, for example, the in-vehicle camera 34. The driving support device 19 may acquire an image of a sign installed on the road on which the vehicle is traveling with the in-vehicle camera 34 and detect the legal speed displayed on the sign image as the speed limit. The driving assistance device 19 can suppress the display of the target vehicle speed range from exceeding the speed limit by using the speed limit as the reference speed for determining whether or not passage assistance is possible. Thereby, since the driving assistance device 19 can display the target vehicle speed range at a speed equal to or lower than the speed limit, it can suppress the display of the speed that should not be actually traveled, and the driver feels uncomfortable or stressed. It is possible to display a target vehicle speed range that is less likely to give

  It is more preferable that the driving support device 19 of the above embodiment determines the display upper limit speed (a reference speed for determining whether or not the passage support is possible) using both the current vehicle speed and the speed limit. That is, it is preferable that the driving support device 19 does not exceed the speed limit even when the display upper limit speed is determined using the current vehicle speed. Thereby, the driving assistance device 19 can obtain both of the above-described effects, and can display a target vehicle speed range that is less likely to give the driver a sense of discomfort or stress.

  Further, the driving support device 19 of the above embodiment has described the case where the display upper limit speed is set as the reference speed for determining whether the passage support is possible and the display upper limit speed is set under various conditions. And the display upper limit speed may be set separately. In other words, the driving support device 19 determines whether to perform the passing support at the reference speed for determining whether the passing support is possible, and based on the display upper limit speed different from the reference speed for determining whether the passing support is possible. The upper limit value to be displayed may be determined. In addition, the above-described various conditions can be used for the display upper limit speed in the same manner as the reference speed for determining whether passage support is possible. In this case, the driving support device 19 adjusts the reference target vehicle speed range based on the display upper limit speed, and determines the target vehicle speed range.

  The driving assistance device 19 preferably uses different colors for the marks to be displayed in the target vehicle speed range displayed at the time of passing assistance and the target vehicle speed range displayed at the time of stop assistance. In addition, you may make it change a pattern, a lighting state, etc. instead of a color. Thereby, the driver can immediately grasp whether the passage assistance is displayed or the stop assistance is displayed.

  Next, another example of the process of the driving support device will be described with reference to FIGS. 11 and 12. Here, FIG. 11 is a flowchart illustrating another example of the process of the driving support apparatus. FIG. 12 is a schematic diagram illustrating an example of a speed display area of the display device. Among the processes shown in FIG. 11, the same processes as those in FIG. 8 described above are denoted by the same step numbers, and detailed description thereof is omitted.

  The target vehicle speed control unit 20c of the ECU 20 determines whether the next traffic signal passes or stops as step S30. When the target vehicle speed control unit 20c determines in step S30, the target vehicle speed control unit 20c determines whether or not the vehicle can pass as step S32, that is, whether or not the result determined in step S32 can be passed. If the target vehicle speed control unit 20c determines in step S32 that the vehicle cannot pass, that is, the vehicle cannot support passage (No), the process proceeds to step S42.

  If the target vehicle speed control unit 20c determines that the vehicle cannot pass in step S32, the target vehicle speed control unit 20c executes a stop support display as step S42. The target vehicle speed control unit 20c ends this process after performing the process shown in step S42.

  Further, when the target vehicle speed control unit 20c determines that the vehicle can pass in step S32 (Yes), that is, the vehicle can support passage, in step S34, the target vehicle speed control unit 20c determines whether or not the second traffic signal passes. When the target vehicle speed control unit 20c determines in step S34, the target vehicle speed control unit 20c determines whether or not the vehicle can pass as step S36, that is, whether or not the result determined in step S36 can be supported. The target vehicle speed control unit 20c determines whether Vmin2> Vmax + K is satisfied in Step S50 when it is determined that the vehicle can pass (Yes) in Step S36, that is, the vehicle can support passage. Here, Vmin2 is a lower limit value of the target vehicle speed range calculated for the second traffic signal. Vmax is the upper limit value of the target vehicle speed range calculated for the traffic signal that passes next. K is a set threshold value. That is, in step S50, the target vehicle speed control unit 20c determines that the lower limit value of the target vehicle speed range calculated for the second traffic signal is greater than the upper limit value of the target vehicle speed range calculated for the next traffic signal. It is also determined whether the speed is faster than the threshold value k.

  If the target vehicle speed control unit 20c determines that Vmin2> Vmax + K (Yes) in step S50, the target vehicle speed control unit 20c displays the target vehicle speed range of only the traffic signal that passes next as step S52. That is, the target vehicle speed control unit 20c executes the same process as in step S20 described above. The target vehicle speed control unit 20c ends this process after performing the process shown in Step S52.

  If the target vehicle speed control unit 20c determines in step S50 that Vmin2> Vmax + K is not satisfied (No), the target vehicle speed control unit 20c displays the target vehicle speed ranges of the two traffic lights as step S38. That is, the same display as in step S18 described above is performed. The target vehicle speed control unit 20c ends this process after performing the process shown in step S38.

  If the target vehicle speed control unit 20c determines that the vehicle cannot pass in step S36, that is, the passage support is not possible (No), the target vehicle speed control unit 20c passes the target vehicle speed range of the traffic signal that passes next as the second pass as step S40. Display stop support for traffic lights. In addition, the target vehicle speed control unit 20c sets the second target vehicle speed range as a speed range similar to the speed range displayed when the stop support display is performed for the next traffic signal as the stop support display in step S40. indicate.

  For example, the target vehicle speed control unit 20c displays a speed display area 48f shown in FIG. The speed display area 48 f displays a mark 96 and a mark 98 in a speed range that overlaps the target vehicle speed range of the scale display unit 50. The mark 96 is a display indicating the first target vehicle speed range, and the mark 98 is a display indicating the second target vehicle speed range. Here, in the speed display area 48 f shown in FIG. 12, the mark 96 is displayed in the speed range of 20 km / h to 40 km / h of the scale display section 50, and the mark 98 is displayed from 0 km / h to 10 km / h of the scale display section 50. Displayed in the speed range. Further, in the speed display area 48 f, the mark 96 is arranged on the inner peripheral side of the mark 98. In this way, the target vehicle speed control unit 20c displays the second target vehicle speed range of the stop support display as a mark 98 so as to be superimposed on the scale display unit 50, so that the driver only needs to see the speed display region 48f. The target vehicle speed range is a speed range near 0 km / h, and it is recommended that the vehicle 10 be stopped in front of the second traffic light after passing the next traffic light, that is, the second traffic light Can be recognized as a red light and will be paused. The target vehicle speed control unit 20c ends this process after performing the process shown in step S40.

  As shown in step S50, the driving support device 19 has a lower limit value of the target vehicle speed range calculated for the second traffic signal that is higher than an upper limit value of the target vehicle speed range calculated for the next traffic signal. If the above relationship is satisfied and the above relationship is satisfied, the target vehicle speed range of the second traffic signal that is passed through is not displayed, thereby reducing the possibility that the target vehicle speed range will cause the driver to feel uncomfortable. be able to. In addition, by not displaying the second target vehicle speed range that requires more than a predetermined acceleration after passing the next traffic light, it is possible to reduce the fear of giving the driver anxiety.

  In addition, when the travel route is set by the car navigation device 28, the driving support device 19 calculates the travel direction and the passage route based on the travel route set by the car navigation device 28, and the traffic signal on the passage route is It is preferable to execute the process of step S18 and the process of step S30 based on whether or not the vehicle can pass in the traveling direction. Thus, by specifying the traveling direction based on the travel route, it is possible to display the target vehicle speed range appropriate for the display state of the traffic light.

  In addition, the target vehicle speed control unit 20c of the driving support device 19 determines whether there is a vehicle within a certain distance in front using at least one of the in-vehicle camera 34 and the millimeter wave radar 36, and within a certain distance in front. If it is determined that there is a vehicle, the stop support display may be executed or the target vehicle speed range may not be displayed. As a result, the target vehicle speed range for passing through the target intersection or pedestrian crossing is displayed in a state where the vehicle is within a certain distance in front of the vehicle, thereby reducing the possibility of causing a driver's crushing.

  Further, the driving support device 19 does not display the target vehicle speed range when the upper limit value Vmax−the lower limit value Vmin ≦ the threshold value, that is, when the speed difference between the determined upper limit value and the lower limit value of the target vehicle speed range is narrower than the threshold value. May be. For example, when the target vehicle speed control unit 20c determines the target vehicle speed range in step S18, in step S42, whether the upper limit value Vmax−the lower limit value Vmin> the threshold value, that is, the upper limit value Vmax and the lower limit value Vmin of the target vehicle speed range. It is determined whether the difference is greater than a threshold value. When the target vehicle speed control unit 20c determines that the upper limit value Vmax−the lower limit value Vmin> the threshold value, the determined target vehicle speed range is displayed in the speed display area, and the upper limit value Vmax−the lower limit value Vmin> the threshold value is not satisfied. When it is determined that value Vmax−lower limit value Vmin ≦ threshold value, the determined target vehicle speed range is hidden.

  The driving support device 19 does not display the target vehicle speed range when the upper limit value Vmax−the lower limit value Vmin ≦ the threshold value, that is, when the speed difference between the determined upper limit value and lower limit value of the target vehicle speed range is narrower than the threshold value. It is possible to prevent the target vehicle speed range that is difficult to adjust the speed from being displayed in a narrow speed range. As a result, the driving support device 19 can selectively display the target vehicle speed range under conditions where the allowable speed range is wide and the speed adjustment is relatively easy, which may cause the driver to feel uncomfortable or stressful. A lower target vehicle speed range can be displayed.

  Moreover, although the driving assistance apparatus 19 of the said embodiment used the analog meter for the speed display displayed on the speed display area 48 of the display apparatus 42, it is not limited to this. The driving support device 19 of the above embodiment may use a digital meter for the speed display displayed in the speed display area 48 of the display device 42. Here, FIG. 13 is a schematic diagram illustrating another example of the speed display area of the display device. The speed display area 102 is a display mechanism that displays the speed with numbers, and includes a first area 104, a second area 106, and a third area 108. The first area 104 is an area for displaying the current vehicle speed. In the first area 104 of FIG. 13, “40 km / h” is displayed. The second area 106 is an area on the upper side of the screen of the first area 104, and is an area for displaying the first target vehicle speed range. In the second area 106 of FIG. 13, “30 km / h to 53 km / h” is displayed. The third area 108 is an area on the lower side of the screen of the first area 104, and is an area for displaying the second target vehicle speed range. In the third area 108 of FIG. 13, “45 km / h to 62 km / h” is displayed. Thus, even if the driving assistance device 19 displays the speed display area 102 of the display device 42 with the digital meter, the same effect as described above can be obtained. In addition, the driving support device 19 sets the second region 106 above the first region 104 and fixes the third region 108 below the first region 104 to thereby fix the first target vehicle speed region for the traffic signal that passes next, It is possible to easily identify the second target vehicle speed range for the second traffic signal. Here, the driving support device 19 displays the current vehicle speed displayed in the first area 104 of the speed display area 102, the first target vehicle speed area displayed in the second area 106, and the second target vehicle speed displayed in the third area 108. Preferably, the area is displayed in at least one of a different color and a different size. Thereby, the driving assistance device 19 can suppress the possibility that the driver will confuse the current vehicle speed with the target vehicle speed range.

  Next, the timing at which the driving support device 19 executes the process for calculating and displaying the target vehicle speed range described above will be described with reference to FIG. FIG. 14 is an explanatory diagram for explaining processing of the driving support device. The driving support device 19 can set various timings for executing the processing for calculating and displaying the target vehicle speed range described above. For example, the driving support device 19 displays the target vehicle speed range at the point 204 where the distance between the vehicle 10 on which the vehicle is mounted and the traffic signal 12b (traffic point) passing next is a predetermined distance. May be. In this case, the driving support device 19 determines the relationship with the traffic light 12c when passing through the point 204, and determines whether to display the second target vehicle speed range for the traffic light 12c. In addition, after the display at the point 204, the driving support device 19 may maintain the display until it passes through the target traffic light 12b, and the distance from the traffic light at the back of the traffic light 12b satisfies the display timing. When the distance reaches the target distance, the process for calculating and displaying the target vehicle speed range may be executed again. In addition, the driving support device 19 may update the infrastructure information and the like to update the display of the target vehicle speed range after passing the point 204 and starting the process of calculating and displaying the target vehicle speed range. The driving support device 19 updates the display of the target vehicle speed range, so that even if the initial traffic light 12c does not satisfy the condition for displaying the second target vehicle speed range, it can acquire the signal cycle information and the distance is The second target vehicle speed range can be displayed when it is within the threshold.

  In addition, the driving support device 19 of the above embodiment determines the target vehicle speed range, which is information on the speed range in which the upper limit speed and the lower limit speed are different, based on the reference target vehicle speed range. It is possible to display information that is easy to understand and easy to drive so as to match the target vehicle speed range. Here, the driving assistance device 19 can also use information other than the target vehicle speed range as the target vehicle speed information to be calculated based on the reference target vehicle speed range. For example, a single speed having no width may be used as the target vehicle speed information.

  Moreover, although the driving support device 19 of the above embodiment is configured to include the inter-vehicle distance control unit 20a and the vehicle maintenance control unit 20b, the inter-vehicle distance control unit 20a and the vehicle maintenance control unit 20b are not necessarily provided. May be. Moreover, the vehicle 10 and the driving assistance apparatus 19 should just be able to perform control by the target vehicle speed control part 20c mentioned above.

DESCRIPTION OF SYMBOLS 1 Driving assistance system 10 Vehicle 12, 12a Traffic light 14 Infrastructure information transmission apparatus 16 GPS satellite 19 Driving assistance apparatus 20 ECU
20a Vehicle-to-vehicle distance control unit 20b Vehicle maintenance control unit 20c Target vehicle speed control unit 22 Storage unit 24 Accelerator actuator 26 Brake actuator 28 Car navigation device 30 Speaker 32 GPS communication unit 34 Vehicle-mounted camera 36 Millimeter wave radar 38 Infrastructure communication unit 40 Vehicle speed sensor 42 Display device 44 ACC switch 46 PCS switch 48 Speed display area

Claims (11)

A driving support device for supporting driving of a vehicle,
An infrastructure communication unit that acquires information on a signal cycle, which is a cycle in which the display of the traffic signal is switched, for traffic signals respectively disposed at two or more traffic signal points in the traveling direction of the vehicle;
For a plurality of traffic light points, a position calculation unit that calculates relative position information between the current vehicle and the traffic light points, respectively,
For a plurality of traffic light points, based on the relative position information of the vehicle and the traffic light point calculated by the position calculation unit, respectively, and information on the signal cycle of the traffic signal at the traffic signal point acquired by the infrastructure communication unit, A target vehicle speed control unit that calculates a speed range in which the vehicle can pass through the traffic light point while the traffic signal is in a passable display state as a reference target vehicle speed range, and determines target vehicle speed information based on the reference target vehicle speed range; ,
A driving support apparatus, comprising: a target vehicle speed display unit that displays the target vehicle speed information for each of a plurality of traffic signal points determined by the target vehicle speed control unit for each traffic signal point .   The target vehicle speed control unit sets a threshold value in which a difference between the target vehicle speed information at a traffic light point that is closer to the front in the traveling direction and the target vehicle speed information at a traffic light point that is deeper in the traveling direction than the traffic light point is set in advance. 2. The driving support device according to claim 1, wherein, when exceeding, the target vehicle speed information of a traffic light point that is behind in the traveling direction from the traffic light point is not displayed on the target vehicle speed display unit.   When the distance between the traffic light point that is closer to the front in the travel direction and the traffic light point that is deeper in the travel direction than the traffic light point exceeds a preset threshold value, the target vehicle speed control unit travels more than the traffic light point. 3. The driving support device according to claim 1, wherein the target vehicle speed information of a traffic light point in the back is not displayed on the target vehicle speed display unit.   When the target vehicle speed control unit determines not to display the target vehicle speed information at a traffic light point that is closer to the front in the traveling direction, the target vehicle speed control unit is configured to obtain the target vehicle speed information at a traffic light point that is behind in the traveling direction than the traffic light point. The driving assistance device according to any one of claims 1 to 3, wherein the driving assistance device is not displayed on a vehicle speed display unit.   When the target vehicle speed control unit determines that the vehicle cannot pass through the traffic light point while the traffic signal is in a passable display state based on a reference target vehicle speed range of the traffic light point and a set reference, The driving assistance device according to any one of claims 1 to 4, wherein the target vehicle speed information of a traffic light point that is behind in the traveling direction from the traffic light point is not displayed on the target vehicle speed display unit. A vehicle speed sensor for detecting a traveling speed of the vehicle;
The target vehicle speed control unit sets a display upper limit speed based on the current vehicle speed detected by the vehicle speed sensor, and when the entire range of the reference target vehicle speed range exceeds the display upper limit speed, the traffic signal is displayed in a displayable state. 6. The driving support device according to claim 5, wherein it is determined that the vehicle cannot pass through the traffic signal point for a while. An information acquisition unit for acquiring a vehicle speed limit of a road on which the vehicle is traveling;
When the limited vehicle speed acquired by the information acquisition unit is set as a display upper limit speed, and the entire region of the reference target vehicle speed range exceeds the display upper limit speed, the traffic signal point is set while the traffic signal is in a passable display state. The driving support device according to claim 5, wherein it is determined that the vehicle cannot pass.   The driving assistance apparatus according to claim 6 or 7, wherein the target vehicle speed control unit uses the target vehicle speed information as speed information equal to or lower than the display upper limit speed.   The said target vehicle speed control part makes the said target vehicle speed information of the said traffic signal point into speed information including 0 km / h, when it determines with the said vehicle not passing the said traffic signal point. The driving support device according to any one of the above.   The driving assistance apparatus according to any one of claims 1 to 8, wherein the target vehicle speed information is information on a speed range having a value in which an upper limit speed and a lower limit speed are different from each other.   The target vehicle speed control unit is configured so that the target vehicle speed information at a traffic light point on the back side in the traveling direction is only a speed in the traveling direction that overlaps the target vehicle speed information at a traffic light point in front of the traffic signal point in the traveling direction. The driving support device according to any one of claims 1 to 10, wherein the target vehicle speed information is displayed on the target vehicle speed display unit as the target vehicle speed information of a traffic signal point in the back.

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