JP5867171B2 - Driving support device and program - Google Patents

Description

  The present invention relates to a driving support apparatus and a program for supporting driving of a vehicle by notifying the presence of an obstacle such as another vehicle when the vehicle turns right or left (right or left) at an intersection.

  2. Description of the Related Art Conventionally, a navigation device that performs route guidance from a current location to a destination while driving a vehicle has been used. In addition, when there is an obstacle in the left-right direction of the guidance route during this route guidance, a device that alerts in advance (that is, before the driver actually steers or takes out the blinker) is known. It has been.

  For example, it is determined whether a lane change is necessary according to the guidance route, performs lane change guidance as necessary, and adds warning information by voice when the presence of another vehicle is detected obliquely behind the host vehicle An apparatus is disclosed (see Patent Document 1).

  Further, in the guidance route, a navigation device that determines whether there is a two-wheeled vehicle on the left rear side of the host vehicle before the left turn intersection, and performs a width adjustment guidance or a width adjustment prohibition warning by voice according to the result. It is disclosed (see Patent Document 2).

  Therefore, according to these prior arts, when driving such as an operation of giving up the right or left turn at the intersection by notifying the presence of the following vehicle in advance or an operation of adjusting the position of the own vehicle by accelerating / decelerating. It is possible to make appropriate judgments with ease.

Japanese Patent No. 4352389 Japanese Patent No. 4539378

  However, when the vehicle is actually driven, as shown in FIG. 15, the route guidance may be ignored and the vehicle may travel to the destination. Since the obstacle warning is performed only in (A), there is a problem that the necessary warning is not performed at the intersection (B) where the route guidance is actually ignored and the vehicle turns right and left.

As a countermeasure, if the above-described obstacle detection process and voice warning are performed at all intersections, there is a problem that a burden is imposed on the control device and unnecessary warnings are troublesome.
The present invention has been made paying attention to the above problems, and when performing route guidance, even when the driver travels ignoring the route guidance, at an intersection that may turn left or right An object of the present invention is to provide a driving support device and a program capable of giving an appropriate warning to a driver or the like in advance.

(1) The invention of claim 1 is a driving support device for setting a guide route from a current location to a destination using map information, and for guiding the host vehicle based on the set guide route. Candidate intersection extraction for extracting candidate intersections where the host vehicle may turn left or right based on the positional relationship between the current location and the destination, without being limited to intersections scheduled to turn left or right on the guide route A vehicle position determination unit that determines whether the vehicle is in a determination section before and / or inside the candidate intersection extracted by the candidate intersection extraction unit; When it is determined by the own vehicle position determining means that the own vehicle is in the determination section, if the candidate intersection is an intersection that makes a right turn, an object detecting means that detects an object around the own vehicle is used. Detecting an object in the right direction of the host vehicle, and when the candidate intersection is an intersection that turns left, an object detection control unit that detects an object in the left direction of the host vehicle using the object detection unit; and the object And when the object is detected by the detection control means, the notification control means for driving the notification means and presenting a caution sound indicating the object is provided , and the determination section is the same progress of the road One side of the direction is set to a lane on the center side and an outer lane of the road in a plurality of lanes, and the determination section set to the lane on the opposite side to the direction of turning at the candidate intersection is the turn Compared to the determination section set in the direction lane, it is set in front of the intersection .
It is a sign.

  In the present invention, a candidate intersection (that is, a right turn candidate intersection or a left turn candidate intersection) that is likely to turn right or left is extracted without being limited to an intersection scheduled to turn right or left (right turn or left turn) on the guide route. Then, it is determined whether or not the host vehicle is in the determination section of the candidate intersection. When it is determined that the vehicle is in the determination section, object detection in the right direction (including right rear) is performed when the candidate intersection is a right-turn intersection, and left (left) when the candidate intersection is a left-turn intersection. Object detection (including the rear) is performed, and when an object is detected, an alert sound indicating the object is presented (for example, by three-dimensional sound).

  Accordingly, in the present invention, as illustrated in FIG. 1A, when performing route guidance, there is a possibility that the driver may make a right or left turn even when the driver ignores the route guidance and travels. Candidate intersections (K1, K2) are extracted, and an object in the required direction is detected in response to a right or left turn. If an object exists in that direction, a warning sound is generated in advance (that is, the driver actually (Before steering the vehicle or taking out the blinker), it is possible to notify, so that a significant effect of improving safety is achieved. In addition, there is an advantage that it is not troublesome for the driver or the like because the warning can be given by the alert sound only when necessary at the candidate intersection.

  (2) In the invention of claim 2, the notification control means notifies the direction and / or position of the object with respect to the host vehicle as a direction and / or position of a virtual sound source by a warning sound using stereophonic sound. It is characterized by doing.

  In the present invention, as illustrated in FIGS. 1B and 1C, attention is made to recognize the presence of an object from the direction and position of the detected object using a stereophonic technique (a technique for generating a virtual sound source). Since the notification is made so that the audible sound can be heard, the driver and the like can intuitively and easily grasp the direction and position of the object.

(3) The invention according to claim 3 is characterized in that the notification control means performs the notification by means of a warning sound that recalls the type of the object.
For example, as illustrated in FIGS. 1 (b) and 1 (c), a reminder sound that is heard from an actual object such as a vehicle engine sound or a vehicle road noise (that is, the type of the object is recalled). Sound) is generated by a virtual sound source, so that the type of the object can be easily grasped.

  Therefore, the driver can determine driving based on the alert sound when making a right or left turn, and can listen to the driver if he / she does not intend to make a right / left turn. By using natural sounds such as engine sounds, it is easier to hear than warnings by voice or buzzer.

It should be noted that the volume is preferably set so as not to disturb conversation or music. For example, it is preferable that the volume is smaller than that of an audio warning.
(4) The invention of claim 4 comprises a configuration for searching a plurality of routes from the current location to the destination, and the candidate intersection extraction means includes a route that makes a right turn at an intersection in the searched plurality of routes. If the intersection is a right turn candidate intersection, and a route that turns left at the intersection among the plurality of routes is included, the intersection is set as a left turn candidate intersection.

  The present invention exemplifies a method for extracting candidate intersections when searching for a plurality of routes. According to the present invention, if the search conditions are set finely, only intersections that are particularly likely to turn right or left can be extracted as right turn candidate intersections or left turn candidate intersections.

(5) In the invention of claim 5, one guide route from the present location to the destination is set, and if the right-left turn direction at the intersection where the next turn is left / right is right, The intersection at the front is a right turn candidate intersection, and if the right / left turn direction is left, the intersection at the front is a left turn candidate intersection.

  The present invention illustrates a candidate intersection extraction method. This makes it possible to easily extract the right turn candidate intersection and the left turn candidate intersection as compared with the case of searching for a plurality of routes, so that the calculation processing load can be reduced.

  (6) In the invention of claim 6, if the destination is on the right side of a straight line from the current location along the direction of the route, all intersections that can be turned right are set as candidate right turn intersections, and if it is on the left side, intersections that can turn left Are all left turn candidate intersections.

The present invention illustrates a candidate intersection extraction method. As a result, right turn candidate intersections and left turn candidate intersections can be easily extracted, so that the burden of calculation processing can be reduced.
(7) In the invention of claim 7, present location acquisition means (for example, a GPS device) for acquiring the current location of the host vehicle, map information storage means (for example, a hard disk or a DVD) that stores the map information, and input A destination setting means for setting the destination, a notification means (speaker) for presenting the alerting sound, and an object detection means (for example, a radar or Camera).

This invention has illustrated the preferable structure of the driving assistance device.
(8) In the invention of claim 8, the determination section set in the lane opposite to the direction of turning at the candidate intersection is set to be longer than the determination section set in the lane of the turning direction. Features.
( 9 ) The invention of claim 9 causes a computer to function as the candidate intersection extraction means, the host vehicle position determination means, the object detection control means, and the notification control means of the driving support device according to claim 1. A summary of the program for

That is, the function of the driving support apparatus described above can be realized by processing executed by a computer program.
In the case of such a program, for example, it is recorded on a computer-readable recording medium such as FD, MO, DVD-ROM, CD-ROM, hard disk, etc., and is used by being loaded into a computer and started up as necessary. it can. In addition, the ROM or backup RAM may be recorded as a computer-readable recording medium, and the ROM or backup RAM may be incorporated into a computer and used.

It is explanatory drawing explaining this invention. It is a block diagram which shows the structure of the driving assistance device of Example 1. FIG. It is explanatory drawing which shows the method of extracting the candidate intersection in Example 1. FIG. It is explanatory drawing which shows the method of extracting the other candidate intersection in Example 1. FIG. It is explanatory drawing explaining the determination method and warning in the determination area in a right turn candidate intersection, and a determination area. It is explanatory drawing explaining the determination method and warning in the determination area in a left turn candidate intersection, and a determination area. It is explanatory drawing explaining the alerting | reporting method of the object using a stereophonic sound. It is a flowchart which shows the process in the candidate intersection of Example 1. FIG. 6 is an explanatory diagram illustrating a modified example of the first embodiment. It is a flowchart which shows the process in the candidate intersection of Example 2. (A) Explanatory drawing explaining the determination method and warning in the determination section and determination section in the right turn candidate intersection of Example 2, (b) Determination method and warning in the determination section and determination section in the left turn candidate intersection of Example 2. It is explanatory drawing explaining these. It is explanatory drawing which shows the operation | movement at the time of lighting the winker of Example 3. FIG. It is explanatory drawing which shows the method of extracting the candidate intersection of Example 4. FIG. It is explanatory drawing which shows the method of extracting the candidate intersection of Example 5. It is explanatory drawing of a prior art.

  Next, the driving support device of the present invention will be described with reference to the drawings.

a) First, the system configuration of a vehicle equipped with the driving support apparatus of this embodiment will be described.
As shown in FIG. 2, the driving support device 1 of the present embodiment can give an appropriate warning to the driver (driver) or the like at an intersection where the vehicle turns to the right or left (right or left) during route guidance of the host vehicle. Therefore, the GPS device 3 that detects the current position of the host vehicle, the navigation device 5 that performs route guidance of the host vehicle using map information and the like, and the object detection that detects objects around the host vehicle A device 7, a notification device 9 that gives a warning by a warning sound, and an electronic control device 11 that performs the above-described processing for giving a warning or the like are provided. Each configuration will be described below.

The navigation device 5 includes a storage device (map information storage means) 5a such as a hard disk or DVD that stores map information and the like.
Further, as shown functionally in the figure, the navigation device 5 is based on information from the destination setting means 5b for setting the destination in the map information, the GPS device 3 and the like based on the input data. The route search means 5c for searching for one or a plurality of guide routes from the current location to the destination is provided.

  The object detection device (object detection means) 7 detects obstacles (objects) such as other vehicles (for example, automobiles and two-wheeled vehicles) and people around the own vehicle by laser radar, millimeter wave radar, camera, sonar, and the like. It is a device to detect.

  The notification device (notification means) 9 is a device composed of a plurality of speakers 13 (see FIG. 7) arranged in the passenger compartment. The speaker 13 can present a warning sound by three-dimensional sound.

  The electronic control device 11 is a control device having a known microcomputer as a main part, and as described later, based on information from the navigation device 5 and the object detection device 7, a notification device is provided at a predetermined intersection. No. 9 is driven to give a necessary warning (by a warning sound) by stereophonic sound.

  As shown functionally in the figure, the electronic control unit 11 includes candidate intersection extraction means 11a for extracting candidate intersections that may perform object detection and warning, and whether the vehicle is in front of or inside the candidate intersection. The own vehicle position determination means 11b for determining whether or not the vehicle is in the section. When the host vehicle is in the determination section, the object detection device 7 is driven to detect the object in the right direction (right side) at the right turn intersection. , The object detection control means 11c that detects an object in the left direction (left side) at a left turn intersection, and when an object is detected, the notification device 9 is driven to perform a process for warning by stereophonic sound. A notification control unit 11d is provided.

b) Next, main operations performed by the driving support device 1 will be described.
Even if the navigation device 5 provides guidance on one selected guide route, the driver does not actually travel along the guide route. Therefore, even if it is set to warn an object to watch out for (such as a nearby vehicle) at an intersection that makes a right or left turn along the guidance route, No object warning is given.

Therefore, in this embodiment, even when traveling off the guide route, a necessary warning is given at an intersection that turns right or left.
Specifically, in consideration of the case where the current location and the destination deviate from the guidance route, an intersection that may turn right or left, that is, a right / left turn candidate intersection is extracted (candidate intersection extraction process), and the vehicle It is determined that the vehicle has approached a right / left turn candidate intersection (own vehicle position determination process), and when the vehicle approaches the intersection, an object is detected near the intersection (object detection control process), and the object is detected. In this case, a warning for notifying an object using stereophonic sound is performed (notification control processing). Hereinafter, each process will be specifically described.

<Candidate intersection extraction processing>
For example, when searching for a plurality of routes from the current location to the destination, and when there is a route that branches from the guidance route and turns right at a certain intersection, that intersection is set as a right turn candidate intersection, while on the other hand, from the guidance route at a certain intersection If there is a route that branches and makes a left turn, that intersection is taken as a left turn candidate intersection.

  If the vehicle deviates from the initial guide route, a new guide route is set. At that time, a right turn or a left turn is performed on the newly set guide route in the same manner as described above. Candidate intersections (right and left turn candidate intersections) can be set.

  Specifically, for example, as shown in FIG. 3, when there is a destination on the right side of the traveling direction of the host vehicle, when a guidance route from the current location to the destination is selected, the guidance route is searched. At this time, not only one guide route but also a plurality of other routes (for example, another route 1 and another route 2) are searched.

  As the plurality of routes, for example, a route that the driver has passed in the past or a route that passes frequently can be selected. In addition, it is possible to select a route with an appropriate score by assigning points according to criteria such as distance, road width, and traffic jam information. This can be realized by selecting a plurality of higher-order routes in the same algorithm (so-called well-known Dijkstra method) as the guidance route search of the normal navigation device 5.

  Then, in the guidance route, another route 1, and another route 2, an intersection that makes a right turn is extracted as a right turn candidate intersection. In FIG. 3, UK1, UK2, and UK3 are extracted as right turn candidate intersections.

  Therefore, as will be described later, at the extracted right turn candidate intersections UK1 to UK3, when an object is detected in the turning direction (right direction), a notification (warning) is performed with a warning sound (attention sound). .

  In this case, the intersection TK that makes a detour is not extracted as a right turn candidate intersection even if it is a right turn intersection. However, as another method, it is extracted as a right turn candidate intersection, and the warning sound is emitted from other right turn candidate intersections. May be made smaller.

  In addition, as shown in FIG. 4, for example, when a guide route divided into left and right and another route 1 are searched from the current location to the destination, there is a possibility of a right turn or a left turn at the same intersection. Therefore, the intersections are extracted as a right turn candidate intersection UK and a left turn candidate intersection SK.

  Therefore, when approaching this intersection, as will be described later, the right object corresponding to the right turn is detected and a warning is given, and the left object corresponding to the left turn is detected and a warning is given. I do.

<Vehicle position determination processing>
As shown in FIG. 5, for example, when the guide route is straight ahead at a right turn candidate intersection, it is determined whether or not the host vehicle has approached the right turn candidate intersection.

  Specifically, in the case of a road with two lanes on one side, in the left lane (lane) and the lane closer to the center, a determination section (indicated by the diagonal lines in the figure) is set to detect and warn objects. Keep it. This determination section is a range in which a steering wheel operation for a right turn may be performed in each lane when the driver approaches an intersection, and can be set in advance by an experiment or the like.

  For example, in the case of the leftmost lane, for example, a predetermined range from the position at the front (downward in the figure) from the nearest corner (C) of the intersection to the front is determined as the determination section (first determination section). ). In addition, this 1st determination area may be set from the said corner, and the inside of an intersection is good also as a 1st determination area.

  Then, when the host vehicle is traveling in the leftmost lane, the position of the host vehicle is detected by the GPS device 3 or the like, and whether or not the host vehicle is traveling in the first determination section is determined based on the position information. To do.

  Similarly, for example, in the case of a lane closer to the center, when the lane further increases to the right as shown in FIG. 11A, for example, a predetermined range is determined from a position slightly ahead of the corner of the intersection toward the front. It is set as the second determination section. As shown in the drawing, the second determination section is set shorter than the first determination section and on the intersection side.

  Then, when the host vehicle is traveling in a lane closer to the center, the position of the host vehicle is detected by the GPS device 3 or the like as described above, and the host vehicle travels in the second determination section based on the position information. It is determined whether or not.

Thereby, when approaching the right turn candidate intersection, it can be determined whether or not the host vehicle is in a determination section in which object detection and warning are performed.
Although only the case of two lanes on one side has been described here, the determination section can be similarly set even in the case of three or more lanes on one side. For example, in the case of three lanes, the first determination section can be used in the center lane as in the leftmost lane.

As shown in FIG. 6, for example, when the guide route is straight ahead at a left turn candidate intersection, it is determined whether or not the vehicle approaches the left turn candidate intersection.
Specifically, in the case of a two-lane road on one side, determination sections are set in order to detect and warn objects in the leftmost lane and the lane closer to the center. This determination section is a range in which a steering wheel operation for a left turn may be performed in each lane when the driver approaches an intersection, and can be set in advance by an experiment or the like.

For example, in the case of the leftmost lane, for example, a predetermined range is set as a determination section (third determination section) from the corner of the intersection toward the front.
Then, when the host vehicle is traveling in the leftmost lane, the position of the host vehicle is detected by the GPS device 3 or the like, and it is determined whether or not the host vehicle is traveling in the third determination section based on the position information. To do.

  Similarly, for example, in the case of a lane closer to the center, for example, a predetermined range is set as a determination section (fourth determination section) from a position slightly before the corner of the intersection toward the front. As shown in the figure, the fourth determination section is set longer than the third determination section and on the near side.

  Then, when the host vehicle is traveling in a lane closer to the center, the position of the host vehicle is detected by the GPS device 3 or the like as described above, and the host vehicle travels in the fourth determination section based on the position information. It is determined whether or not.

Thereby, when approaching the left turn candidate intersection, it can be determined whether or not the host vehicle is in a determination section in which object detection and warning are performed.
Although only the case of two lanes on one side has been described here, the determination section can be similarly set even in the case of three or more lanes on one side. For example, in the case of three lanes, the third determination section can be used in the center lane as in the rightmost lane.
Further, when the lane increases to the left before the intersection, the determination may be performed using another determination section (the second determination section) as in the case where the lane increases to the right. .

<Object detection control processing>
As shown in FIG. 5, when the host vehicle is driving on the leftmost lane in the vicinity of a right turn candidate intersection on a one-lane two-lane road, In order to avoid a collision with another vehicle, the other vehicle is detected in a rightward region where there is a possibility of a collision. Here, examples of the area in the right direction where there is a possibility of a collision include right next to the host vehicle and right rear.

  As another vehicle detection method, for example, a known object detection method using a laser radar or the like can be employed (see, for example, Japanese Patent No. 3376864). According to this method, the direction of the other vehicle, the distance from the other vehicle, the relative speed, and the like can be detected.

  Further, when the host vehicle is traveling in a lane closer to the center, when the host vehicle enters the second determination section, the same right direction as described above that may cause a collision when the host vehicle changes lanes to the right side. The other vehicle is detected in the same manner as described above.

  As shown in FIG. 6, when the host vehicle is traveling on the leftmost lane at a left turn candidate intersection on a one-lane two-lane road, When the vehicle turns to the left, in order to prevent an accident involving the motorcycle, the two-wheeled vehicle is detected in a region in the left direction where the motorcycle may be involved.

  Here, examples of the region in the left direction that may be caught include not only the side of the host vehicle and the left rear, but also the left rear side (left side of the center line in the vehicle front-rear direction). This is because the motorcycle may pass through the left side from the rear of the host vehicle.

  As a method of detecting the two-wheeled vehicle, a method of determining from an image taken by a camera (a method of determining a two-wheeled vehicle by image recognition) can be used (see, for example, Japanese Patent No. 4623135).

  In addition, when the host vehicle is traveling in a lane closer to the center, and the host vehicle enters the fourth determination section, the left side area where there is a possibility of collision when the host vehicle changes lanes to the left side. To detect other vehicles. Here, examples of the region in the left direction where there is a possibility of a collision include right side or left rear of the host vehicle.

<Notification control processing>
As described above, when an object such as a person, a two-wheeled vehicle, or another vehicle (four-wheeled vehicle) is detected in the case of a right or left turn, this is notified, but in that case, notification using three-dimensional sound is performed. I do.

  This three-dimensional sound is a well-known technique for individually controlling a plurality of speakers 13 to produce a sound so that sound can be heard from the position of the virtual sound source, as shown in FIG. Used to reproduce the sound at the ear (reproduces sound equivalent to the sound transmitted from the virtual sound source at the ear), or to reproduce the sound wave in a certain space using many speakers 13 (ambient) Sonic method, Wave Field Synthesis method, etc.) are known.

  Then, using this three-dimensional sound as a warning sound, as shown in FIGS. 5 and 6, the virtual warning sound can be heard from the direction and position of the object according to the type of the detected object. Sound like.

  Specifically, as shown in FIG. 5, when an automobile is detected in the right lane of the host vehicle (behind the host vehicle), for example, the vehicle is recalled (simulated by engine sound). The sound “Broro” is notified from the position of the car. At this time, the position of the virtual sound source is also moved with the movement of the automobile.

  On the other hand, as shown in FIG. 6, when a person is detected on the left side of the host vehicle (while traveling in the leftmost lane), for example, a footstep sound “tech tech” that reminds the presence of the person is The notification is made from the position. At this time, the position of the virtual sound source is also moved with the movement of the person.

  Also, as shown in FIG. 6, when a two-wheeled vehicle is detected on the left side behind the host vehicle (while traveling in the leftmost lane), the presence of the two-wheeled vehicle is recalled, for example (simulating engine sound) The sound of “boone” is notified from the position of the motorcycle. At this time, the position of the virtual sound source is also moved with the movement of the two-wheeled vehicle.

  Furthermore, as shown in FIG. 6, when a car is detected in the left lane (behind the host vehicle) of the host vehicle (while driving in the lane closer to the center) A sound “Broro” (simulating engine sound) is notified from the position of the car. At this time, the position of the virtual sound source is also moved with the movement of the automobile.

Thus, there are the following advantages by notifying an object using stereophonic sound.
・ I can tell the direction and distance instantly, and there is no blind spot like a mirror. For example, information transmission is quicker than in the case where a notification that there is a car behind the right is made by voice.

-By moving the position of the virtual sound source, the relative speed of approaching or moving away can also be transmitted, so the driver can make a judgment such as waiting for a while.
-Since the meaning of the information (the presence and position of a vehicle etc.) can be understood intuitively without using language or visual information, the cognitive load during driving is reduced.

  As the alert sound, for example, in the case of a car, it is preferable to use a sound reminiscent of an object such as “vehicle running sound (engine sound)”. In other words, there is an advantage that it is not bothered when such a sound is made when a right / left turn is not performed at a candidate intersection.

c) Next, the control process in the driving assistance device 1 will be described.
Here, control on a two-lane road (one lane on one side) will be described as an example.
As shown in the flowchart of FIG. 8, in the present embodiment, after a user such as a driver sets a destination, first, in step (S) 100, based on information from the GPS device 3, Get your current location.

  When the route guidance is selected in the navigation device 5, one or a plurality of routes from the current location to the destination are searched, and one route that seems to be optimal is selected from among the routes.

In the subsequent step 110, a right / left turn candidate intersection that may turn right or left is extracted by the above-described method in the route between the current location and the destination.
In the following step 120, the position of the host vehicle is set immediately before the right turn intersection based on information from the navigation device 5 (information on which lane of the road the host vehicle is currently driving). It is determined whether or not it is within a predetermined determination section. If an affirmative determination is made here, the process proceeds to step 130, whereas if a negative determination is made, the process proceeds to step 160.

  The determination section can be set as a range of, for example, 10 to 30 m from the nearest corner position of the intersection, for example, but the determination section may include the inside of the intersection.

  In step 130, the object detection device 7 such as a laser radar or a camera detects an object in the right direction (including right rear) of the host vehicle. For example, the direction and position of the object and the type of the object are detected.

  Here, when the object detection device 7 always detects surrounding objects, this processing performs detection processing for the area in the right direction of the host vehicle, and only when the object detection is performed. In the case of a configuration in which the detection device 7 is operated, in this process, the object detection device 7 is operated to detect an object.

  In subsequent step 140, it is determined whether or not an object exists in the right direction based on the detection result in step 130. If an affirmative determination is made here, the process proceeds to step 150, while if a negative determination is made, the process proceeds to step 160.

  In step 150, since an object is detected in the right direction, the speaker 13 is controlled so that a caution sound (sound by a virtual sound source) corresponding to the type of object can be heard from the direction and position of the detected object.

  In step 160, it is determined whether or not the position of the host vehicle is within a predetermined determination section set immediately before the left turn intersection. If an affirmative determination is made here, the process proceeds to step 170, whereas if a negative determination is made, the process returns to step 100.

In addition, as this determination area, although it can set as a range of 0-30 m from the position of the nearest corner of an intersection to this side, for example, the inside of an intersection may be included in this determination area.
In step 170, the object detection device 7 detects an object in the left direction of the host vehicle (which may be involved when making a left turn). For example, the direction and position of the object and the type of the object are detected.

  In the subsequent step 180, it is determined whether or not an object exists in the left direction based on the detection result in step 170. If an affirmative determination is made here, the process proceeds to step 190, whereas if a negative determination is made, the process returns to step 100.

  In step 190, since an object is detected in the left direction, control is performed so that a corresponding alert sound (sound by a virtual sound source) of the type of the object can be heard from the direction and position of the detected object. Return.

  d) In this way, in this embodiment, when performing route guidance, even if the driver ignores the route guidance and travels, candidate intersections that may turn left and right are extracted. When an object in a necessary direction is detected in response to a left turn and an object is present in that direction, it can be notified by a caution sound, so that a significant effect of improving safety is achieved. In addition, there is an advantage that it is not troublesome for the driver or the like because the warning can be given by the alert sound only when necessary at the candidate intersection.

  Further, in this embodiment, since the technology of stereophonic sound (virtual sound source) is used and a warning sound for recognizing the presence of the object is notified from the direction and position of the detected object, the driver or the like And position can be grasped intuitively and easily.

  In other words, the virtual sound source generates a warning sound that mimics the sound that can be heard from an actual object, such as vehicle engine noise or vehicle road noise. it can.

  Therefore, when the driver makes a right or left turn, the driver can determine the driving based on the alert sound, and if the driver does not intend to make a right or left turn, the driver can hear the sound, which makes driving easier. There is an effect.

e) As a modification of the present embodiment, an object may be detected based on information from a roadside device or other vehicle at a left turn intersection.
For example, as shown in FIG. 9, roadside devices, other vehicles (for example, image information obtained from a camera), etc. even when a bicycle or the like existing in the left front of the host vehicle cannot be seen due to an obstacle (object) such as a building When the information on the existence of a bicycle is obtained from the sound, a three-dimensional sound is used to generate a caution sound that simulates a bicycle, for example, a audible alert sound that resembles a bell sound. You may make it audible.

Next, the second embodiment will be described, but the description of the same contents as the first embodiment will be omitted.
In the present embodiment, since the control content is different from that of the first embodiment, only the control content will be described. The device numbers are the same as those in the first embodiment.

Here, control on a four-lane road (two lanes on one side) will be described as an example.
As shown in the flowchart of FIG. 10, in this embodiment, after a user such as a driver sets a destination, first, in step 200, the current location of the host vehicle is acquired based on information from the GPS device 3. To do.

  When the route guidance is selected in the navigation device 5, one or a plurality of routes from the current location to the destination are searched, and one route that seems to be optimal is selected from among the routes.

In the following step 210, a right / left turn candidate intersection that may turn right or left is extracted by the above-described method in the route between the current location and the destination.
In the following step 220, it is determined based on the information from the navigation device 5 whether or not the position of the host vehicle is traveling in a lane other than the right end. If an affirmative determination is made here, the process proceeds to step 230, whereas if a negative determination is made, the process proceeds to step 270.

  In step 230, based on the information from the navigation device 5, it is determined whether the host vehicle is in the first determination section of the right turn candidate intersection. If an affirmative determination is made here, the process proceeds to step 240, whereas if a negative determination is made, the process proceeds to step 270.

As this 1st determination area, as shown to Fig.11 (a), it can set as a range of 20-200 m, for example, from the near corner of the intersection to the near side.
In step 240, the object detection device 7 detects an object in the right direction (including right rear) of the host vehicle.

  In subsequent step 250, based on the detection result in step 240, it is determined whether or not an object exists in the right direction. If an affirmative determination is made here, the process proceeds to step 260, while if a negative determination is made, the process proceeds to step 270.

  In step 260, since an object is detected in the right direction, a warning sound corresponding to the type of object (right lane change warning sound by a virtual sound source) is output from the direction and position of the detected object.

In step 270, it is determined whether or not the position of the host vehicle is traveling in the leftmost lane. If an affirmative determination is made here, the process proceeds to step 280, whereas if a negative determination is made, the process proceeds to step 320.
In step 280, it is determined whether or not the host vehicle is in the third determination section of the left turn candidate intersection. If an affirmative determination is made here, the process proceeds to step 290, while if a negative determination is made, the process proceeds to step 320.

As this 3rd determination area, as shown in FIG.11 (b), it can set as a range of 0-30 m, for example in the near direction from the nearest corner of an intersection.
In step 290, an object in the left direction of the host vehicle (including the rear left side so that a two-wheeled vehicle can be detected) is detected.

  In the subsequent step 300, it is determined whether or not an object exists in the left direction based on the detection result in the step 290. If an affirmative determination is made here, the process proceeds to step 310, while if a negative determination is made, the process proceeds to step 320.

  In step 310, since an object is detected in the left direction, a warning sound corresponding to the type of the object (involved warning sound by a virtual sound source) is output from the detected direction and position of the object.

  In step 320, it is determined whether or not the position of the host vehicle is traveling in a lane other than the left end. If an affirmative determination is made here, the process proceeds to step 330, while if a negative determination is made, the process proceeds to step 370.

  In step 330, it is determined whether or not the host vehicle is in the fourth determination section of the left turn candidate intersection. If an affirmative determination is made here, the process proceeds to step 340, while if a negative determination is made, the process proceeds to step 370.

As this 4th determination area, as shown in FIG.11 (b), it can set, for example as a range of 20-200 m from the near corner of the intersection to the near side.
In step 340, an object in the left direction (including the left rear) of the host vehicle is detected.

  In the following step 350, it is determined whether or not an object exists in the left direction based on the detection result in the step 340. If an affirmative determination is made here, the process proceeds to step 360, while if a negative determination is made, the process proceeds to step 370.

  In step 360, since an object is detected in the left direction, a caution sound corresponding to the type of object (left lane change caution sound by a virtual sound source) is output from the detected direction and position of the object.

  In step 370, it is determined whether or not the lane has increased to the right based on information from the navigation device 5. If an affirmative determination is made here, the process proceeds to step 380, whereas if a negative determination is made, the process returns to step 200.

  In step 380, it is determined whether the host vehicle is in the second determination section of the right turn candidate intersection. If an affirmative determination is made here, the process proceeds to step 390, whereas if a negative determination is made, the process returns to step 200.

As this 2nd determination area, as shown to Fig.11 (a), it can set as a range of 10-40 m, for example in the near direction from the nearest corner of an intersection.
In step 390, an object in the right direction (including right rear) of the host vehicle is detected.

  In the following step 400, it is determined whether or not an object exists in the right direction based on the detection result in the step 390. If an affirmative determination is made here, the process proceeds to step 410, whereas if a negative determination is made, the process returns to step 200.

  In step 410, since an object is detected in the right direction, a warning sound corresponding to the type of object is output from the detected direction and position of the detected object (right lane change warning sound by a virtual sound source). Return to 200.

  In the present embodiment, the same effects as in the first embodiment can be obtained even on a four-lane road.

Next, the third embodiment will be described, but the description of the same contents as the first embodiment will be omitted.
In this embodiment, the control content is changed depending on the use state of the blinker.
As shown in FIG. 12, when the turn signal is turned on, the direction of the right turn or the left turn is clarified. Based on this, the alert sound (warning sound) is changed.

  For example, in the initial setting, if the volume of the alert sound is set to a level that can be heard, the volume of the alert sound is changed to a volume that cannot be heard when the blinker is turned on. .

  Further, when the blinker is turned on, the alert sound on the side opposite to the direction indicated by the blinker may be changed. For example, the alert sound on the opposite side may be further reduced or the alert sound may not be sounded.

According to the present embodiment, it is possible to clearly hear the alert sound from the really necessary direction.
In addition, what is necessary is just to comprise a circuit so that a signal may be input from the line | wire which lights a blinker for the detection of blinker lighting.

Next, the fourth embodiment will be described, but the description of the same contents as the first embodiment will be omitted.
The present embodiment is characterized by a method of extracting candidate intersections for turning left and right.
In the present embodiment, as shown in FIG. 13, if the next right / left turn intersection USK on the guide route is a right turn, all the previous intersections are set as right turn candidate intersections UK1, UK2, UK3. The same applies to a left turn.

  According to the present embodiment, unlike the first embodiment, processing such as setting a plurality of routes is unnecessary, and therefore there is an advantage that the arithmetic processing can be simplified.

Next, although Example 5 is demonstrated, description of the content similar to the said Example 1 is abbreviate | omitted.
The present embodiment is characterized by a method of extracting candidate intersections for turning left and right.
In this embodiment, as shown in FIG. 14A, candidate intersections are set based on the relationship between the traveling direction of the vehicle and the destination.

  That is, as shown in FIGS. 14A and 14B, for example, when there is a destination on the right side in the traveling direction, all the intersections that can be turned right are set as candidate intersections for the right turn, and similar object detection and warning are performed. Take control. The same applies to a left turn.

According to the present embodiment, unlike the first embodiment, processing such as setting a plurality of routes is unnecessary, and therefore there is an advantage that the arithmetic processing can be simplified.
In addition, this invention is not limited to the said Example at all, and it cannot be overemphasized that it can implement with a various aspect in the range which does not deviate from the summary of this invention.

(1) For example, the determination section includes a predetermined range before the candidate intersection, or a predetermined range inside the candidate intersection, a predetermined range before and inside the candidate intersection.
(2) Further, for example, a computer program that performs each process of the driving support apparatus described above is also within the scope of the present invention. That is, the function of the driving support apparatus described above can be realized by processing executed by a computer program.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance device 3 ... GPS apparatus 5 ... Navigation apparatus 7 ... Object detection apparatus 9 ... Notification apparatus 11 ... Electronic control apparatus

Claims (9)

In the driving support device for setting the guide route from the current location to the destination using the map information and guiding the host vehicle based on the set guide route,
Candidate intersections that extract candidate intersections that the vehicle may turn left or right based on the positional relationship between the current location and the destination, without being limited to intersections that are scheduled to turn left or right on the guide route Extraction means;
Own vehicle position determining means for determining whether or not the own vehicle is in a determination section before and / or inside the candidate intersection extracted by the candidate intersection extracting means;
When it is determined by the host vehicle position determination means that the host vehicle is in the determination section, when the candidate intersection is an intersection that makes a right turn, an object detection unit that detects an object around the host vehicle is used. Object detection control means for performing object detection in the right direction of the host vehicle, and when the candidate intersection is an intersection that turns left, using the object detection means,
When the object is detected by the object detection control means, the notification control means for driving the notification means and presenting a warning sound indicating the object;
Equipped with a,
The determination section is set to a lane on the opposite side to the direction of the turn at the candidate intersection, and is set as a lane on the center side and an outer lane of the road in a plurality of lanes that are the same traveling direction of the road. The driving support device , wherein the set determination section is set closer to the intersection than the determination section set in the lane in the turning direction .   The notification control means notifies the direction and / or position of the object with respect to the host vehicle as a direction and / or position of a virtual sound source by a warning sound using stereophonic sound. The driving assistance apparatus as described.   The driving support device according to claim 2, wherein the notification control unit performs the notification by a warning sound that recalls the type of the object. Comprising a configuration for searching a plurality of routes from the present location to the destination;
When the candidate intersection extraction means includes a route that turns right at an intersection in the searched plurality of routes, the candidate intersection is set as a right turn candidate intersection, and on the other hand, a route that makes a left turn at the intersection in the plurality of routes The driving support device according to any one of claims 1 to 3, wherein the intersection is a left turn candidate intersection. While setting one guide route from the current location to the destination,
If the right / left turn direction at the next right / left turn intersection in the guide route is right, the intersection ahead is the right turn candidate intersection, and if the right / left turn direction is left, turn left at the previous intersection. It is set as a candidate intersection, The driving assistance apparatus of any one of Claims 1-3 characterized by the above-mentioned.   If the destination is on the right side of the straight line from the current location along the direction of the course, all intersections that can be turned right are set as right turn candidate intersections. The driving support device according to any one of claims 1 to 3, wherein Current location acquisition means for acquiring the current location of the host vehicle;
Map information storage means for storing the map information;
Destination setting means for setting the destination based on the input data;
Informing means for presenting the alert sound,
Object detection means for detecting objects around the vehicle;
The driving support device according to any one of claims 1 to 6, further comprising: The determination section set in the lane opposite to the direction of turning at the candidate intersection is set to be longer than the determination section set in the lane of the turning direction. The driving support device according to claim 1.   A program for causing a computer to function as the candidate intersection extraction unit, the host vehicle position determination unit, the object detection control unit, and the notification control unit of the driving support apparatus according to claim 1.