JP6798133B2 - Driving support method and driving support device - Google Patents

Description

The present invention relates to a driving support method and a driving support device.

Conventionally, when entering an intersection with poor visibility, such as entering a wide road from a narrow road, an intersection that is not directly visible to the naked eye from the passenger seat by the camera installed at the front of the own vehicle There is known a technique of capturing the left and right road conditions in advance and displaying the captured image on a monitor (see Patent Document 1).

JP-A-2010-140109

However, the technique described in Patent Document 1 does not consider the timing at which the road conditions on the left and right of the intersection can be captured in advance by the camera. For this reason, the occupant may miss the display on the monitor of the image captured in advance by the camera, and the road conditions on the left and right of the intersection may not be grasped at an early stage.

In view of the above problems, the present invention detects the left and right situations of the intersection when the own vehicle enters the intersection by the surrounding condition sensor provided in front of the passenger seat of the own vehicle, and the left and right situations of the intersection. It is a driving support method provided with a display unit that displays. The present invention is a driving support method and driving support that teaches the occupant the timing at which the road conditions on the left and right of the intersection, which cannot be visually recognized from the passenger's seat, can be detected by the surrounding condition sensor when the own vehicle enters the intersection. The purpose is to provide the device.

According to one aspect of the present invention, when the own vehicle enters the intersection, the road shape of the intersection is detected. The surrounding condition sensor provided in front of the passenger seat of the own vehicle determines the timing at which the own vehicle can detect the left and right conditions of the intersection by using the detected road shape. Then, a driving support method and a driving support device are provided, characterized in that the determined timing is taught to the occupant.

According to the present invention, when the own vehicle enters the intersection, the occupant can be informed of the timing at which the road conditions on the left and right of the intersection, which cannot be visually recognized from the occupant's seat, can be detected by the surrounding condition sensor. You will be able to check the left and right situations at the right time. Therefore, it is possible to provide a driving support method and a driving support device that allow the occupant to easily check the road conditions on the left and right of the intersection displayed on the display unit.

It is a block diagram which shows an example of the driving support apparatus which concerns on 1st Embodiment of this invention. It is the schematic which shows the arrangement example of the surrounding condition sensor of own vehicle which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows an example of how the own vehicle which concerns on 1st Embodiment of this invention enters an intersection. It is a schematic diagram which shows an example of how the own vehicle which concerns on 1st Embodiment of this invention enters an intersection. 5 (a) and 5 (b) are schematic views showing an example of how the own vehicle according to the first embodiment of the present invention enters an intersection. 6 (a) and 6 (b) are schematic views showing an example of how the own vehicle according to the first embodiment of the present invention enters an intersection. It is a schematic diagram which shows an example of how the own vehicle which concerns on 1st Embodiment of this invention enters an intersection. It is a schematic diagram which shows an example of how the own vehicle which concerns on 1st Embodiment of this invention enters an intersection. It is a schematic diagram which shows an example of how the own vehicle which concerns on 1st Embodiment of this invention enters an intersection. It is the schematic which shows an example of the display image of the display part which concerns on 1st Embodiment of this invention. It is the schematic which shows an example of the display image of the display part which concerns on 1st Embodiment of this invention. It is a timing chart for demonstrating the warning sound of the speaker which concerns on 1st Embodiment of this invention. It is a flowchart for demonstrating an example of the driving support method which concerns on 1st Embodiment of this invention. 14 (a) and 14 (b) are schematic views showing an example of how the own vehicle according to the first modification of the first embodiment of the present invention enters an intersection. It is a schematic diagram which shows an example of how the own vehicle which concerns on 2nd modification of 1st Embodiment of this invention enters an intersection. 16 (a) and 16 (b) are schematic views showing an example of how the own vehicle according to the third modification of the first embodiment of the present invention enters an intersection. It is a schematic diagram which shows an example of how the own vehicle which concerns on the 3rd modification of 1st Embodiment of this invention enters an intersection. 18 (a) and 18 (b) are schematic views showing an example of how the own vehicle according to the fourth modification of the first embodiment of the present invention enters an intersection. It is a schematic diagram which shows an example of how the own vehicle which concerns on 4th modification of 1st Embodiment of this invention enters an intersection. 20 (a) and 20 (b) are schematic views showing an example of how the own vehicle according to the fifth modification of the first embodiment of the present invention enters an intersection. It is the schematic which shows the arrangement example of the surrounding condition sensor of own vehicle which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows an example of how the own vehicle which concerns on 2nd Embodiment of this invention enters an intersection. It is a schematic diagram which shows an example of how the own vehicle which concerns on 2nd Embodiment of this invention enters an intersection. It is a schematic diagram which shows an example of how the own vehicle which concerns on 2nd Embodiment of this invention enters an intersection. It is the schematic which shows an example of the display image of the display part which concerns on 2nd Embodiment of this invention. It is the schematic which shows an example of the display image of the display part which concerns on 2nd Embodiment of this invention.

Hereinafter, the first and second embodiments of the present invention will be described with reference to the drawings. In the description of the drawings below, the same or similar reference numerals are attached to the same or similar parts. However, it should be noted that the drawings are schematic, and the relationship between the thickness and the plane dimension, the ratio of the thickness, etc. are different from the actual ones. In addition, it goes without saying that the drawings include parts having different dimensional relationships and ratios from each other. In addition, the embodiments shown below exemplify devices and methods for embodying the technical idea of the present invention, and the technical idea of the present invention describes the material, shape, structure, and arrangement of constituent parts. Etc. are not specified as the following. The technical idea of the present invention may be modified in various ways within the technical scope specified by the claims stated in the claims.

(First Embodiment)
As shown in FIG. 1, the driving support device according to the first embodiment of the present invention includes a control device 1, a vehicle position acquisition unit 2, an ambient condition sensor 3, a vehicle speed sensor 4, a speaker 5, and a display unit 6. .. The surrounding condition sensor 3 is a device that can be mounted on the vehicle, including the front sensor 30, the left side sensor 31, and the right side sensor 32 so as to detect the surrounding condition of the own vehicle.

The own vehicle position acquisition unit 2 is, for example, a navigation device or a GPS receiver that receives GPS signals from the Global Positioning System (GPS). The own vehicle position acquisition unit 2 acquires the current position on the map of the own vehicle. The own vehicle position acquisition unit 2 may acquire the own vehicle position by using road-to-vehicle communication and vehicle-to-vehicle communication.

As shown in FIG. 2, the front sensor 30, the left side sensor 31, and the right side sensor 32 are provided near the front bumper at the front end of the own vehicle 20. The positions where the front sensor 30, the left side sensor 31 and the right side sensor 32 are provided in FIG. 2 are examples, and are not particularly limited thereto. For example, the front sensor 30 may be provided on the upper part of the windshield of the own vehicle 20.

As the front sensor 30, the left side sensor 31, and the right side sensor 32, for example, a laser radar, a millimeter wave radar, a standing wave radar, a CCD camera, or the like can be used. The front sensor 30, the left side sensor 31 and the right side sensor 32 may be of the same type or different types from each other. The number of each of the front sensor 30, the left side sensor 31, and the right side sensor 32 is not limited to one, and may be composed of two or more sensors of the same type or different types of sensors.

The front sensor 30 detects the situation in front of the own vehicle 20. The front sensor 30 detects, for example, the road shape around the intersection in front of the own vehicle 20 when the own vehicle 20 enters the intersection. The road shape around the intersection that can be detected by the front sensor 30 is the shape of a shield such as a wall or a building located at the corner of the intersection, the shape of a guardrail or sidewalk along the intersection road of the intersection, and the traveling of the own vehicle 20. Includes the angle between the driving road and the intersection road. Instead of the ambient condition sensor 3, the ambient condition acquired by the sensor provided outside the vehicle may be acquired by wireless communication.

As shown in FIG. 2, the left side sensor 31 has a radial left side detection region A1 defined by a solid angle φ _L so as to detect the left side with respect to the forward direction of the own vehicle 20. When entering the intersection, the left side sensor 31 detects the condition of the intersection road on the left side of the intersection. Right sensor 32 has a radial right detection area A2 defined by the solid angle phi _R to detect the right side with respect to the forward direction of the vehicle 20. When entering the intersection, the right side sensor 32 detects the condition of the intersection road on the right side of the intersection.

Since the left side sensor 31 and the right side sensor 32 are provided on the front side of the passenger seat of the own vehicle 20, when entering the intersection, the left and right conditions at the intersection of the intersection road, which cannot be seen from the passenger seat, can be seen. It can be detected in advance. In FIG. 2, the optical axes a1 and a2 of the left side sensor 31 and the right side sensor 32 face the left side and the right side which are orthogonal to the traveling direction of the own vehicle 20, respectively. For example, the traveling of the own vehicle 20 It may be facing diagonally forward with respect to the direction. The position where the left side sensor 31 and the right side sensor 32 are provided is closer to the front end of the vehicle than the passenger seat, so that the left and right conditions can be confirmed earlier when the vehicle enters the intersection.

The vehicle speed sensor 4 shown in FIG. 1 detects the speed of the own vehicle 20 and outputs the speed to the control device 1. The speaker 5 is installed in the vehicle interior and is controlled by the control device 1. The display unit 6 is a display such as a liquid crystal display, and is controlled by the control device 1. It is installed in a position that is easy for the occupants to see, such as the instrument panel in the passenger compartment.

The control device 1 can be composed of, for example, an electronic control unit (ECU) including a logical operation processing device 7, a storage device 8, and the like. As the logical operation processing device 7, a central processing unit (CPU) or the like can be used. As the storage device 8, a semiconductor storage device, a magnetic storage device, an optical storage device, or the like can be used. The storage device 8 may be a register or the like provided in the logical operation processing device 7, or may include a cache memory or the like. The storage device 8 may further be a virtual memory set in a secondary storage device, a secondary storage device, or the like.

The logical operation processing device 7 functions as an intersection determination unit 11, a boundary detection unit 12, a posture detection unit 13, a timing determination unit (detectable position determination unit) 14, a teaching unit 15, an image generation unit 16, and a moving body detection unit 17. Prepare for the purpose. The intersection determination unit 11 determines whether or not there is an intersection with poor visibility in front of the own vehicle 20 from the current position on the map of the own vehicle 20 acquired by the own vehicle position acquisition unit 2. Information on intersections with poor visibility may be read from, for example, a database of a navigation device such as the own vehicle position acquisition unit 2.

The boundary detection unit 12 detects the left side boundary point and the right side boundary point on the front left side and the right side of the own vehicle 20 by using the road shape in front of the own vehicle 20 detected by the front sensor 30. The left boundary point is a point (position) where the left side sensor 31 makes a detectable or impossible boundary of the situation on the left side of the intersection where the traveling road R1 intersects the intersection road R2. The right boundary point is a point (position) where the right side sensor 32 serves as a detectable or impossible boundary on the right side of the intersection where the traveling road R1 intersects the intersection road R2.

As shown in FIG. 3, for example, the boundary detection unit 12 detects the edge position P11 of the shield 41 such as a building located at the corner on the left side in front of the intersection as the left boundary point. The boundary detection unit 12 further detects the edge position P12 of the shield 42 located at the corner on the right side in front of the intersection as the right boundary point.

The boundary detection unit 12 may detect the left boundary point and the right boundary point in consideration of the height of the shield based on the height information of the surrounding conditions detected by the front sensor 30 and the like. For example, when the heights of the shields 41 and 42 shown in FIG. 3 are determined to be equal to or higher than a predetermined threshold value (for example, 1 m), the line of sight of the intersection is blocked by the shields 41 and 42, and the shields 41, The edge positions P11 and P12 of 42 may be detected as the left side boundary point and the right side boundary point.

On the other hand, when it is determined that the heights of the shields 41 and 42 are less than a predetermined threshold value, the intersection can be seen through the shields 41 and 42, so that the edge positions P11 and P12 of the shields 41 and 42 are set to the left boundary point and the right side. It does not have to be detected as a boundary point. The predetermined threshold value may be set in advance in the storage device 8 or the like of the control device 1, or may be appropriately adjusted according to the height of the viewpoint of the occupant in the driver's seat detected by the camera provided in the vehicle interior. May be good.

The posture detection unit 13 detects the position and posture of the own vehicle 20 by using the surrounding conditions of the own vehicle 20 detected by the front sensor 30, the left side sensor 31 and the right side sensor 32. The position and posture of the own vehicle 20 include, for example, the position and orientation of the own vehicle 20 in the traveling road R1 on which the own vehicle 20 travels, and the yaw angle of the own vehicle 20. The positions and orientations of the left side sensor 31 and the right side sensor 32 provided in the own vehicle 20, the range of the left side detection area A1 and the right side detection area A2, and the like are known.

When the timing determination unit 14 enters the intersection based on the left boundary point P11 and the right boundary point P12 detected by the boundary detection unit 12, the position and attitude of the own vehicle 20 detected by the attitude detection unit 13, and the like. In addition, the surrounding condition sensor 3 of the own vehicle 20 determines the timing (position) at which the left and right conditions of the intersection can be detected. Here, the timing determined by the timing determination unit 14 (hereinafter referred to as the left / right detection timing) is the left / right situation at the intersection of the intersection road R2, which is not visible to the naked eye of the occupant from the passenger seat of the own vehicle 20 in the traveling road R1. Is set at or near a position where the left side sensor 31 and the right side sensor 32 can detect in advance. The left-right detection timing means a position that is detected in advance by the left-side sensor 31 and the right-side sensor 32, and is suitable for temporarily stopping so that the occupant can confirm the left-right situation at the intersection displayed on the display unit 6.

For example, as shown in FIG. 4, the own vehicle 20 goes straight from the current position, and the boundary between the left side detection area A1 and the right side detection area A2 of the left side sensor 31 and the right side sensor 32 touches the left side boundary point P11 and the right side boundary point P12. I will explain when. The timing determination unit 14 determines the position P0 in the traveling direction of the own vehicle 20 when the left side sensor 31 and the right side sensor 32 can detect the left and right conditions at the intersection located ahead of the left side boundary point P11 and the right side boundary point P12. Determined as the left and right detection timing. The position of the own vehicle 20 in FIG. 4 is a virtual position for explaining the method of determining the left / right detection timing P0, and the actual current position of the own vehicle 20 is behind the left / right detection timing P0. Further, in FIG. 4, the front sensor 30 is not shown for convenience.

FIG. 4 illustrates a situation in which the own vehicle 20 is traveling at the center position in the width direction of the traveling road R1, and the positions of the left boundary point P11 and the right boundary point P12 in the traveling direction of the traveling road R1 are common. ing. Therefore, the boundary between the position P0 (left) in the traveling direction of the own vehicle 20 when the boundary of the left side detection area A1 of the left side sensor 31 touches the left side boundary point P11 and the right side detection area A2 of the right side sensor 32 is the right side boundary point. The position P0 (right) in the traveling direction of the own vehicle 20 when it comes into contact with P12 is common:
P0 (left) = P0 (right) = P0

Further, the position in the traveling direction of the own vehicle 20 when the boundary of the left side detection area A1 of the left side sensor 31 touches the left side boundary point P11 and the boundary of the right side detection area A2 of the right side sensor 32 touch the right side boundary point P12. When the positions of the own vehicle 20 in the traveling direction are different from each other, the timing determination unit 14 preferentially determines one of the positions as the left and right detection timing.

For example, when the own vehicle 20 is moving forward toward the left side in the width direction of the traveling road R1, the boundary of the right side detection area A2 of the right side sensor 32 is the right side boundary point as shown in FIG. 5A. The position P1 of the own vehicle 20 when it comes into contact with P12 and the position P2 of the own vehicle 20 when the boundary of the left side detection area A1 of the left side sensor 31 touches the left side boundary point P11 are different from each other as shown in FIG. 5 (b). .. That is, the timing at which the boundary of the right side detection region A2 of the right side sensor 32 shown in FIG. 5A comes into contact with the right side boundary point P12 comes first.

In this case, the timing determination unit 14 is, for example, the timing of the arrival of the own vehicle 20 when the boundary of the right side detection region A2 of the right side sensor 32 shown in FIG. 5A touches the right side boundary point P12. The position (that is, a position relatively close to the current position of the own vehicle 20 and far from the intersection) P1 may be preferentially determined as the left / right detection timing. As a result, the occupant can quickly know when the left and right situations can be confirmed.

Further, the timing determination unit 14 is a timing that arrives relatively later as shown in FIG. 5B, but is a timing that can be detected by both the left side sensor 31 and the right side sensor 32. Left and right detection of the position of the own vehicle 20 when the boundary of the left side detection area A1 touches the left side boundary point P11 (that is, a position relatively close to the current position of the own vehicle 20 and far from the intersection) P2 It may be decided as a timing. This allows the occupant to know when the left and right conditions can be confirmed.

Further, in the timing determination unit 14, the boundary between the position P1 of the own vehicle 20 when the boundary of the right side detection area A2 of the right side sensor 32 touches the right side boundary point P12 and the boundary of the left side detection area A1 of the left side sensor 31 is the left side boundary point P11. The position between the position P2 of the own vehicle 20 when it comes into contact with the vehicle (for example, a position at equal intervals from both) may be determined as the left and right detection timing.

Further, the timing determination unit 14 determines, for example, the first left and right detection timing of the position P1 of the own vehicle 20 when the boundary of the right side detection region A2 of the right side sensor 32 shown in FIG. 5A touches the right side boundary point P12. Then, the position P2 of the own vehicle 20 when the boundary of the left side detection region A1 of the left side sensor 31 shown in FIG. 5B touches the left side boundary point P11 is determined as the second left and right detection timing, and in two steps. The left and right detection timing may be determined.

Next, for example, even when the vehicle 20 is traveling diagonally forward with respect to the traveling direction of the traveling road R1, the boundary of the right side detection region A2 of the right side sensor 32 is on the right side as shown in FIG. 6A. The position P1 of the own vehicle 20 when it comes into contact with the boundary point P12, and the position P2 of the own vehicle 20 when the boundary of the left side detection region A1 of the left side sensor 31 touches the left side boundary point P11 as shown in FIG. 6B. Are different from each other. That is, the timing at which the boundary of the right side detection region A2 of the right side sensor 32 shown in FIG. 6A comes into contact with the right side boundary point P12 comes first.

In this case as well, the timing determination unit 14 is, for example, the position (that is, relatively) of the own vehicle 20 when the boundary of the right side detection area A2 of the right side sensor 32 shown in FIG. 6A touches the right side boundary point P12. , A position close to the current position of the own vehicle 20 and far from the intersection) P1 may be determined as the left / right detection timing. Further, the timing determination unit 14 determines the position of the own vehicle 20 (that is, relative to the own vehicle 20) when the boundary of the left side detection region A1 of the left side sensor 31 shown in FIG. 6B touches the left side boundary point P11. (Position close to the current position of and far from the intersection) P2 may be determined as the left / right detection timing.

Further, in the timing determination unit 14, the boundary between the position P1 of the own vehicle 20 when the boundary of the left side detection area A1 of the left side sensor 31 touches the left side boundary point P11 and the boundary of the right side detection area A2 of the right side sensor 32 is the right side boundary point P12. The position between the position P2 of the own vehicle 20 at the time of contact with (for example, the position at equal intervals from both) may be determined as the left and right detection timing.

Further, the timing determination unit 14 determines, for example, the first left and right detection timing of the position P1 of the own vehicle 20 when the boundary of the right side detection region A2 of the right side sensor 32 shown in FIG. 6A touches the right side boundary point P12. Then, the position P2 of the own vehicle 20 when the boundary of the left side detection region A1 of the left side sensor 31 shown in FIG. 6B touches the left side boundary point P11 is determined as the second left and right detection timing, and in two steps. The left and right detection timing may be determined.

Further, as shown in FIG. 7, for example, in the timing determination unit 14, the left side sensor 31 and the right side sensor 32 themselves, and the left side boundary point P11 and the right side boundary point P12 proceed with reference to the left side sensor 31 and the right side sensor 32 themselves. The position P0 that matches in the direction may be determined as the left and right detection timing.

Further, for example, as shown in FIG. 8, when the optical axes a1 and a2 of the left side sensor 31 and the right side sensor 32 are tilted forward of the own vehicle 20 with respect to the vehicle width direction, the timing determination unit 14 is on the left side. The position P0 in the traveling direction of the own vehicle 20 when the optical axes a1 and a2 of the sensor 31 and the right side sensor 32 come into contact with the left side boundary point P11 and the right side boundary point P12 may be determined as the left and right detection timing.

Further, as shown in FIG. 9, when one side (right side) in front of the own vehicle 20 has good visibility and the shield 41 is present only on one side (left side) in front of the own vehicle 20, the boundary detection unit 12 is on the left side. Only the boundary point P11 may be detected. At this time, the timing determination unit 14 can determine the position P0 in the traveling direction of the own vehicle 20 as the left / right detection timing when the boundary of the left side detection region A1 of the left side sensor 31 touches the left side boundary point P11.

The image generation unit 16 shown in FIG. 1 can be recognized by the occupant by using the situation in front of the own vehicle 20 detected by the front sensor 30 and the left and right detection timing determined by the timing determination unit 14. Generate an image showing the left and right detection timing. The image generation unit 16 generates an image I1 indicating the left / right detection timing P0, for example, as shown in the central portion of FIG. Although the image I1 shown in FIG. 10 exemplifies a bird's-eye view image of the own vehicle 20 from above, it may be a front image or the like showing the front of the own vehicle 20.

When the front sensor 30 is an image pickup device such as a CCD camera, the image generation unit 16 may generate an image in which the left and right detection timing P0 is superimposed on the captured image. When the front sensor 30 is a laser radar or the like, the image generation unit 16 may generate a virtual image (CG image) indicating the left / right detection timing P0. When, for example, as shown in FIGS. 5A and 5B, the timing determination unit 14 determines the first left / right detection timing P1 and the second left / right detection timing P2 in two stages. The image generation unit 16 may generate an image showing the first left / right detection timing P1 and the second left / right detection timing P2.

Further, the image generation unit 16 continues from immediately after the own vehicle 20 reaches the left / right detection timing P0 or before the own vehicle 20 reaches the left / right detection timing P0, as shown in FIG. 10 together with the image I1, the left side sensor 31. An image I2 showing the situation on the left side detected by the right side sensor 32 and an image I3 including the situation on the right side detected by the right side sensor 32 are generated. In the example of FIG. 10, since the own vehicle 20 has not reached the left-right detection timing P0, the shields 41 and 42 and the traveling road R1 on which the own vehicle 20 travels are reflected in the images I2 and I3.

Note that FIG. 10 illustrates a case where the images I1, I2, and I3 are individually generated. For example, the road condition in front of the own vehicle 20 detected by the front sensor 30 and the left side detected by the left side sensor 31. The situation and the situation on the right side detected by the right side sensor 32 may be combined so as to include the left and right detection timing P0 and generated as one image.

As shown in FIG. 11, after the own vehicle 20 reaches the left / right detection timing P0, the image I2 generated by the image generation unit 16 shows the situation of the intersection road R2 on the left side of the intersection detected by the left side sensor 31. It is reflected. Further, the image I3 shows the situation of the intersection road R2 on the right side of the intersection detected by the right side sensor 32. In FIG. 11, the image I1 showing the left / right detection timing P0 is also generated, but after the own vehicle 20 reaches the left / right detection timing P0, the image I1 showing the left / right detection timing P0 is not generated and the image. Only I2 and I3 may be generated.

The teaching unit 15 shown in FIG. 1 teaches the left / right detection timing P0 determined by the timing determination unit 14 to the occupant before the own vehicle 20 reaches the left / right detection timing P0. For example, the teaching unit 15 controls the display unit 6 to display the image I1 showing the left / right detection timing P0 generated by the image generation unit 16 as shown in FIG. 10, and teaches the left / right detection timing P0 to the occupant. ..

The teaching unit 15 may further control the speaker 5 to teach the left and right detection timing P0 determined by the timing determining unit 14 to the occupant by a warning sound. For example, as shown in FIG. 12, the cycle of the intermittent sound is shortened as the own vehicle 20 approaches the left / right detection timing P0, and the left / right detection timing P0 is taught. In FIG. 12, the period of the intermittent sound is divided into two stages, and it is shown that the period of the intermittent sound of less than 10 m is shorter than the period of the intermittent sound of 10 m or more from the left and right detection timing P0. The warning sound from the speaker 5 may be music or voice that can teach that the left / right detection timing P0 is approaching and has been reached, instead of the intermittent sound.

The teaching unit 15 may teach the left / right detection timing only by the display of the display unit 6 or the warning on the speaker 5. Alternatively, the teaching unit 15 may teach the left and right detection timing by both the display of the display unit 6 and the warning on the speaker 5.

The teaching unit 15 calculates the width of the traveling road R1 on which the own vehicle 20 travels from the surrounding conditions of the own vehicle 20 detected by the front sensor 30, the left side sensor 31, and the right side sensor 32, and the width of the traveling road R1 is calculated. The narrower the distance, the earlier the timing at which the left / right detection timing P0 starts to be taught may be earlier. For example, when the width of the driving road R1 is 5 m, the teaching of the left / right detection timing is started 5 m before the left / right detection timing P0, and when the width of the driving road R1 is relatively narrow as 3 m, the left / right detection timing is started. The teaching of the left-right detection timing P0 may be started from an early position 10 m before P0.

The teaching unit 15 predicts the arrival time of the own vehicle 20 to the left / right detection timing P0 based on the speed of the own vehicle 20 detected by the vehicle speed sensor 4 and the distance to the left / right detection timing P0 of the own vehicle 20. , The teaching of the left / right detection timing P0 may be started according to the predicted arrival time. For example, when the width of the driving road R1 is 5 m, the teaching of the left / right detection timing P0 is started 2 seconds before the predicted arrival time, and when the width of the driving road R1 is relatively narrow as 3 m, the teaching is started. The teaching of the left / right detection timing P0 may be started at an earlier timing from 5 seconds before the predicted arrival time.

Based on the speed of the own vehicle 20 detected by the vehicle speed sensor 4, the teaching unit 15 may start teaching the left / right detection timing P0 earlier as the speed of the own vehicle 20 increases. For example, when the speed of the own vehicle 20 is 10 km / h, the teaching of the left / right detection timing P0 is started 5 m before the left / right detection timing or 2 seconds before the predicted arrival time, and the speed of the own vehicle 20 is relative. In the case of a relatively high speed of 30 km / h, the teaching of the left / right detection timing P0 may be started 10 m before the left / right detection timing, which is a relatively early timing, or 5 seconds before the predicted arrival time.

The moving object detection unit 17 determines whether or not a moving object such as another vehicle or a passerby exists on the intersecting road R2 from the left and right conditions at the intersection detected by the left side sensor 31 and the right side sensor 32. When it is determined that the moving body exists, the image generation unit 16 generates images I2 and I3 including the left and right situations at the intersection so as to highlight the moving body. For example, as shown in FIG. 11, the other vehicle 21 reflected in the image I3 is detected as a moving body, and the other vehicle 21 is highlighted by surrounding the other vehicle 21 with a frame-shaped mark or the like.

Next, an example of the driving support method according to the first embodiment of the present invention will be described with reference to the flowchart of FIG. The series of processes in the flowchart of FIG. 13 can be repeatedly executed in a predetermined control cycle.

In step S1, the intersection determination unit 11 has an intersection with poor visibility in front of the traveling road R1 of the own vehicle 20 based on the current position on the map of the own vehicle 20 acquired by the own vehicle position acquisition unit 2. Judge whether or not. If it is determined that there is an intersection with poor visibility, the process proceeds to step S2. The procedure of step S1 is not essential, and the procedure of the subsequent driving support method may be performed at all intersections.

In step S2, the front sensor 30, the left side sensor 31, and the right side sensor 32 detect the road condition near the intersection of the traveling road R1 in front of the own vehicle 20. In step S3, the boundary detection unit 12 detects the front left boundary point P11 of the own vehicle 20 by using the road condition near the intersection detected by the front sensor 30, for example, as shown in FIG. In step S4, the boundary detection unit 12 detects the front right boundary point P12 of the own vehicle 20 by using the road condition near the intersection detected by the front sensor 30.

In step S5, the posture detection unit 13 detects the position and posture of the own vehicle 20 in the traveling road R1 from the surrounding conditions of the own vehicle 20 detected by the front sensor 30, the left side sensor 31 and the right side sensor 32.

In step S6, the timing determination unit 14 uses, for example, the positions and attitudes of the left boundary point P11 and the right boundary point P12 detected by the boundary detection unit 12 and the own vehicle 20 detected by the attitude detection unit 13. As shown in FIG. 4, the left and right detection timing P0 of the own vehicle 20 is determined.

In step S7, the image generation unit 16 generates an image I1 indicating the left / right detection timing P0 determined by the timing determination unit 14. The teaching unit 15 controls the display unit 6 so as to display the image I1 generated by the image generation unit 16. Further, the teaching unit 15 controls the speaker 5 so as to output a warning sound for teaching the left / right detection timing P0.

In step S8, the teaching unit 15 specifies the relative position of the own vehicle 20 with respect to the left / right detection timing P0 from the position and the posture of the own vehicle 20 detected by the attitude detection unit 13. In step S9, the teaching unit 15 determines whether or not the own vehicle 20 has reached the left / right detection timing P0. If it is determined that the own vehicle 20 has not reached the left / right detection timing P0, the process returns to the procedure of step S8. On the other hand, if it is determined in step S9 that the own vehicle 20 has reached the left / right detection timing P0, the process proceeds to step S10.

In step S10, the teaching unit 15 stops teaching the left / right detection timing P0 using the speaker 5 and the display unit 6. In step S11, the image generation unit 16 generates images I2 and I3 including the left and right situations at the intersection detected by the left side sensor 31 and the right side sensor 32 as shown in FIG. 11, and displays them on the display unit 6. The display by the display unit 6 is continued until, for example, the own vehicle 20 passes the intersection.

In step S12, the moving body detecting unit 17 determines whether or not there is a moving body such as another vehicle or a passerby on the crossing road R2 from the left and right conditions at the intersection detected by the left side sensor 31 and the right side sensor 32. To do. If it is determined that the moving body exists, the process proceeds to step S9. In step S13, the image generation unit 16 generates images I2 and I3 so as to highlight the moving object, and causes the display unit 6 to display the images I2 and I3. Further, an alarm may be output by the speaker 5.

The driving support program according to the first embodiment of the present invention of the present invention causes a computer constituting the control device 1 to execute the procedure of the driving support method shown in FIG. That is, in the driving support program according to the embodiment of the present invention, when the own vehicle enters an intersection, the procedure for detecting the road shape of the intersection and the detected road shape are used to determine the left / right detection timing of the own vehicle. Procedure to determine, procedure to teach the occupants the determined left and right detection timing, procedure to detect the left and right situation of the intersection by the surrounding condition sensor provided in front of the passenger seat of the own vehicle, left and right of the detected intersection Have the computer constituting the control device 1 execute the procedure for displaying the status on the display unit. The driving support program according to the embodiment of the present invention can be stored in, for example, a storage device 8.

As described above, according to the first embodiment of the present invention, when the own vehicle 20 enters the intersection, the road shape of the intersection where the traveling road R1 and the intersection road R2 intersect and the traveling of the own vehicle 20. Using the position and orientation on the road R1, the left and right side sensor 31 and the right side sensor 32 teach the occupant the left and right detection timing of the own vehicle 20 when the left and right conditions at the intersection can be detected in advance. If the left and right detection timings of the own vehicle 20 are taught to the occupants, the occupants can easily perceive the timing when the left and right situations at the intersection can be detected in advance by the left side sensor 31 and the right side sensor 32.

Therefore, the occupant can confirm the situation on the left and right at the intersection of the crossing road R2 intersecting the traveling road R1 without being overlooked at an early stage by the image displayed on the display unit 6 while the left and right situations cannot be visually recognized with the naked eye. After that, after it becomes visible to the naked eye, the confirmation of the display unit 6 can be stopped, the actual scenery can be visually confirmed, and the left and right conditions at the intersection of the crossing road R2 intersecting the traveling road R1 can be confirmed.

Further, by detecting the position and posture of the own vehicle 20 and determining the left and right detection timing using the position and posture of the own vehicle 20, it is possible to determine the left and right detection timing according to the position and posture of the own vehicle 20. it can.

Further, as shown in FIGS. 5 (a) and 5 (b), for example, the positions P11 and P12 of the own vehicle 20 when the left and right conditions of the intersection can be detected by the surrounding condition sensor 3 are calculated for each of the left and right positions. By determining the position P12 close to the current position of the own vehicle 20 as the left / right detection timing among the left and right positions P11 and P12, the situation on the right side of the intersection road R2 can be detected in advance by one of the right side sensors 32. It is possible to easily make the occupant perceive the timing at that time.

Further, as shown in FIG. 10, the image I1 showing the left and right detection timing P0 is displayed on the display unit 6, or as shown in FIG. 12, the left and right detection timing P0 is taught by the voice of the speaker 5 to the left side. The sensor 31 and the right side sensor 32 can easily allow the occupant to perceive the timing when the left and right situations at the intersection can be detected in advance.

Further, as the width of the traveling road R1 until approaching the intersection is narrower or the speed of the own vehicle 20 is higher, the position at which the left and right detection timing P0 starts to be taught to the occupants is set in front (earlier). It is possible to start teaching the timing when the left and right sensors 31 and the right sensor 32 can detect the left and right situations at the intersection in advance at an appropriate timing according to the width of the traveling road R1 or the speed of the own vehicle 20.

<First modification>
As a first modification of the first embodiment of the present invention, as shown in FIG. 14A, the edge positions P11 of the shields 41 and 42 in the traveling direction of the traveling road R1 on which the own vehicle 20 travels, The case where P12 is deviated will be described. In FIG. 14A, the edge position P11 of the shield 41 is closer to the intersection than the edge position P12 of the shield 42. Therefore, as shown in FIG. 14A, the position P12 of the own vehicle 20 when the boundary of the right side detection area A2 of the right side sensor 32 touches the right side boundary point P12, and as shown in FIG. 14B, The positions P11 of the own vehicle 20 when the boundary of the left side detection region A1 of the left side sensor 31 touches the left side boundary point P11 are different from each other.

In this case, the timing determination unit 14 is, for example, the position (that is, relatively) of the own vehicle 20 when the boundary of the right side detection region A2 of the right side sensor 32 shown in FIG. 14A touches the right side boundary point P12. P1 (a position close to the current position of the own vehicle 20 and far from the intersection) may be determined as the left / right detection timing. Further, the timing determination unit 14 determines the position of the own vehicle 20 when the boundary of the left side detection region A1 of the left side sensor 31 shown in FIG. 14B touches the left side boundary point P11 (that is, the own vehicle 20 relatively). (Position close to the current position of and far from the intersection) P2 may be determined as the left / right detection timing.

Further, in the timing determination unit 14, the boundary between the position P1 of the own vehicle 20 when the boundary of the right side detection area A2 of the right side sensor 32 touches the right side boundary point P12 and the boundary of the left side detection area A1 of the left side sensor 31 is the left side boundary point P11. The left and right detection timing may be determined between the position P2 of the own vehicle 20 when it comes into contact with the vehicle (for example, a position at equal intervals from both).

Further, the timing determination unit 14 determines, for example, the first left and right detection timing of the position P1 of the own vehicle 20 when the boundary of the right side detection region A2 of the right side sensor 32 shown in FIG. 14A touches the right side boundary point P12. Then, the position P2 of the own vehicle 20 when the boundary of the left side detection region A1 of the left side sensor 31 shown in FIG. 14B touches the left side boundary point P11 is determined as the second left and right detection timing, and in two steps. The left and right detection timing may be determined.

<Second modification>
In the first embodiment of the present invention, the case where the traveling road R1 on which the own vehicle 20 travels is orthogonal to the crossing road R2 has been described, but as a second modification, the crossing road R2 is The case where the traveling road R1 on which the own vehicle 20 travels intersects diagonally will be described.

As shown in FIG. 15, even when the intersecting road R2 and the traveling road R1 on which the own vehicle 20 travels intersect diagonally, the timing at which the boundary of the left side detection region A1 of the left side sensor 31 touches the left side boundary point P11 and the right side sensor The timing at which the boundary of the right side detection region A2 of 32 touches the right side boundary point P12 is different from each other. That is, as shown in FIG. 15, when the traveling road R1 inclines to the right and intersects the crossed road R2, the timing at which the boundary of the left side detection region A1 of the left side sensor 31 touches the left side boundary point P11 comes first.

In this case, the timing determination unit 14 is, for example, the position of the own vehicle 20 when the boundary of the left side detection region A1 of the left side sensor 31 shown in FIG. 15 touches the left side boundary point P11 (that is, the own vehicle 20 relatively). (Position close to the current position of and far from the intersection) P1 may be determined as the left / right detection timing. Further, although not shown, the position of the own vehicle 20 when the boundary of the right side detection area A2 of the right side sensor 32 touches the right side boundary point P12 (that is, relatively close to the current position of the own vehicle 20 and from the intersection). The position far from the viewpoint) may be determined as the left / right detection timing.

<Third variant>
As a third modification of the first embodiment of the present invention, a case where the left and right detection timing is determined in consideration of the sidewalk and the guardrail existing at the intersection will be described. For example, as shown in FIG. 16A, when guardrails 61 and 62 along the crossroads R2 and white lines 51 to 54 defining the sidewalk are present, the boundary detection unit 12 is ahead of the shields 41 and 42. The edge positions P11 and P12 of the white lines 51 and 52 located at may be pseudo-detected as the left boundary point and the right boundary point.

The boundary detection unit 12 pseudo-detects the edge positions of the white lines 53 and 54 on the front side of the white lines 51 and 52 located ahead of the shields 41 and 42 as the left boundary point and the right boundary point. May be good. Further, as shown in FIG. 16B, the boundary detection unit 12 may detect the edge positions P11 and P12 of the guardrails 61 and 62 as the left side boundary point and the right side boundary point.

Further, as shown in FIG. 17, the boundary detection unit 12 may detect the edge position P11 of the white line 51 as the left boundary point and the edge position P12 of the guardrail 62 as the right boundary point. That is, the boundary detection unit 12 may detect the left boundary point P11 and the right boundary point P12 for objects of different types. The detection target by the boundary detection unit 12 can be appropriately selected according to the road shape of the intersection and the like.

According to the third modification of the first embodiment of the present invention, the sidewalk and guardrail 61 defined by the white lines 51 to 54 are determined by determining the left and right detection timing in consideration of the sidewalk and guardrail existing at the intersection. , 62, the left side boundary point P11 and the right side boundary point P12 can be set, and the left and right detection timing can be determined.

<Fourth modification>
As a fourth modification of the first embodiment of the present invention, a case where the left-right detection timing is determined only from the surrounding conditions of the own vehicle 20 regardless of the position and posture of the own vehicle 20 will be described.

As shown in FIG. 18A, the boundary detection unit 12 detects the edge position P11 of the shield 41 as the left boundary point, and detects the edge position P12 of the shield 42 as the right boundary point. The timing determination unit 14 may determine the left and right detection timing P0 on a straight line that virtually connects the left boundary point P11 and the right boundary point P12. As shown in FIG. 18B, even when the left side boundary point P11 and the right side boundary point P12 are located at different positions in the traveling direction of the traveling road R1, the timing determination unit 14 determines the left side boundary point P11 and the right side boundary point P12. May be taught as the left-right detection timing P0 on a straight line virtually connecting the above.

Further, as shown in FIG. 19, when the left side boundary point P11 and the right side boundary point P12 are located at different positions in the traveling direction of the traveling road R1, the timing determination unit 14 straightens the left side boundary point P11 and the right side boundary point P12. Instead of connecting with, the left and right detection timings may be taught on one of the straight lines P1 and P2 passing through the left boundary point P11 and the right boundary point P12 and parallel to the width direction of the traveling road R1. The straight line P1 may be determined as the first left-right detection timing, and the straight line P2 may be determined as the second left-right detection timing in two stages.

According to the fourth modification of the first embodiment of the present invention, the straight line connecting the left side boundary point P11 and the right side boundary point P12 is determined as the left and right detection timing P0, or the left side boundary point P11 and the right side boundary point P11 are determined. By determining the straight line passing through P12 as the left and right detection timings P1 and P2, the left and right detection timings P0, P1 and P2 can be easily determined regardless of the position and orientation of the own vehicle 20.

<Fifth variant>
As a fifth modification of the first embodiment of the present invention, a case where the detection area (display area) A1 of the left side sensor 31 and the detection area (display area) A2 of the right side sensor 32 are corrected in the height direction will be described. ..

For example, as shown in FIG. 20A, the own vehicle 20 has passed on the left and right detection timings, and the left side sensor 31 and the right side sensor 32 detect the left and right conditions of the crossing road R2. The image generation unit 16 calculates the left and right slopes of the crossing road R2 from the point at infinity (horizontal line) and the like included in the left and right conditions of the crossing road R2 detected by the left side sensor 31 and the right side sensor 32.

The image generation unit 16 further bases the left side slope and the right side slope of the crossing road R2 on the detection area (display area) A1 of the left side sensor 31 of the left side sensor 31 and the right side sensor 32 and the left side sensor 31 of the right side sensor 32 as shown in FIG. 20B. The detection area (display area) A2 of the right side sensor 32 is corrected so that a moving body on the crossing road R2 can be detected.

The left side detection area A1 of the left side sensor 31 and the right side detection area A2 of the right side sensor 32 detect in a wider range than the left side detection area A1 and the right side detection area A2, and a part of the detection result is cut out and the left side detection area A1 And in the case of the right side detection area A2, the image generation unit 16 may correct the position where the left side detection area A1 and the right side detection area A2 are cut out. The positions of the left side sensor 31 and the right side sensor 32 themselves may be adjusted so as to correct the left side detection area A1 and the right side detection area A2.

According to the fifth modification of the first embodiment of the present invention, the intersection road R2 is corrected by correcting the detection area (display area) A1 of the left side sensor 31 and the detection area (display area) A2 of the right side sensor 32. The detection areas (display areas) A1 and A2 can be set according to the gradient of.

(Second Embodiment)
In the driving support device according to the second embodiment of the present invention, as shown in FIG. 21, the surrounding condition sensor 3 capable of detecting the surrounding condition including the front side, the left side and the right side of the own vehicle 20 is in front of the own vehicle 20. The point provided in the section is different from the configuration of the driving support device according to the first embodiment of the present invention having the front sensor 30, the left side sensor 31 and the right side sensor 32 shown in FIG.

As the ambient condition sensor 3, for example, a laser radar such as a laser range finder (LRF) or a wide-angle camera can be used. Surroundings sensor 3 has a radial detection area A0 which is defined by the solid angle phi _F so as to detect the forward situation, the left status and right situations of the vehicle 20. The detection region A0 has, for example, an optical axis a0 parallel to the forward direction of the own vehicle 20, and has a range of about 180 ° in the horizontal direction. Since the ambient condition sensor 3 is provided in front of the passenger seat of the own vehicle 20, when the own vehicle 20 enters the intersection, the left and right conditions of the intersection that the occupants cannot see with the naked eye from the passenger seat are displayed. It can be detected in advance.

As shown in FIG. 22, for example, the boundary detection unit 12 shown in FIG. 1 uses the situation in front of the own vehicle 20 detected by the surrounding condition sensor 3 to form a building or the like located at the front left corner of the intersection. The edge position P11 of the shield 41 is detected as the left boundary point. The boundary detection unit 12 further detects the edge position P12 of the shield 42 located at the right corner in front of the intersection as the right boundary point by using the situation in front of the own vehicle 20 detected by the surrounding condition sensor 3. To do.

When the timing determination unit 14 enters the intersection based on the left boundary point P11 and the right boundary point P12 detected by the boundary detection unit 12, the position and attitude of the own vehicle 20 detected by the attitude detection unit 13, and the like. The left and right detection timing of the own vehicle 20 is determined. As shown in FIG. 23A, for example, when the own vehicle 20 goes straight from the current position, the timing determination unit 14 causes the surrounding condition sensor 3 to move in the traveling directions of the left boundary point P11, the right boundary point P12, and the traveling road R1. The matching position P0 is determined as the left and right detection timing.

When the positions of the left side boundary point P11 and the right side boundary point P12 are deviated in the traveling direction of the traveling road R1, the timing determination unit 14 sets the position of the surrounding condition sensor 3 to the left side boundary point P11 and the right side boundary point P12. The position on the connecting straight line, the position on one of the two straight lines passing through the left boundary point P11 and the right boundary point P12 and parallel to the width direction of the road R, and the like may be determined as the left and right detection timings. ..

Further, when the own vehicle 20 advances from the position shown in FIG. 23A, the left and right situations of the intersection behind the position of the surrounding situation sensor 3 do not enter the detection area A0 of the surrounding situation sensor 3. come. Further, depending on the type of the surrounding condition sensor 3 and the position where the sensor 3 is provided, occlusion (vignetting by the front bumper) due to the vehicle body of the own vehicle 20 may occur.

In such a case, as shown in FIG. 23B, for example, when the own vehicle 20 goes straight from the current position, the surrounding condition sensor 3 determines the left boundary point P11 and the right boundary point P12. The position P0 in front of the position P3 that coincides with the traveling direction of the traveling road R1 by a predetermined distance D1 may be determined as the left / right detection timing.

Further, as shown in FIG. 24, for example, when the angle θ formed by the ambient condition sensor 3 and the left boundary point P11 and the right boundary point P12 is equal to or greater than a predetermined threshold value (for example, 90 °). The position P0 of the own vehicle 20 may be determined as the left / right detection timing.

The image generation unit 16 shown in FIG. 1 is detected by the occupant on the left and right sides by using the surrounding conditions including the front of the own vehicle 20 detected by the surrounding condition sensor 3 and the left and right detection timings determined by the timing determination unit 14. An image showing the left and right detection timing is generated so that the timing can be recognized.

As shown in FIG. 25, for example, the image generation unit 16 generates an image I0 showing the situation in front of the own vehicle 20 detected by the surrounding condition sensor 3 and the left / right detection timing P0. After the own vehicle 20 reaches the left / right detection timing P0, the image generation unit 16 further uses the surrounding conditions including the left and right conditions at the intersection detected by the surrounding condition sensor 3, as shown in FIG. 26, at the intersection. Generates an image I0 that includes the situation in front of and the situation on the left and right. In FIG. 26, the other vehicle 21 on the left side of the intersection is highlighted by surrounding it with the frame line M1.

The other configuration and the driving support method of the driving support device according to the second embodiment of the present invention are the same as the driving support device and the driving support method according to the first embodiment of the present invention.

According to the second embodiment of the present invention, as in the first embodiment of the present invention, when the own vehicle 20 enters the intersection, the road shape of the intersection and the position and attitude of the own vehicle 20 are determined. The left-right sensor 31 and the right-side sensor 32 are used to teach the occupant the left-right detection timing P0 of the own vehicle 20 when the left-right situation at the intersection can be detected in advance. If the left and right detection timing P0 of the own vehicle 20 is taught to the occupant, the occupant can easily perceive the timing when the left and right conditions at the intersection can be detected in advance by the left side sensor 31 and the right side sensor 32.

Therefore, the occupant can confirm the image displayed on the display unit 6 without overlooking it at an early stage while the left and right situations at the intersection cannot be visually recognized with the naked eye. After that, after it becomes visible to the naked eye, the confirmation of the display unit 6 can be stopped, and the actual scenery can be visually confirmed to confirm the left and right situations at the intersection.

Further, by detecting the position and posture of the own vehicle 20 and determining the left and right detection timing using the position and posture of the own vehicle 20, the left and right detection timing P0 according to the position and posture of the own vehicle 20 is determined. Can be done.

Further, by displaying the image I0 indicating the left and right detection timing, or by teaching the left and right detection timing P0 by voice so as to shorten the intermittent sound as the left and right detection timing P0 approaches, the left side sensor 31 and the right side sensor 32 make an intersection. It is possible to easily make the occupant perceive the timing when the left and right situations in the above can be detected in advance.

Further, as the width of the traveling road R1 until approaching the intersection is narrower or the speed of the own vehicle 20 is higher, the position at which the left and right detection timing P0 starts to be taught to the occupants is set in front (earlier). It is possible to start teaching the timing when the left and right sensors 31 and the right sensor 32 can detect the left and right situations at the intersection in advance at an appropriate timing according to the width of the traveling road R1 or the speed of the own vehicle 20.

(Other embodiments)
As mentioned above, the present invention has been described by the first and second embodiments, but the statements and drawings that form part of this disclosure should not be understood to limit the invention. Various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art from this disclosure.

For example, in the first and second embodiments of the present invention, a T-junction is exemplified as an intersection, but the intersection may be a portion where two or more roads intersect with each other, and a three-way junction such as a Y-shaped road may be used. Or, it may be a four-way junction such as a crossroad.

Further, although the teaching unit 15 exemplifies the case where the left and right detection timings P0, P1 and P2 are taught to the occupant by displaying the display on the display unit 6 or emitting a warning sound by the speaker 5, the occupant by other means. You may teach to. For example, it may be a tactile instruction such as vibrating an actuator embedded in the steering wheel, or the left and right detection timings P0, P1 and P2 themselves are not displayed by causing the light emitting portion embedded in the steering wheel to emit light. May be taught visually.

Further, the timing determination unit 14 is a position where the left and right sensors 31 and the right side sensor 32 can detect the left and right situations at the intersection, which cannot be visually recognized by the occupant's seat, in advance, that is, the left side sensor 31 and the right side sensor. The start of the section that can be detected in advance by 32 is determined as the left and right detection timings (primary left and right detection timings) P0, P1, P2, but further, the position that can be visually recognized by the occupant from the occupant's seat, that is, the left side. The end of the section that can be detected in advance by the sensor 31 and the right side sensor 32 may be determined as the secondary left / right detection timing.

For example, the position when the position of the passenger seat of the own vehicle 20 comes on the straight line connecting the left side boundary point and the right side boundary point can be determined as the secondary left / right detection timing. The teaching unit 15 also teaches the occupant the secondary left / right detection timing, so that the occupant easily perceives that the section in which the display of the display unit 6 is effective has ended, and confirms the display unit 6 at an appropriate timing. You can stop and pay attention to the real landscape.

Further, in the first and second embodiments of the present invention, the case where both the left side boundary point and the right side boundary point are detected when there are shields on both the left and right sides is illustrated, but the left side boundary point and the right side are not necessarily specified. It is not necessary to detect both boundary points. That is, either the left side boundary point or the right side boundary point is detected, and the detected left side boundary point or right side boundary point is used to detect left and right so that the detected left side boundary point side or right side boundary point side can be detected. The timing may be determined.

As described above, it goes without saying that the present invention includes various embodiments not described here. Therefore, the technical scope of the present invention is defined only by the matters specifying the invention relating to the reasonable claims from the above description.

1 ... Control device 2 ... Own vehicle position acquisition unit 3 ... Surrounding condition sensor 4 ... Vehicle speed sensor 5 ... Speaker 6 ... Display unit 7 ... Logical operation processing device 8 ... Storage device 11 ... Intersection determination unit 12 ... Boundary detection unit 13 ... Attitude Detection unit 14 ... Timing determination unit (detectable position determination unit)
15 ... Teaching unit 16 ... Image generation unit 17 ... Moving object detection unit 20 ... Own vehicle 30 ... Front sensor 31 ... Left side sensor 32 ... Right side sensor 41, 42 ... Shield 51-54 ... White line 61, 62 ... Guardrail

Claims (10)

A display that detects the left and right conditions of the intersection when the own vehicle enters the intersection by the surrounding condition sensor provided in front of the passenger seat of the own vehicle, and displays an image including the left and right conditions of the intersection. In the driving support method with a part,
When the own vehicle enters the intersection, a step of detecting the road shape of the intersection and
A step of determining the timing at which the left and right conditions of the intersection can be detected by the surrounding condition sensor based on the road shape of the intersection.
The step of teaching the determined timing to the occupants and
After the own vehicle has passed the determined timing, the horizon of the intersection road that intersects with the traveling direction of the own vehicle at the intersection is detected, and based on the detected horizon , the left slope of the intersection road and the left slope of the intersection road and The right side slope is calculated, and based on the calculated left side slope and right side slope, the surrounding condition sensor toward the left side and the right side of the intersection road is turned upward with respect to the uphill slope of the intersection road. A driving support method including a step of adjusting the height direction of an image including the left and right situations of the intersection displayed on the display unit by adjusting the downward slope downward . The step of determining the timing is
Detecting the position and posture of the own vehicle,
The driving support method according to claim 1, wherein the timing is determined by using the position and posture of the own vehicle and the detected road shape. The step of determining the timing is
The first position of the own vehicle when the situation on the left side of the intersection can be detected by the surrounding condition sensor, and the second position of the own vehicle when the situation on the right side of the intersection can be detected. Calculate each
The driving support method according to claim 1 or 2, wherein one of the first and second positions closer to the current position of the own vehicle is determined as the timing. The step of determining the timing is
The left boundary position and the right boundary position of the intersection are detected, respectively, and
The driving support method according to claim 1 or 2, wherein a straight line connecting the left side boundary position and the right side boundary position is determined as the timing. The step of determining the timing is
The driving support method according to claim 1 or 2, wherein the timing is determined based on the shape of a sidewalk or a guardrail along an intersection road at the intersection. The step of teaching the occupant the timing is
Generate an image showing the timing
The driving support method according to any one of claims 1 to 5, wherein the generated image is displayed on the display unit. The step of teaching the occupant the timing is
The driving support method according to any one of claims 1 to 6, wherein the timing is taught by a warning sound of a speaker. The step of teaching the occupant the timing is
The driving support method according to any one of claims 1 to 7, wherein the narrower the width of the road on which the own vehicle is traveling in front of the intersection, the earlier the teaching of the timing is started. The step of teaching the occupant the timing is
The driving support method according to any one of claims 1 to 8, wherein the higher the speed of the own vehicle, the earlier the teaching of the timing is started. An ambient condition sensor that is provided in front of the passenger seat of the own vehicle and detects the road shape of the intersection and the left and right conditions of the intersection when the own vehicle enters the intersection.
A timing determination unit that determines the timing at which the left and right conditions of the intersection can be detected using the detected road shape.
A teaching unit that teaches the determined timing to the occupants,
A display unit that displays an image including the left and right situations of the detected intersection, and
After the own vehicle has passed the determined timing, the horizon of the intersection road that intersects with the traveling direction of the own vehicle at the intersection is detected, and based on the detected horizon , the left slope of the intersection road and the left slope of the intersection road and The right side slope is calculated, and based on the calculated left side slope and right side slope, the surrounding condition sensor toward the left side and the right side of the intersection road is turned upward with respect to the uphill slope of the intersection road. A driving support device including an image generation unit that adjusts the height direction of an image including the left and right situations of the intersection displayed on the display unit by adjusting the downward slope downward .

Images