JP6984118B2 - Driving support device - Google Patents

Description

The present invention relates to a driving support device that detects a driving state of a vehicle, a state around the vehicle, and the like, and supports the driving of the driver of the vehicle based on the detection results.

Currently, various electric and electronic devices are mounted on the vehicle, and the position, running state, surrounding state, etc. of the vehicle are detected by these devices, and the driving of the driver of the vehicle is supported based on these detection results. The technology is known. For example, a technology that detects the position of a vehicle by using a GPS (Global Positioning System) receiver, angular velocity sensor, vehicle speed sensor, etc., displays the position of the vehicle on a map image, and informs the driver of the position of the vehicle. Are known. Further, there is known a technique of detecting an object existing around a vehicle by an image pickup device, an ultrasonic sensor, a millimeter wave radar, or the like, and notifying the driver that the vehicle is approaching the object. Further, Patent Document 1 below describes a technique of detecting a distance to an obstacle in front of a vehicle and controlling a wheel driving force of the vehicle based on the detection result.

Japanese Unexamined Patent Publication No. 2-212231

By the way, as described below, traffic congestion may occur in the vicinity of an intersection due to the unscrupulous driving attitude of the driver of the vehicle.

For example, on a road with one lane on each side, one lane is added to the lane on the side entering the intersection near the intersection, the original lane becomes a straight left turn lane that allows straight and left turns, and the added lane is only a right turn. May be the allowed right turn lane. Furthermore, a staggered traffic light provided at an intersection may regulate the period during which only a straight left turn lane can travel and the period during which only a right turn lane can travel.

When a vehicle trying to turn right at such an intersection approaches the intersection during a period when only the straight left turn lane is available, the driver of this vehicle will not be able to make a right turn anyway, so he will make a straight left turn ahead. Even though both the lane and the right turn lane are busy, the vehicle may slow down significantly before entering the right turn lane. Since such a low-speed vehicle blocks the straight left turn lane, it hinders the traveling of the rear vehicle trying to go straight or turn left at the intersection. As a result, traffic congestion may occur near the intersection.

Also, when a vehicle trying to go straight or turn left at the above intersection approaches the intersection during the period when only the right turn lane can travel, this vehicle will not be able to go straight or turn left immediately, so go straight ahead and turn left. Even though the lane is low, the speed of the vehicle may be significantly reduced from the position before the lane is divided into a straight left turn lane and a right turn lane. Such a low-speed vehicle blocks the route for the rear vehicle to enter the right turn lane, which hinders the traveling of the rear vehicle trying to turn right at the intersection. As a result, traffic congestion may occur near the intersection.

Moreover, since such low-speed driving is caused by the driver's unscrupulous attitude toward driving, it is difficult to predict the traffic congestion caused by the driver's unscrupulous attitude. As a result, such low-speed driving may cause a large discrepancy between the traffic congestion prediction at an intersection and the actual traffic congestion at an intersection, for example, by a road traffic information center or the like.

Therefore, it is desired that the driver of the vehicle traveling near the intersection be assisted in driving so as not to cause traffic congestion due to the low-speed traveling as described above.

In addition, in order to provide such driving assistance, it is necessary to detect that the vehicle is traveling at low speed in the vicinity of the intersection even though the straight left turn lane or the right turn lane ahead is busy. .. However, it is difficult to realize such detection at low cost.

The present invention has been made in view of, for example, the above-mentioned problems, and an object of the present invention is driving support capable of inexpensively suppressing traffic congestion in the vicinity of an intersection caused by a driver's unscrupulous driving attitude. To provide the equipment.

In order to solve the above problems, the first driving support device of the present invention includes a vehicle position detection unit that detects the position of the vehicle, a vehicle speed detection unit that detects the speed of the vehicle, and the vehicle speed detection unit. The object detection unit is provided with an object detection unit that detects an object existing around the vehicle, an output unit that outputs a voice, an image, or a text that prompts the driver of the vehicle to accelerate the vehicle, and a control unit. The unit transmits detection waves to a camera that captures the surroundings of the vehicle and an image processing device that has an image processing device that detects an object existing around the vehicle from the captured image captured by the camera. The object is detected by receiving the reflected wave from the object of the detection wave, and the transmission type object detection unit having a detection limit distance of 6 m is provided, and the control unit is detected by the own vehicle position detection unit. It is determined whether or not the own vehicle has approached the intersection based on the position of the own vehicle, and whether or not the speed of the own vehicle detected by the own vehicle speed detection unit is equal to or less than a predetermined speed reference value. It is determined whether or not the vehicle in front of the own vehicle is detected by the image pickup unit, and whether or not the vehicle in front of the own vehicle is detected by the transmission type object detection unit. As a result, the own vehicle is approaching the intersection, the speed of the own vehicle is equal to or lower than the speed reference value, the front vehicle is detected by the image pickup unit, and the front vehicle is detected by the transmission type object detection unit. Is not detected, the voice, image or text is output via the output unit.
Further, the second driving support device of the present invention exists around the own vehicle, the own vehicle position detection unit that detects the position of the own vehicle, the own vehicle speed detection unit that detects the speed of the own vehicle, and the own vehicle. The object detection unit includes an object detection unit that detects an object, an output unit that outputs a voice, an image, or a text that prompts the driver of the vehicle to accelerate the vehicle, and a control unit. The object detection unit is the vehicle. wherein from the captured photographed image by the camera and the camera images the surroundings and an image processing apparatus for detecting an object existing around the vehicle, object distance from the own vehicle is present at the position of 1 00m The control unit includes an image pickup unit capable of detecting the presence / absence and type of the vehicle, and an ultrasonic sensor, and the control unit places the vehicle at an intersection based on the position of the vehicle detected by the vehicle position detection unit. It is determined whether or not the vehicle is approaching, whether or not the speed of the own vehicle detected by the own vehicle speed detection unit is equal to or less than a predetermined speed reference value, and the image pickup unit determines whether or not the vehicle is in front of the own vehicle. It is determined whether or not the vehicle is detected, and whether or not the vehicle in front is detected by the ultrasonic sensor. As a result of these determinations, the vehicle is approaching the intersection and the vehicle is located. When the speed of the vehicle is equal to or less than the speed reference value, the vehicle in front is detected by the image pickup unit, and the vehicle in front is not detected by the ultrasonic sensor, the voice, image, or text is transmitted through the output unit. Output.

According to the present invention, it is possible to inexpensively suppress traffic congestion in the vicinity of an intersection caused by the driver's unscrupulous driving attitude.

It is a block diagram which shows the structure of the driving support device of the Example of this invention. It is explanatory drawing which shows the state of the road in the vicinity of an intersection. It is explanatory drawing which shows the other state of the road in the vicinity of an intersection. It is a flowchart which shows the driving support processing in the driving support device of the Example of this invention. It is a flowchart following FIG. It is a flowchart which shows the inter-vehicle distance determination process in the driving support device of the Example of this invention.

The driving support device of the embodiment of the present invention exists in the vicinity of the own vehicle, the own vehicle position detection unit that detects the position of the own vehicle (own vehicle), the own vehicle speed detection unit that detects the speed of the own vehicle, and the own vehicle. It is provided with an object detection unit that detects an object to be driven, an output unit that outputs a voice, an image, a text, or a vibration that urges the driver of the vehicle to accelerate the vehicle, and a control unit. The object detection unit has an imaging unit that images the surroundings of the vehicle, and a detection limit distance range from the vehicle around the vehicle by transmitting a detection wave and receiving a reflected wave from the object of the detection wave. It is equipped with a transmission type object detection unit that detects an object existing inside. The control unit (1) detects that the position of the vehicle is close to the intersection by the vehicle position detection unit, and (2) the speed of the vehicle is equal to or less than the predetermined speed reference value by the vehicle speed detection unit. And (3) the vehicle in front of the own vehicle is imaged by the image pickup unit and is not detected by the transmission type object detection unit, the output unit outputs the above-mentioned voice, image, text or vibration .

According to the driving support device of the embodiment of the present invention, as described above, when the own vehicle trying to turn right at the intersection approaches the intersection during a period in which only the straight left turn lane can travel, the driving of the own vehicle If a person drops the speed of the vehicle below the speed reference value before entering the right turn lane even though both the straight left turn lane and the right turn lane are busy ahead, the vehicle accelerates from the output section. A voice, image, text or vibration is output to prompt the driver. Also, as mentioned above, when the vehicle trying to go straight or turn left at the intersection approaches the intersection during the period when only the right turn lane is available, the driver of the vehicle will pass the straight left turn lane ahead. However, if the speed of the vehicle is reduced below the speed reference value from the position before the lane is divided into the straight left turn lane and the right turn lane, the output unit prompts the vehicle to accelerate. Text or vibration is output. The driver of the vehicle increases the speed of the vehicle in response to voice, image, text or vibration that prompts the vehicle to accelerate , resulting in low-speed driving based on the driver's unscrupulous driving attitude as described above. Traffic congestion at intersections can be suppressed.

Further, the driving support device according to the embodiment of the present invention is used when the driver of the own vehicle is traveling at a low speed even though the straight left turn lane or the right turn lane ahead is busy near the intersection . Output voice, image, text or vibration that encourages acceleration. In this process, the straight left or right turn lane in front of the vehicle is clear in determining whether to output audio, images, text or vibrations that encourage acceleration of the vehicle, that is, the vehicle and its use. The condition is that the vehicle is far away from the vehicle in front. The driving support device according to the embodiment of the present invention determines that the vehicle in front of the vehicle and the vehicle in front thereof are largely separated from each other when the vehicle in front of the vehicle is imaged by the image pickup unit and is not detected by the transmission type object detection unit. .. By adopting such a determination method, a driving support device can be realized at low cost.

That is, the determination method can be carried out by using an image pickup device such as a camera as the image pickup unit and using, for example, an ultrasonic sensor or a laser radar having a short detection limit distance as the transmission type object detection unit. Specifically, the image pickup apparatus can generally take an image of both a vehicle in front that is close to the vehicle and a vehicle in front that is far away from the vehicle. On the other hand, ultrasonic sensors generally have a short detection limit. Therefore, ultrasonic sensors and laser radars with a short detection limit can detect vehicles in front that are close to the vehicle, but cannot detect vehicles in front that are far from the vehicle. When an image pickup device is used as an image pickup unit and an ultrasonic sensor or a laser radar with a short detection limit is used as a transmission type object detection unit, when the own vehicle and the vehicle in front are close to each other, the vehicle in front of the image is imaged. The image is taken by the unit, and at the same time, it is detected by the transmission type object detection unit. On the other hand, when the own vehicle and the vehicle in front are far apart from each other, the vehicle in front is imaged by the image pickup unit, but is not detected by the transmission type object detection unit. Therefore, by using an image pickup device as the image pickup unit and using an ultrasonic sensor or a laser radar with a short detection limit distance as the transmission type object detection unit, the vehicle in front of the own vehicle is imaged by the image pickup unit, and the transmission type object detection unit is used. It can be determined that the own vehicle and the vehicle in front are far apart from each other because the vehicle is not detected by the above. By the way, in general, devices used for detecting an object existing around a vehicle include an image pickup device, an ultrasonic sensor, a laser radar, a millimeter wave radar, and the like. Of these devices, image pickup devices, ultrasonic sensors, and laser radars with a short detection limit are cheaper than millimeter-wave radars or laser radars with a long detection limit. Therefore, by using an image pickup device as an image pickup unit and using an ultrasonic sensor or a laser radar having a short detection limit distance as a transmission type object detection unit, a driving support device can be realized at low cost. However, if there is an inexpensive millimeter-wave radar with a short detection limit distance, it may be adopted.

FIG. 1 shows the configuration of the driving support device 1 according to the embodiment of the present invention. In FIG. 1, the driving support device 1 is a device mounted on the own vehicle to support the driving of the driver of the own vehicle. The driving support device 1 includes a GPS receiver 11, an angular velocity sensor 12, and a vehicle speed sensor 13 as a vehicle position detection unit that detects the position of the vehicle. Further, the driving support device 1 includes, for example, a storage unit 14 having a flash memory or the like, and map data is stored in the storage unit 14. The driving support device 1 is based on satellite navigation positioning using the position information of the own vehicle obtained from the GPS receiver 11 and autonomous navigation using the traveling information of the own vehicle obtained from the angular speed sensor 12 and the vehicle speed sensor 13. The position of the own vehicle is detected by positioning and map matching performed using the map data stored in the storage unit 14. The vehicle speed sensor 13 also functions as a vehicle speed detection unit that detects the speed of the vehicle.

Further, the driving support device 1 includes an image pickup device 15 and an ultrasonic sensor 16 as an object detection unit for detecting an object existing around the own vehicle (front, rear, left, right, road surface, etc.). The image pickup device 15 is a specific example of the image pickup unit, and the ultrasonic sensor 16 is a specific example of the transmission type object detection unit.

The image pickup device 15 is a device that takes an image of the surroundings of the own vehicle and detects (image recognition) an object existing around the own vehicle from the captured image. The image pickup apparatus 15 includes, for example, a camera and an image processing apparatus. According to the image pickup apparatus 15, not only the existence or nonexistence of the object can be recognized, but also the type of the object (automobile four-wheeled vehicle, saddle-mounted vehicle, human being, etc.) can be identified. Further, according to the image pickup device 15, it is possible to recognize the lane, the sign, the state of the traffic light (lighting, blinking of red, blue, yellow, arrow, etc.) in which the own vehicle is traveling. Further, according to the image pickup apparatus 15, it is possible to detect both an object existing at a position close to the own vehicle and an object existing at a position far away from the own vehicle around the own vehicle. For example, the image pickup device 15 can recognize the existence and type of an object existing at a position of about 0.5 m to 100 m from the own vehicle. However, the image pickup device 15 cannot measure the distance between the own vehicle and the object with high accuracy.

On the other hand, the ultrasonic sensor 16 is a device that detects an object existing around the own vehicle by transmitting an ultrasonic wave as a detection wave and receiving a reflected wave from the ultrasonic object. Although the ultrasonic sensor 16 can detect the presence or absence of an object, it cannot identify the type of the object with high accuracy. Further, the ultrasonic sensor 16 can measure the distance between the own vehicle and the object with high accuracy. Further, although the ultrasonic sensor 16 can detect an object existing at a position close to the own vehicle, it cannot detect an object existing at a position far away from the own vehicle. That is, the ultrasonic sensor 16 has a detection limit distance of, for example, about 6 m, which indicates how far an object can be detected from the own vehicle. Specifically, the ultrasonic sensor 16 can detect an object existing within a range of about 6 m from the own vehicle, but can detect an object existing at a position more than about 6 m away from the own vehicle. Can not.

Further, the driving support device 1 includes a direction instruction operation sensor 19 as a lane change detection unit for detecting a lane change of the own vehicle. The direction instruction operation sensor 19 detects, for example, the operation of the direction indicator performed before the driver changes lanes. According to the turn signal operation sensor 19, it is possible to recognize that the own vehicle changes lanes to the left or right lane before the lane change is actually performed. Regarding the lane change (change of course) of the own vehicle, the steering wheel operation precedes the direction instruction operation, and the direction instruction operation may be delayed while the lane change is being performed at a slow speed. is assumed. Even in such a case, in order to be able to detect the lane change of the own vehicle at an early stage, the steering wheel steering angle sensor 20 for detecting the turning angle of the steering wheel may be provided as the lane change detecting unit.

Further, the driving support device 1 is provided with a speaker 21 as an output unit for outputting a sound prompting the driver of the own vehicle to accelerate the vehicle, and outputs an image or a text prompting the driver of the own vehicle to accelerate the vehicle. The display 22 is provided as an output unit, and the vibrator 23 is provided as an output unit that outputs vibrations that urge the driver of the own vehicle to accelerate the own vehicle. The speaker 21 and the display 22 are attached to, for example, an instrument panel in the driver's cab of the own vehicle. Further, the vibrator 23 is attached to, for example, the steering wheel of the own vehicle, the driver's seat, or the like. When the vibrator 23 vibrates, the steering wheel, the driving seat, and the like vibrate accordingly, so that the driver can recognize the vibration of the vibrator 23.

Further, the driving support device 1 includes a CPU (Central Processing Unit) 25 as a control unit for controlling the output of voice, image (or text), and vibration that promote acceleration of the own vehicle. The CPU 25 controls the output of voice, image (or text), and vibration that promote acceleration of the own vehicle by reading and executing a computer program stored in the storage unit 14, for example.

In the driving support device 1 having such a configuration, the vehicle in front of the vehicle is greatly separated from the vehicle in the vicinity of the intersection due to the unscrupulous driving attitude of the driver of the vehicle or the violation of manners. Nevertheless, when driving at low speed and hindering the driving of the vehicle behind, the driver of the vehicle is output voice, image (or text), and vibration to encourage the vehicle to accelerate. Provide driving support such as encouraging your vehicle to accelerate. Hereinafter, the voice, the image (or text), and the vibration prompting the acceleration of the own vehicle are referred to as "the voice prompting the acceleration of the own vehicle".

2 and 3 show the condition of the road near the intersection. With reference to FIGS. 2 and 3, the case of outputting a sound or the like to prompt the case of outputting a sound like the driving support device 1 prompts the acceleration of the vehicle relative to the vehicle driver, and the acceleration of the vehicle The case where the situation similar to that of the above is formed but the voice or the like for accelerating the acceleration of the own vehicle is not output will be described.

First, the matters common to each of the cases described below will be described. As shown in FIG. 2, the road 31 is a road with two lanes on each side. On this road 31, one lane is added to the lane on the side entering the intersection 32 in the vicinity of the intersection 32. In the vicinity of the intersection 32, the left lane becomes the straight left turn lane 33 where straight and left turns are allowed, the center lane becomes the straight lane 34 where only straight ahead is allowed, and the added right lane is only right turn. Is allowed to turn right in lane 35.

Further, a staggered traffic light 36 is provided at the intersection 32, and the period during which only the straight left turn lane 33 and the straight lane 34 can travel is different from the period during which only the right turn lane can travel due to the staggered traffic light 36. Is regulated. That is, as shown in FIG. 2, there are A, B, and C in the state of the staggered traffic light 36. The state A is a state in which the red lamp, the blue left-pointing arrow lamp, and the blue up-arrow lamp are lit. During the period of state A, the straight left turn lane 33 and the straight lane 34 can proceed, and the right turn lane 35 cannot proceed. Further, the state B is a state in which the red lamp and the blue right-pointing arrow lamp are lit. During the period of state B, the right turn lane 35 can proceed, and the straight left turn lane 33 and the straight lane 34 cannot proceed. Further, the state C is a state in which only the red lamp is lit. During the period of state C, none of the straight-ahead left turn lane 33, the straight-ahead lane 34, and the right-turn lane 35 can proceed. Although illustration and description are omitted, there is also a state in which the yellow lamp is lit in the state of the staggered traffic light 36.

Now let's talk about each case. First, in the first case, low-speed driving was performed near the intersection 32 on the road 31 with two lanes on each side due to the unscrupulous driving attitude of the driver of the own vehicle 41 trying to turn right. That is, in the first case, as shown in FIG. 2, the own vehicle 41 approached the intersection 32 in an attempt to turn right at the intersection 32, but the time point was the period of the state A in which the right turn lane could not proceed. Therefore, the driver of the own vehicle 41 cannot turn right immediately anyway, so he / she may drive slowly, and therefore, between the front vehicle 42 traveling in the straight lane 34 and the own vehicle 41. , And, despite the fact that the vehicle 43 ahead and the vehicle 41 traveling in the right turn lane 35 are far apart from each other, the speed of the vehicle 41 is significantly reduced before entering the right turn lane 35, and the vehicle travels at low speed. It is carried out. As a result, the own vehicle 41 blocks the straight lane 34 and hinders the traveling of the rear vehicle 45 trying to go straight at the intersection 32. In such a first case, the driving support device 1 outputs a voice or the like urging the driver of the own vehicle 41 to accelerate the own vehicle 41, and prompts the driver of the own vehicle 41 to accelerate. As a result, it is possible to suppress traffic congestion at the intersection 32 caused by low-speed driving based on the unscrupulous driving attitude of the driver of the own vehicle 41.

Next, in the second case, low-speed driving was performed near the intersection 32 on the road 31 with two lanes on each side due to the unscrupulous driving attitude of the driver of the own vehicle 41 trying to go straight. That is, in the second case, as shown in FIG. 2, although the own vehicle 41 approached the intersection 32 in an attempt to go straight through the intersection 32, the time point was the period of the state B in which the straight lane could not proceed. Therefore, the driver of the own vehicle 41 cannot go straight immediately anyway, so he / she may drive slowly. Therefore, between the front vehicle 42 traveling in the straight lane 34 and the own vehicle 41. However, the speed of the own vehicle 41 is significantly reduced from the position before the lane is divided into the straight lane 34 and the right turn lane 35, and the vehicle is traveling at a low speed. As a result, the own vehicle 41 blocks the route for the rear vehicle 45 to enter the right turn lane 35, and hinders the traveling of the rear vehicle 45 trying to turn right at the intersection 32. Even in such a second case, the driving support device 1 outputs a voice or the like prompting the driver of the own vehicle 41 to accelerate the own vehicle 41, and prompts the driver of the own vehicle 41 to accelerate. As a result, it is possible to suppress traffic congestion at the intersection 32 caused by low-speed driving based on the unscrupulous driving attitude of the driver of the own vehicle 41.

Next, in the third case, the vehicle 41 cannot enter the right turn lane 35 because the right turn lane 35 is congested near the intersection 32 on the road 31 with two lanes on each side. Was done. That is, in the third case, as shown in FIG. 3, the own vehicle 41 approached the intersection 32 in an attempt to turn right at the intersection 32, but the right turn lane 35 was congested. Therefore, the driver of the own vehicle 41 is unavoidably forced to enter the own vehicle before entering the right turn lane 35, even though the front vehicle 42 traveling in the straight lane 34 and the own vehicle 41 are far apart from each other. The speed of 41 is drastically reduced, and the vehicle is running at low speed. As a result, the own vehicle 41 blocks the straight lane 34 and hinders the traveling of the rear vehicle 45 trying to go straight at the intersection 32. In such a third case, the driving support device 1 does not output a voice or the like urging the driver of the own vehicle 41 to accelerate the own vehicle. As a result, it is possible to prevent the driver of the own vehicle 41, which is unavoidably traveling at a low speed, from outputting a voice or the like urging the driver of the own vehicle to accelerate.

Next, in the fourth case, low-speed traveling was performed because there was a vehicle 46 trying to cut in front of the own vehicle 41 near the intersection 32 on the road 31 with two lanes on each side. Is. That is, in the fourth case, as shown in FIG. 3, although the own vehicle 41 approaches the intersection 32 in an attempt to go straight through the intersection 32, the lane is from the straight left turn lane 33 to the straight lane 34 in front of the left front of the own vehicle 41. There was a vehicle 46 that was about to be changed. Therefore, in order to allow the driver of the own vehicle 41 to interrupt the vehicle 46 in front of the own vehicle 41, the front vehicle 42 traveling in the straight lane 34 and the own vehicle 41 are largely separated from each other. Nevertheless, the speed of the own vehicle 41 is significantly reduced from the position before the lane is divided into the straight lane 34 and the right turn lane 35, and the vehicle is traveling at a low speed. As a result, the own vehicle 41 blocks the route for the rear vehicle 45 to enter the right turn lane 35, and hinders the traveling of the rear vehicle 45 trying to turn right at the intersection 32. In such a fourth case, the driving support device 1 does not output a voice or the like urging the driver of the own vehicle 41 to accelerate the own vehicle. As a result, it is possible to prevent the driver who is about to give way from being output a voice or the like urging the driver to accelerate the vehicle.

Next, in the fifth case, a saddle-type vehicle 47 approaching from behind the own vehicle 41 overtakes the own vehicle 41 and is traveling at a low speed near the intersection 32 on the road 31 with two lanes on each side. There is a risk of interrupting the front of the car 41. That is, in the fifth case, under the same circumstances as in the second case, the driver of the own vehicle has a large distance between the front vehicle 42 and the own vehicle 41 traveling in the straight lane 34. Regardless of this, the speed of the own vehicle 41 is significantly reduced from the position before the lane is divided into the straight lane 34 and the right turn lane 35, and the vehicle is traveling at a low speed. As a result, the own vehicle 41 blocks the route for the rear vehicle 45 to enter the right turn lane 35, and hinders the traveling of the rear vehicle 45 trying to turn right at the intersection 32. In addition to this, in the fifth case, as shown in FIG. 3, the saddle-type vehicle 47 is approaching from the rear of the own vehicle 41, and the saddle-type vehicle 47 overtakes the own vehicle 41 to own the vehicle. There is a possibility of interrupting the front of 41. In such a fifth case, the driving support device 1 does not output a voice or the like urging the driver of the own vehicle 41 to accelerate the own vehicle. As a result, it is possible to avoid the danger of the own vehicle 41 accelerating in response to the voice prompting the acceleration of the own vehicle and the saddle-mounted vehicle 47 interrupting the front of the own vehicle 41 to collide.

4 and 5 show the driving support process of the driving support device 1. The driving support device 1 repeatedly executes the driving support processing shown in FIGS. 4 and 5 while the power of the own vehicle is on. In the driving support process, the CPU 25 of the driving support device 1 first determines whether or not the own vehicle has approached the intersection (step S1). For example, when the vehicle reaches a position approximately 3m to 10m away from the position where the right turn lane is branched and added to the lane on the road on which the vehicle is traveling, the CPU 25 is used. , Judge that the own vehicle has approached the intersection. Further, in order to determine whether or not the own vehicle has approached the intersection, for example, the position of the own vehicle is detected by using the GPS receiver 11, the angular velocity sensor 12, the vehicle speed sensor 13, and the like, and the detected position and map of the own vehicle. This is done by comparing the location of the intersection recorded in the data. If the own vehicle is not close to the intersection (step S1: NO), the CPU 25 ends the driving support process. After that, the driving support process is immediately executed from the first step.

When the own vehicle approaches the intersection (step S1: YES), the CPU 25 subsequently determines whether or not the vehicle is behind the own vehicle (step S2). For example, when the vehicle is traveling within about 100 m behind the own vehicle, the CPU 25 determines that the vehicle is behind the own vehicle. Further, the determination as to whether or not the vehicle exists behind the own vehicle is performed based on the captured image obtained from the image pickup device 15 and the detection signal obtained from the ultrasonic sensor 16. If there is no vehicle behind the own vehicle (step S2: NO), the CPU 25 ends the driving support process. After that, the driving support process is immediately executed from the first step. If there is no vehicle behind the vehicle, there is almost no possibility that traffic congestion will occur even if the vehicle travels at low speed near the intersection. According to the process of step S2, although there is almost no possibility of traffic congestion as described above, it is possible to prevent the driver of the own vehicle from outputting a voice or the like urging the driver of the own vehicle to accelerate. be able to.

When the vehicle is behind the vehicle (step S2: YES), the CPU 25 subsequently determines whether the speed of the vehicle is 0 km or less than the speed reference value based on the vehicle speed information obtained from the vehicle speed sensor 13, for example. It is determined whether or not (step S3). Specifically, the speed reference value is set to 10 km or less, for example, 10 km. By setting the speed reference value in this way, the case where the vehicle stops near the intersection, the case of driving slowly, and the case of creep driving can be included in the target for outputting the voice prompting the acceleration of the vehicle. This makes it possible to enhance the effect of suppressing traffic congestion near intersections due to low-speed driving. If the speed of the own vehicle is not equal to or less than the speed reference value (step S3: NO), the CPU 25 ends the driving support process. After that, the driving support process is immediately executed from the first step.

When the speed of the own vehicle is 0 km or less than or equal to the speed reference value (step S3: YES), the CPU 25 subsequently performs an inter-vehicle distance determination process (step S4). The inter-vehicle distance determination process is a process for determining whether or not the own vehicle is significantly far from the vehicle in front. Specifically, in the inter-vehicle distance determination process, it is determined whether or not the distance between the own vehicle and the vehicle in front is larger than about 6 m. The grounds for setting the standard value for determining the correctness of the judgment to about 6 m are as follows. It is desirable to set the reference value to the total length of an ordinary passenger car (for example, assuming an ordinary passenger car with a large displacement) plus the distance between the front and rear vehicles at an intersection. For example, assuming that the approximate average value of the total length of an ordinary passenger car is 5 m and the distance between vehicles traveling at a reduced speed near the intersection is at least 0.5 m, the total length of the ordinary passenger car is in front of the intersection. , The value including the distance between the following vehicles is 6m. Therefore, the reference value should be set to 6 m. If the vehicle and the vehicle in front are separated by more than 6 m, it can be considered that the traffic congestion behind the vehicle is longer by one ordinary passenger vehicle. Congestion can be alleviated by outputting a voice or the like that prompts acceleration to close the space between the own vehicle and the vehicle in front. In addition, if the vehicle and the vehicle in front are separated by more than 6 m, the vehicle may be accelerated by outputting a voice or the like prompting the driver of the vehicle to accelerate the vehicle. Can be prevented from colliding with the vehicle in front.

FIG. 6 shows the specific contents of the inter-vehicle distance determination process. For example, this inter-vehicle distance determination process is a subroutine of the driving support process shown in FIG. 4, and is called and executed by the CPU 25 when the driving support process reaches step S4 in FIG. As shown in FIG. 6, in the inter-vehicle distance determination process, the CPU 25 first determines whether or not the vehicle is recognized from the captured image in front of the own vehicle obtained from the image pickup device 15 (step S31). When the vehicle is recognized from the captured image, the CPU 25 subsequently determines whether or not the vehicle existing in front of the own vehicle is detected based on the detection signal obtained from the ultrasonic sensor 16 ((). Step S32).

As described above, the image pickup apparatus 15 can recognize the existence and type of an object existing at a position of about 0.5 m to 100 m from the own vehicle. On the other hand, the ultrasonic sensor 16 can detect an object existing within a range of about 6 m from the own vehicle, but cannot detect an object existing at a position more than about 6 m away from the own vehicle. As a result, when the distance between the own vehicle and the vehicle in front is about 6 m or less, the vehicle in front is imaged by the image pickup device 15, and the vehicle in front is detected by the ultrasonic sensor 16. On the other hand, when the distance between the own vehicle and the vehicle in front is larger than about 6 m, the vehicle in front is imaged by the image pickup device 15, but the vehicle in front is not detected by the ultrasonic sensor 16.

When the CPU 25 recognizes the vehicle from the captured image in front of the vehicle obtained from the image pickup device 15 and detects that the vehicle exists in front of the vehicle based on the detection signal obtained from the ultrasonic sensor 16. (Step S31: YES, Step S32: YES), it is determined that the distance between the own vehicle and the vehicle in front is about 6 m or less, that is, the own vehicle is approaching the vehicle in front (step S33). On the other hand, when the vehicle is recognized from the captured image in front of the vehicle obtained from the image pickup device 15, but the vehicle is not detected in front of the vehicle based on the detection signal obtained from the ultrasonic sensor 16. (Step S31: YES, step S32: NO), the CPU 25 determines that the distance between the own vehicle and the vehicle in front is larger than about 6 m, that is, the own vehicle is far away from the vehicle in front (step). S34). If the vehicle is not recognized from the captured image in front of the own vehicle obtained from the image pickup device 15 (step S31: NO), it is considered that the vehicle does not exist in front of the own vehicle. , The CPU 25 determines that the own vehicle is far away from the vehicle in front (step S34).

In FIG. 4, when the own vehicle is approaching the vehicle in front as a result of the inter-vehicle distance determination process (step S4: NO), the CPU 25 ends the driving support process. After that, the driving support process is immediately executed from the first step. On the other hand, if the vehicle is far away from the vehicle in front as a result of the inter-vehicle distance determination process (step S4: YES), the CPU 25 subsequently determines whether or not the vehicle is trying to change lanes to the adjacent lane. If the vehicle is trying to change lanes to the adjacent lane (step S5: YES), it is determined whether or not the adjacent lane in which the vehicle is trying to change lanes is congested. (Step S6). Then, when the adjacent lane is congested (step S6: YES), the CPU 25 ends the driving support process. In this case, the voice or the like prompting the driver of the own vehicle to accelerate the own vehicle is not output. After that, the driving support process is executed from the first step. In the third case described above, since it is determined to be YES in steps S5 and S6 and the driving support process ends, the driver of the own vehicle 41 is not output a voice or the like urging the driver to accelerate the own vehicle. In the third case, as shown in FIG. 3, the right turn lane 35 on the right side of the lane in which the own vehicle 41 is currently traveling corresponds to the adjacent lane, but in the adjacent lane, the own vehicle is currently traveling. The lane is not limited to the right lane, but may be the left lane. Further, the determination as to whether or not the own vehicle in step S5 is about to change lanes to the adjacent lane is determined from, for example, a detection signal output from the direction instruction operation sensor 19 indicating the operation of the direction indicator, or the steering wheel steering angle sensor 20. It is performed based on the detection signal indicating the turning angle of the output handle. Further, in determining whether or not the adjacent lane in step S6 is congested, for example, the own vehicle is about to change lanes based on the captured image obtained from the image pickup device 15 and the detection signal obtained from the ultrasonic sensor 16. This is done by recognizing whether or not there is space for the vehicle in the adjacent lane.

On the other hand, if the own vehicle is not trying to change lanes to the adjacent lane (step S5: NO), or if the adjacent lane in which the own vehicle is trying to change lanes is not congested (step S6: NO), the continuation is continued. Then, the CPU 25 determines whether or not there is a vehicle that is trying to interrupt between the own vehicle and the vehicle in front (step S7). Then, if there is a vehicle trying to interrupt between the own vehicle and the vehicle in front (step S7: YES), the CPU 25 ends the driving support process. In this case, the voice or the like prompting the driver of the own vehicle to accelerate the own vehicle is not output. After that, the driving support process is executed from the first step. In the fourth case described above, since it is determined as YES in step S7 and the driving support process ends, the driver of the own vehicle 41 is not output a voice or the like urging the driver to accelerate the own vehicle. In the fourth case, as shown in FIG. 3, the case where the vehicle on the left front of the own vehicle is trying to cut in between the own vehicle and the vehicle in front is described, but the right front of the own vehicle is described. Even if the vehicle of 1 is trying to interrupt between the own vehicle and the vehicle in front, it is determined to be YES in step S6. Further, the determination as to whether or not there is a vehicle trying to interrupt between the own vehicle and the vehicle in front is based on, for example, the captured image obtained from the image pickup device 15 and the detection signal obtained from the ultrasonic sensor 16. , It is performed by recognizing whether or not there is a vehicle waiting while blinking the direction indicator on the left front or the right front of the own vehicle.

If there is no vehicle trying to interrupt between the own vehicle and the vehicle in front (step S7: NO), then the CPU 25 determines whether there is a saddle-type vehicle approaching the own vehicle from behind. (Step S8). Then, when there is a saddle-type vehicle approaching the own vehicle from behind (step S8: YES), the CPU 25 ends the driving support process. In this case, the voice or the like prompting the driver of the own vehicle to accelerate the own vehicle is not output. After that, the driving support process is executed from the first step. In the fifth case described above, since it is determined as YES in step S8 and the driving support process ends, the driver of the own vehicle 41 is not output a voice or the like urging the driver to accelerate the own vehicle. In the fifth case, as shown in FIG. 3, the case where the saddle-mounted vehicle is approaching from the left rear of the own vehicle is described, but the saddle-mounted vehicle is approaching from the right rear of the own vehicle. Even if it is, it is determined to be YES in step S8. In addition, the saddle-type vehicle here includes a two-wheeled vehicle and a three-wheeled vehicle. Scooter is also included in the saddle-mounted vehicle. Further, whether or not there is a saddle-type vehicle approaching the own vehicle from behind is determined based on the captured image obtained from the image pickup device 15 and the detection signal obtained from the ultrasonic sensor 16.

When there is no saddle-type vehicle approaching the vehicle from behind (step S8: NO), the CPU 25, as shown in FIG. 5, voices prompting the driver of the vehicle to accelerate the vehicle, etc. Is controlled to be output (step S9). Specifically, the CPU 25 sends an audio signal to the speaker 21 , and outputs a voice such as "Please increase the speed" from the speaker 21. Further, the CPU 25 sends image data or text data to the display 22, and displays a message such as "Please increase the speed" on the screen of the display 22. Further, the CPU 25 sends a drive signal to the vibrator 23 provided on the steering wheel, the driver's seat, or the like to vibrate the vibrator 23. By outputting such voices and the like to encourage the acceleration of the own vehicle, the driver of the own vehicle is encouraged to accelerate the own vehicle.

Subsequently, the CPU 25 determines whether or not the own vehicle has accelerated (step S10). Whether or not the vehicle has accelerated is determined, for example, by providing the vehicle with a sensor (not shown) for detecting the operation of the accelerator pedal, and based on the detection signal obtained from this sensor.

When a predetermined time (for example, about 10 to 30 seconds) has elapsed without accelerating the own vehicle after outputting a voice or the like prompting the acceleration of the own vehicle (step S10: NO, step S11: YES), the CPU 25 Controls to raise the level at which the acceleration of the own vehicle is promoted by a voice or the like that prompts the acceleration of the own vehicle (step S12). Specifically, the CPU 25 changes the sound output from the speaker 21. For example , increase the volume of audio. Further, the CPU 25 changes the display of the display 22. For example, blink the message displayed on the screen. Further, the CPU 25 changes the vibration of the vibrator 23. For example, increase the amplitude of vibration or increase the frequency of vibration. By raising the level of urging the acceleration of the own vehicle in the voice urging the acceleration of the own vehicle in this way, it is possible to ensure that the driver of the own vehicle is aware of the voice urging the acceleration of the own vehicle, or It is possible to prevent the driver of the own vehicle from ignoring the voice or the like prompting the acceleration of the own vehicle.

On the other hand, when the own vehicle accelerates (step S10: YES), the CPU 25 controls to stop the voice or the like prompting the acceleration of the own vehicle (step S13). Specifically, the CPU 25 stops the audio output from the speaker 21, turns off the display on the screen of the display 22, or stops the vibration of the vibrator 23. After that, the CPU 25 finishes the driving support process. Then, the driving support process is immediately executed from the first step.

In steps S1 to S4 in the above driving support process, the own vehicle travels at a low speed in the vicinity of the intersection even though the front vehicle and the own vehicle are far apart from each other, and hinders the traveling of the rear vehicle. It is possible to judge whether or not it is. However, the low-speed driving of the own vehicle determined in steps S1 to S4 includes those based on the driver's unscrupulous driving attitude and those not based on the driver's unscrupulous driving attitude. However, in the following steps S5 to S7, sincere driving such as whether or not the low-speed driving of the own vehicle is based on an unavoidable reason such as congestion in the adjacent lane, and the low-speed driving of the own vehicle permits the interruption of the vehicle. It is possible to judge whether or not it is based on attitude. This makes it possible to exclude those that are not based on the driver's unscrupulous driving attitude after the vehicle runs at low speed. Further, in step S8, it can be determined whether or not the own vehicle traveling at a low speed should be promoted to accelerate in order to avoid the collision between the own vehicle and the saddle-mounted vehicle. Then, when the low-speed driving of the own vehicle is based on the driver's unscrupulous driving attitude, and when the collision between the own vehicle and the saddle-type vehicle can be avoided and the traffic safety can be ensured. It is possible to urge the driver of the vehicle to accelerate by outputting a voice or the like urging the driver to accelerate the vehicle. Therefore, according to the driving support device 1, it is possible to suppress traffic congestion in the vicinity of an intersection caused by the driver's unscrupulous driving attitude while ensuring traffic safety.

In addition, in the case of low-speed driving due to the driver's unscrupulous driving attitude, the driver of the rear vehicle is more frustrated than in the case of low-speed driving due to unavoidable reasons. Therefore, by suppressing low-speed driving due to the driver's unscrupulous driving attitude, it is possible to effectively suppress the irritation of the driver of the rear vehicle. In addition, it is difficult to predict traffic congestion caused by low-speed driving due to the driver's unscrupulous driving attitude. Therefore, by suppressing the traffic congestion caused by the low-speed driving due to the driver's unscrupulous driving attitude, it is possible to improve the accuracy of the traffic congestion prediction at the intersection by, for example, the Road Traffic Information Center.

Further, in the driving support device 1 of the embodiment of the present invention, whether or not the own vehicle is significantly far from the vehicle in front is determined by using an inexpensive image pickup device 15 and an ultrasonic sensor 16. Therefore, the manufacturing cost of the driving support device 1 can be reduced.

In the above-described embodiment, the case where the own vehicle is a motorcycle as shown in FIG. 1 or 2 is taken as an example, but the own vehicle is another type of motorcycle or four-wheeled vehicle. The above-mentioned large-sized vehicle may be used, or a motorcycle or a motorcycle may be used. Further, although the case where the intersection is a crossroad as shown in FIG. 1 or FIG. 2 is taken as an example, the intersection may be a T-junction or a Y-shaped road. The number of lanes on the road is also unlimited. Further, although the case where the time difference type traffic light is provided at the intersection is taken as an example, the traffic light at the intersection may not be the time difference type, or may be the case where there is no traffic light at the intersection.

Further, an infrared camera may be used as the camera of the image pickup apparatus 15 in the above-described embodiment. Further, as the transmission type object detection unit, a laser radar having a detection limit distance of about 6 m may be used instead of the ultrasonic sensor 16. Further, if there is an inexpensive millimeter-wave radar with a short detection limit distance, it may be adopted. Further, in the driving support device of the present invention, the own vehicle position detection unit that detects the position of the own vehicle, the own vehicle speed detection unit that detects the speed of the own vehicle, and a voice that prompts the driver of the own vehicle to accelerate the own vehicle. The output unit that outputs the above-mentioned example is not limited to that given in the above-described embodiment. Further, in the above-mentioned driving support process, when the condition for outputting the voice or the like for urging the acceleration of the own vehicle is satisfied, the voice or the like for urging the acceleration of the own vehicle is output and the control for automatically accelerating the vehicle is performed. May be done.

Further, it is desirable that the own vehicle equipped with the driving support device 1 according to the above-described embodiment is equipped with a function of automatically stopping the own vehicle when the distance between the preceding vehicle and the own vehicle is extremely close. .. As a result, when the driver accelerates the own vehicle in response to a voice prompting the acceleration of the own vehicle , the driver accidentally accelerates suddenly, and it is possible to prevent the own vehicle from colliding with the vehicle in front. ..

Further, the present invention can be appropriately modified within the scope of the claims and within a range not contrary to the gist or idea of the invention that can be read from the entire specification, and the driving support device accompanied by such a modification is also the technical idea of the present invention. include.

1 Driving support device 11 GPS receiver (own vehicle position detector)
12 Angular velocity sensor (Vehicle position detector)
13 Vehicle speed sensor (own vehicle position detection unit, own vehicle speed detection unit)
14 Storage unit 15 Imaging device (object detection unit, imaging unit)
16 Ultrasonic sensor (object detection unit, transmission type object detection unit)
19 Direction indication operation sensor (lane change detection unit)
20 Steering angle sensor (lane change detection unit)
21 Speaker ( output section )
22 Display ( output section )
23 Vibrator ( output section )
25 CPU (control unit)

Claims (13)

The vehicle position detector that detects the position of the vehicle and the vehicle position detector
The own vehicle speed detection unit that detects the speed of the own vehicle, and
An object detection unit that detects an object existing around the vehicle, and an object detection unit.
An output unit that outputs a voice, an image, or a text that prompts the driver of the own vehicle to accelerate the own vehicle.
Equipped with a control unit
The object detection unit
An image pickup unit having an image processing device for detecting an object existing around the own vehicle from a camera that images the surroundings of the own vehicle and an image captured by the camera.
It is equipped with a transmission type object detection unit that detects the object by transmitting the detection wave and receiving the reflected wave from the object of the detection wave and has a detection limit distance of 6 m.
The control unit determines whether or not the vehicle has approached an intersection based on the position of the vehicle detected by the vehicle position detection unit, and the vehicle speed detection unit detects the vehicle. It is determined whether or not the speed of the vehicle is equal to or less than a predetermined speed reference value, it is determined whether or not the vehicle in front of the own vehicle is detected by the image pickup unit, and the vehicle in front is determined by the transmission type object detection unit. As a result of these judgments, the own vehicle is approaching the intersection, the speed of the own vehicle is equal to or less than the speed reference value, and the image pickup unit causes the vehicle in front to move. A driving support device comprising outputting the voice, an image, or a text through the output unit when the vehicle is detected and the vehicle in front is not detected by the transmission type object detection unit. The transmission type object detection unit is characterized by being a laser radar having a detection limit distance of 6 m, a millimeter wave radar having a detection limit distance of 6 m, or an ultrasonic sensor having a detection limit distance of 6 m. The driving support device described in. Based on the detection result by the object detection unit, the control unit determines whether or not there is a vehicle trying to interrupt between the front vehicle and the own vehicle, and as a result of this determination, the front vehicle When there is a vehicle trying to interrupt between the vehicle and the vehicle, the vehicle is approaching the intersection, the speed of the vehicle is equal to or less than the speed reference value, and the image pickup unit is used. The driving according to claim 1 or 2 , wherein the voice, the image, or the text is not output even when the vehicle in front is detected by the vehicle and the vehicle in front is not detected by the transmission type object detection unit. Support device. The control unit determines whether or not there is a saddle-type vehicle approaching the own vehicle from behind the own vehicle based on the detection result by the object detection unit, and as a result of this determination, the own vehicle When there is a saddle-type vehicle approaching the own vehicle from the rear, the own vehicle is approaching the intersection, the speed of the own vehicle is equal to or less than the speed reference value, and the image pickup unit indicates that the vehicle has the same speed. The invention according to any one of claims 1 to 3 , wherein the voice, the image, or the text is not output even when the vehicle in front is detected and the vehicle in front is not detected by the transmission type object detection unit. Driving support device. Further equipped with a lane change detection unit for detecting whether or not the own vehicle changes lanes,
The control unit determines whether or not the own vehicle is about to change lanes to the adjacent lane based on the detection result by the lane change detection unit, and as a result of this determination, the own vehicle intends to change lanes to the adjacent lane. In the case of, the own vehicle is approaching the intersection, the speed of the own vehicle is equal to or less than the speed reference value, the preceding vehicle is detected by the image pickup unit, and the transmission type object detection unit is used. The driving support device according to any one of claims 1 to 4 , wherein the voice, image, or text is not output even when the vehicle in front is not detected. The control unit determines whether or not a vehicle exists behind the own vehicle based on the detection result by the object detection unit, and as a result of this determination, if the vehicle does not exist behind the own vehicle, the control unit determines. , The own vehicle is approaching the intersection, the speed of the own vehicle is equal to or less than the speed reference value, the preceding vehicle is detected by the imaging unit, and the front vehicle is detected by the transmitting type object detection unit. The driving support device according to any one of claims 1 to 5 , wherein the voice, image, or text is not output even if it is not detected. The vehicle position detector that detects the position of the vehicle and the vehicle position detector
The own vehicle speed detection unit that detects the speed of the own vehicle, and
An object detection unit that detects an object existing around the vehicle, and an object detection unit.
An output unit that outputs a voice, an image, or a text that prompts the driver of the own vehicle to accelerate the own vehicle.
Equipped with a control unit
The object detection unit
And an image processing apparatus for detecting an object which exists from said captured captured image by the camera and the camera images the surroundings of the vehicle around the vehicle, wherein the distance is a position of 1 00m between the vehicle An image pickup unit that can detect the existence and type of an existing object,
Equipped with an ultrasonic sensor
The control unit determines whether or not the vehicle has approached an intersection based on the position of the vehicle detected by the vehicle position detection unit, and the vehicle speed detection unit detects the vehicle. It is determined whether or not the speed of the vehicle is equal to or less than a predetermined speed reference value, it is determined whether or not the vehicle in front of the own vehicle is detected by the imaging unit, and the vehicle in front is detected by the ultrasonic sensor. As a result of these judgments, the own vehicle is approaching the intersection, the speed of the own vehicle is equal to or less than the speed reference value, and the image pickup unit detects the vehicle in front. and wherein when the forward vehicle by the ultrasonic sensor is not detected, the driving support apparatus and outputs the sound, image or text through the output unit. Based on the detection result by the object detection unit, the control unit determines whether or not there is a vehicle trying to interrupt between the front vehicle and the own vehicle, and as a result of this determination, the front vehicle. When there is a vehicle trying to interrupt between the vehicle and the vehicle, the vehicle is approaching the intersection, the speed of the vehicle is equal to or less than the speed reference value, and the imaging unit is used. The driving support device according to claim 7 , wherein the driver does not output the voice, the image, or the text even when the vehicle in front is detected by the vehicle and the vehicle in front is not detected by the ultrasonic sensor. The control unit determines whether or not there is a saddle-type vehicle approaching the own vehicle from behind the own vehicle based on the detection result by the object detection unit, and as a result of this determination, the own vehicle When there is a saddle-type vehicle approaching the own vehicle from the rear, the own vehicle is approaching the intersection, the speed of the own vehicle is equal to or less than the speed reference value, and the image pickup unit indicates that the vehicle has the same speed. The driving support device according to claim 7 or 8 , wherein the voice, image, or text is not output even when the vehicle in front is detected and the vehicle in front is not detected by the ultrasonic sensor. Further equipped with a lane change detection unit for detecting whether or not the own vehicle changes lanes,
The control unit determines whether or not the own vehicle is about to change lanes to the adjacent lane based on the detection result by the lane change detection unit, and as a result of this determination, the own vehicle intends to change lanes to the adjacent lane. In the case of, the own vehicle is approaching the intersection, the speed of the own vehicle is equal to or less than the speed reference value, the preceding vehicle is detected by the imaging unit, and the ultrasonic sensor detects the vehicle. The driving support device according to any one of claims 7 to 9, wherein the voice, image, or text is not output even when the vehicle in front is not detected. The control unit determines whether or not a vehicle exists behind the own vehicle based on the detection result by the object detection unit, and as a result of this determination, if the vehicle does not exist behind the own vehicle, the control unit determines. , The own vehicle is approaching the intersection, the speed of the own vehicle is equal to or less than the speed reference value, the preceding vehicle is detected by the imaging unit, and the front vehicle is not detected by the ultrasonic sensor. driving support apparatus according to any one of the even if speech, the preceding claims 7, characterized in that does not output an image or text 10. The control unit is characterized in that, when the output of the voice, the image or the text continues for a predetermined time from the output start time of the voice, the image or the text, the output mode of the voice, the image or the text is changed. The driving support device according to any one of 11. Based on the position of the own vehicle detected by the own vehicle position detection unit, the control unit approaches the position where the right turn lane branches from the lane on the side entering the intersection in the vicinity of the intersection. The driving support device according to any one of claims 1 to 12, wherein it is determined whether or not the vehicle is used.

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