JP7243798B2 - Driving support device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving assistance device that detects the running state of a vehicle, the state of the surroundings of the vehicle, and the like, and assists the driving of the vehicle driver based on the detection results.

At present, various electric and electronic devices are installed in vehicles, and these devices detect the position of the vehicle, the driving state, the surrounding state, etc., and support the driving of the vehicle driver based on these detection results. technology is known. For example, a GPS (Global Positioning System) receiver, angular velocity sensor, vehicle speed sensor, etc. are used to detect the position of the vehicle, display the position of the vehicle on a map image, and inform the driver of the position of the vehicle. Are known. There is also known a technique of detecting an object existing around the vehicle using an imaging device, an ultrasonic sensor, a millimeter wave radar, or the like, and informing the driver that the vehicle is approaching the object. Further, Japanese Patent Application Laid-Open No. 2002-200002 describes a technique for detecting the distance to an obstacle in front of the vehicle and controlling the wheel driving force of the vehicle based on the detection result.

JP-A-2-212231

By the way, as will be described below, traffic jams may occur in the vicinity of intersections due to the careless driving attitude of vehicle drivers.

For example, on a one-lane road, near an intersection, one lane is added to the lane on the side entering the intersection. may become a permitted right turn lane. Furthermore, the time difference signal installed at the intersection may restrict the period during which only the straight left turn lane can proceed and the period during which only the right turn lane can proceed.

When a vehicle about to make a right turn at such an intersection approaches the intersection during a period in which only the straight left turn lane is allowed, the driver of this vehicle will make a straight left turn ahead, thinking that he cannot make a right turn immediately anyway. The vehicle may slow down significantly before entering the right turn lane, even though both the lane and the right turn lane are empty. Since such a low-speed vehicle blocks the straight left turn lane, it hinders the traveling of the following vehicle that is about to go straight or turn left at the intersection. As a result, traffic congestion may occur near intersections.

In addition, when a vehicle that is about to go straight or turn left at the above intersection approaches the intersection during a period in which only the right-turn lane is allowed to proceed, this vehicle will not be able to go straight or turn left immediately, so it will not turn straight ahead or turn left. Even though the lane is empty, the vehicle may slow down significantly from the position before the lane splits 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, thereby hindering the traveling of the rear vehicle that is about to turn right at the intersection. As a result, traffic congestion may occur near intersections.

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

Therefore, it is desirable to assist drivers of vehicles traveling near intersections so as not to cause traffic congestion due to low-speed travel as described above.

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

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, for example, and an object of the present invention is to provide a driving support system capable of inexpensively suppressing traffic congestion in the vicinity of an intersection caused by a driver's careless driving attitude. It is to provide a device.

In order to solve the above-described problems, a first driving support system 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. an object detection unit that detects an object existing around the vehicle; an output unit that outputs a voice, image, or text prompting a driver of the vehicle to accelerate the vehicle; and a control unit, wherein the object detection an imaging unit having a camera for imaging the surroundings of the vehicle and an image processing device for detecting an object existing around the vehicle from the image captured by the camera; a transmission type object detection unit that detects an object by receiving a reflected wave from the object of the detection wave and has a detection limit distance of 6 m, wherein the control unit detects the object detected by the vehicle position detection unit. determining whether or not the vehicle has approached an intersection based on the position of the vehicle, and determining whether or not the speed of the vehicle detected by the vehicle speed detection unit is equal to or less than a predetermined speed reference value; determining whether or not the imaging unit has detected a vehicle in front of the own vehicle, and determining whether or not the forward vehicle has been detected by the transmission type object detection unit, and the result of these determinations , the own vehicle is approaching the intersection, the speed of the own vehicle is equal to or less than the speed reference value, the forward vehicle is detected by the imaging unit, and the forward vehicle is detected by the transmission type object detection unit. If it is not detected, it outputs the voice, image or text through the output unit and controls the automatic acceleration of the own vehicle.
A second driving support system 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 a driving support device that is present around the vehicle. an object detection unit that detects an object; an output unit that outputs a voice, image, or text prompting a driver of the vehicle to accelerate the vehicle; and a control unit, wherein the object detection unit detects the vehicle. and an image processing device that detects an object existing around the own vehicle from the captured image taken by the camera, and detects an object existing at a position 100 m away from the own vehicle. An imaging unit capable of detecting the presence or absence and type thereof, and an ultrasonic sensor. determining whether or not the speed of the vehicle detected by the vehicle speed detection unit is equal to or less than a predetermined speed reference value; It is determined whether or not the vehicle has been detected, and whether or not the preceding vehicle has been detected by the ultrasonic sensor. As a result of these determinations, the vehicle is approaching the intersection and the When the speed is equal to or less than the speed reference value, the forward vehicle is detected by the imaging unit, and the forward vehicle is not detected by the ultrasonic sensor, the voice, image, or text is output through the output unit. and automatically accelerate the own vehicle.
A third driving support system of the present invention includes a vehicle position detection unit for detecting the position of the vehicle, a vehicle speed detection unit for detecting the speed of the vehicle, and a driving support device located around the vehicle. an object detection unit that detects an object; an output unit that outputs a voice, image, or text prompting a driver of the vehicle to accelerate the vehicle; and a control unit, wherein the object detection unit detects the vehicle. and an image processing unit that detects an object existing around the own vehicle from the captured image captured by the camera; a transmission type object detection unit that detects the object by receiving reflected waves and has a detection limit distance of 6 m, wherein the control unit detects the position of the vehicle detected by the vehicle position detection unit; determining whether or not the vehicle has approached an intersection based on the image; determining whether or not the speed of the vehicle detected by the vehicle speed detecting unit is equal to or less than a predetermined speed reference value; determining whether or not the vehicle in front of the own vehicle has been detected by the unit and whether or not the vehicle in front has been detected by the transmitting type object detection unit; When the vehicle is approaching an intersection, the speed of the own vehicle is equal to or less than the speed reference value, the forward vehicle is detected by the imaging unit, and the forward vehicle is not detected by the transmitting type object detection unit, the Outputting the voice, image or text through an output unit, and the control unit causes the own vehicle to collide with the preceding vehicle when the distance between the preceding vehicle and the own vehicle is extremely close. In order to prevent this, the vehicle is automatically stopped.
A fourth driving support system of the present invention includes a vehicle position detection unit for detecting the position of the vehicle, a vehicle speed detection unit for detecting the speed of the vehicle, an object detection unit that detects an object; an output unit that outputs a voice, image, or text prompting a driver of the vehicle to accelerate the vehicle; and a control unit, wherein the object detection unit detects the vehicle. and an image processing device that detects an object existing around the own vehicle from the captured image taken by the camera, and detects an object existing at a position 100 m away from the own vehicle. An imaging unit capable of detecting the presence or absence and type thereof, and an ultrasonic sensor. determining whether or not the speed of the vehicle detected by the vehicle speed detection unit is equal to or less than a predetermined speed reference value; It is determined whether or not the vehicle has been detected, and whether or not the preceding vehicle has been detected by the ultrasonic sensor. As a result of these determinations, the vehicle is approaching the intersection and the When the speed is equal to or less than the speed reference value, the forward vehicle is detected by the imaging unit, and the forward vehicle is not detected by the ultrasonic sensor, the voice, image, or text is output through the output unit. and the control unit automatically stops the own vehicle to prevent the own vehicle from colliding with the preceding vehicle when the distance between the preceding vehicle and the own vehicle becomes extremely close. Let

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

1 is a block diagram showing the configuration of a driving assistance device according to an embodiment of the present invention; FIG. It is an explanatory view showing the state of the road in the vicinity of the intersection. FIG. 11 is an explanatory diagram showing another state of the road near the intersection; 4 is a flowchart showing driving assistance processing in the driving assistance device of the embodiment of the present invention; 5 is a flowchart continued from FIG. 4; 4 is a flow chart showing inter-vehicle distance determination processing in the driving assistance device according to the embodiment of the present invention.

A driving support system according to an embodiment of the present invention includes a vehicle position detection unit that detects the position of a vehicle (own vehicle), a vehicle speed detection unit that detects the speed of the vehicle, and sensors existing around the vehicle. an object detection unit for detecting an object that is moving, an output unit for outputting a voice, image, text or vibration prompting the driver of the own vehicle to accelerate the own vehicle, and a control unit. The object detection unit includes an image pickup unit that captures an image of the surroundings of the own vehicle, and a detection wave that is transmitted and receives a reflected wave of the detection wave from an object, thereby detecting a predetermined detection limit distance range from the own vehicle in the surroundings of the own vehicle. a transmitting-type object detection unit for detecting an object existing within. In the control unit, (1) the vehicle position detection unit detects that the vehicle is approaching an intersection, and (2) the vehicle speed detection unit detects that the speed of the vehicle is equal to or less than a predetermined speed reference value. and (3) the vehicle in front of the vehicle is imaged by the imaging unit and not detected by the transmitting type object detection unit, the output unit outputs the voice, image, text or vibration.

According to the driving assistance device of the embodiment of the present invention, as described above, when the own vehicle that is about to turn right at the intersection approaches the intersection during the period in which only the straight left turn lane can be advanced, the driving support device of the own vehicle Even though both the straight left turn lane and the right turn lane ahead are vacant, if the speed of the own vehicle drops below the speed reference value before entering the right turn lane, the output section will accelerate the own vehicle. A voice, image, text or vibration prompting is output. Further, as described above, when the vehicle that is about to go straight or turn left at the intersection approaches the intersection during a period in which only the right-turn lane is available, the driver of the vehicle may find that the straight left-turn lane ahead is not available. If the speed of the vehicle is reduced below the speed reference value from the position before the lane splits into a straight left turn lane and a right turn lane, the output unit will output a voice, image, or message prompting the vehicle to accelerate. Text or vibration is output. Caused by low-speed driving based on the driver's careless driving attitude as described above, when the driver of the own vehicle increases the speed of the own vehicle in response to voice, image, text, or vibration that prompts acceleration of the own vehicle. Traffic jams at intersections can be suppressed.

In addition, the driving assistance device of the embodiment of the present invention can be used when the driver of the own vehicle is driving at a low speed in the vicinity of an intersection in spite of the fact that the straight left turn lane or the right turn lane ahead is narrow. Output sound, image, text or vibration to encourage acceleration. In this process, when determining whether to output a sound, image, text, or vibration to prompt acceleration of the own vehicle, the straight left turn lane or the right turn lane ahead of the own vehicle is narrow. The condition is that there is a large distance from the preceding vehicle. The driving assistance device according to the embodiment of the present invention determines that the vehicle ahead is far away from the vehicle when the image of the vehicle ahead of the vehicle is captured by the imaging unit and is not detected by the transmission type object detection unit. . By adopting such a determination method, the driving support device can be realized at low cost.

That is, the determination method can be implemented by using an imaging device such as a camera as the imaging unit, and using an ultrasonic sensor or a laser radar with a short detection limit distance as the transmission type object detection unit. Specifically, the imaging device can generally image both a forward vehicle that is approaching the own vehicle and a forward vehicle that is far away from the own vehicle. On the other hand, ultrasonic sensors generally have a short detection limit distance. Therefore, an ultrasonic sensor and a laser radar with a short detection limit distance can detect a forward vehicle that is approaching the own vehicle, but cannot detect a forward vehicle that is far away from the own vehicle. When an imaging device is used as the imaging unit and an ultrasonic sensor or a laser radar with a short detection limit distance is used as the transmission type object detection unit, when the vehicle ahead and the vehicle ahead are approaching each other, the vehicle ahead is imaged. imaged by the unit and simultaneously detected by the transmitting type object detection unit. On the other hand, when the host vehicle and the vehicle ahead are far apart, the vehicle ahead is imaged by the imaging unit but not detected by the transmitting object detection unit. Therefore, by using an imaging device as the imaging 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 vehicle is imaged by the imaging unit, and the transmission type object detection unit It can be determined that the vehicle and the preceding vehicle are far apart from each other when the vehicle is not detected by the . By the way, devices generally used to detect objects existing around a vehicle include imaging devices, ultrasonic sensors, laser radars, millimeter wave radars, and the like. Among these devices, the imaging device, the ultrasonic sensor, and the laser radar with a short detection limit distance are less expensive than the millimeter wave radar or the laser radar with a long detection limit distance. Therefore, by using an imaging device as the imaging unit and using an ultrasonic sensor or a laser radar with a short detection limit distance as the transmission type object detection unit, the driving support device can be realized at low cost. However, if an inexpensive millimeter-wave radar with a short detection limit distance is available, it may be used.

FIG. 1 shows the configuration of a driving support system 1 according to an embodiment of the invention. In FIG. 1, a driving assistance device 1 is a device that is mounted on a vehicle and assists the driving of the driver of the vehicle. The driving assistance 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. The driving support device 1 also includes a storage unit 14 having, for example, a flash memory or the like, and map data is stored in the storage unit 14 . The driving support device 1 performs positioning by satellite navigation 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 velocity 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 an own vehicle speed detector that detects the speed of the own vehicle.

The driving support device 1 also includes an imaging device 15 and an ultrasonic sensor 16 as an object detection unit that detects objects existing around the vehicle (front, rear, left, right, road surface, etc.). The imaging device 15 is a specific example of an imaging section, and the ultrasonic sensor 16 is a specific example of a transmission type object detection section.

The imaging device 15 is a device that captures an image of the surroundings of the vehicle and detects (image recognition) an object existing around the vehicle from the captured image. The imaging device 15 includes, for example, a camera and an image processing device. According to the imaging device 15, it is possible not only to recognize the presence or absence of an object, but also to identify the type of the object (automobile, straddle-type vehicle, human, etc.). Further, according to the imaging device 15, it is possible to recognize the lane in which the vehicle is traveling, the traffic sign, the state of the traffic light (lighting or blinking of red, blue, yellow, arrows, etc.). Further, according to the imaging device 15, it is possible to detect both an object existing in a position close to the own vehicle and an object existing in a position far away from the own vehicle in the surroundings of the own vehicle. For example, the imaging device 15 can recognize the existence and type of an object located at a distance of approximately 0.5 m to 100 m from the own vehicle. However, the imaging device 15 cannot measure the distance between the vehicle and the object with high accuracy.

On the other hand, the ultrasonic sensor 16 is a device that emits ultrasonic waves as detection waves and receives reflected waves of the ultrasonic waves from the objects, thereby detecting objects existing around the vehicle. The ultrasonic sensor 16 can detect the presence or absence of an object, but cannot identify the type of object with high accuracy. Also, the ultrasonic sensor 16 can measure the distance between the vehicle and an object with high accuracy. Also, the ultrasonic sensor 16 can detect objects that are close to the vehicle, but cannot detect objects that are far away from the vehicle. That is, the ultrasonic sensor 16 has a detection limit distance of, for example, about 6 m, which indicates how far away an object can be detected from the own vehicle. Specifically, the ultrasonic sensor 16 can detect an object existing within a range of approximately 6 m from the vehicle, but cannot detect an object located farther than approximately 6 m from the vehicle. Can not.

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

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

The driving support device 1 also includes a CPU (Central Processing Unit) 25 as a control unit that controls the output of voice, image (or text), and vibration to prompt acceleration of the own vehicle. The CPU 25 reads and executes a computer program stored in the storage unit 14, for example, to control output of voice, image (or text), and vibration prompting acceleration of the host vehicle.

In the driving support device 1 having such a configuration, the distance between the vehicle ahead and the vehicle is large near an intersection due to the unserious driving attitude or bad manners of the driver of the vehicle. In spite of this, when driving at low speed and hindering the driving of the vehicle behind, the driver of the vehicle outputs voice, image (or text), and vibration that encourages acceleration of the vehicle, Driving support is provided by prompting the vehicle to accelerate. Hereinafter, the sound, image (or text), and vibration that prompts acceleration of the vehicle will be referred to as "sound, etc., that prompts acceleration of the vehicle".

2 and 3 show road conditions near intersections. 2 and 3, the case where the driving support device 1 outputs a voice or the like prompting the driver of the vehicle to accelerate the vehicle, and the case where the driving support device 1 outputs a voice or the like prompting the driver to accelerate the vehicle. A case in which a situation similar to the above is formed, but no sound or the like prompting acceleration of the own vehicle is output will be described.

First, common matters in each case described below will be explained. As shown in FIG. 2, the road 31 is a two-lane road. In the vicinity of the intersection 32, one lane is added to the lane on the side entering the intersection 32 on the road 31. - 特許庁In addition, in the vicinity of the intersection 32, the left lane becomes a straight left turn lane 33 in which straight and left turns are permitted, the center lane becomes a straight lane 34 in which only straight forward is permitted, and the added right lane is a right turn only. Right turn lane 35 is permitted.

Furthermore, a time-staggered traffic signal 36 is provided at the intersection 32, and the time-staggered traffic signal 36 differentiates the period during which only the straight left turn lane 33 and the straight lane 34 can proceed from the period during which only the right turn lane can proceed. is regulated as That is, as shown in FIG. 2, there are A, B and C states of the time difference signal 36 . State A is a state in which the red lamp, the blue left arrow lamp, and the blue upward arrow lamp are lit. During the period of state A, the straight left turn lane 33 and the straight lane 34 can be traveled, and the right turn lane 35 cannot be traveled. State B is a state in which the red lamp and the blue right arrow lamp are lit. During the period of state B, the right turn lane 35 can be advanced, and the straight left turn lane 33 and the straight lane 34 cannot be advanced. State C is a state in which only the red lamp is lit. During the period of state C, none of the straight left turn lane 33, the straight lane 34, and the right turn lane 35 are allowed to proceed. Although illustration and description are omitted, the state of the time difference signal 36 includes a state in which the yellow lamp is lit.

Now let's get into the individual cases. First, in the first case, the driver of the vehicle 41 about to make a right turn drove at a low speed near the intersection 32 on the road 31 with two lanes in each direction due to the unserious driving attitude of the driver. That is, in the first case, as shown in FIG. 2, the own vehicle 41 approached the intersection 32 to turn right, but at that time, it was in the state A in which the right turn lane could not be advanced. Therefore, the driver of the own vehicle 41 thinks that it is okay to drive slowly because he cannot make a right turn immediately anyway, so the driver of the own vehicle 41 does not need to move between the preceding vehicle 42 traveling in the straight lane 34 and the own vehicle 41. , and although there is a large distance between the vehicle 41 traveling in the right turn lane 35 and the preceding vehicle 43, the speed of the vehicle 41 is greatly reduced before entering the right turn lane 35, and the vehicle 41 travels at a 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 which is about to go straight through the intersection 32 . In such a first case, the driving assistance device 1 outputs a sound or the like prompting the driver of the vehicle 41 to accelerate the vehicle 41, thereby prompting the driver to accelerate the vehicle 41. FIG. As a result, it is possible to suppress traffic congestion at the intersection 32 caused by low-speed driving based on the unserious driving attitude of the driver of the own vehicle 41 .

Next, in the second case, the driver of the own vehicle 41, which is about to go straight, runs at low speed near the intersection 32 on the road 31 with two lanes on each side due to the unserious driving attitude of the driver. That is, in the second case, as shown in FIG. 2, the own vehicle 41 tried to go straight through the intersection 32 and approached the intersection 32, but at that time it was in the state B in which the straight lane could not proceed. Therefore, the driver of the own vehicle 41 thinks that it is okay to drive slowly because he cannot go straight ahead anyway, so the distance between the preceding vehicle 42 traveling in the straight lane 34 and the own vehicle 41 is increased. The speed of the own vehicle 41 is greatly reduced from the position before the lane splits into the straight lane 34 and the right turn lane 35, and the vehicle 41 travels 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 , thereby preventing the rear vehicle 45 from turning right at the intersection 32 . In such a second case as well, the driving assistance device 1 outputs a sound or the like prompting the driver of the vehicle 41 to accelerate the vehicle 41, thereby prompting the driver to accelerate the vehicle 41. FIG. As a result, it is possible to suppress traffic congestion at the intersection 32 caused by low-speed driving based on the unserious driving attitude of the driver of the own vehicle 41 .

Next, in the third case, in the vicinity of the intersection 32 on the road 31 with two lanes on one side, the vehicle 41 cannot enter the right turn lane 35 because the right turn lane 35 is congested. is said to have been carried out. That is, in the third case, as shown in FIG. 3, although the own vehicle 41 approached the intersection 32 to turn right at the intersection 32, the right turn lane 35 was congested. For this reason, the driver of the vehicle 41 has no choice but to turn the vehicle before entering the right-turn lane 35, even though there is a large distance between the vehicle 42 traveling in the straight lane 34 and the vehicle 41 . The speed of 41 is greatly reduced, and it 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 which is about to go straight through the intersection 32 . In such a third case, the driving support device 1 does not output a sound or the like prompting the driver of the own vehicle 41 to accelerate the own vehicle. As a result, it is possible to prevent outputting a sound or the like prompting acceleration of the own vehicle to the driver of the own vehicle 41 that unavoidably runs at a low speed.

Next, in the fourth case, the vehicle 41 is traveling at low speed near the intersection 32 on the two-lane road 31 because there is a vehicle 46 trying to cut in front of the vehicle 41. is. That is, in the fourth case, as shown in FIG. 3, although the vehicle 41 approaches the intersection 32 in an attempt to go straight through the intersection 32, there is a lane 33 to the straight lane 34 to the left front of the vehicle 41. There was a vehicle 46 to be changed. Therefore, in order to allow the vehicle 46 to cut in front of the vehicle 41, the driver of the vehicle 41 maintains a large distance between the vehicle 42 traveling in the straight lane 34 and the vehicle 41. In spite of this, the speed of the own vehicle 41 is greatly reduced from the position before the lane splits into the straight lane 34 and the right turn lane 35, and the vehicle 41 travels 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 , thereby preventing the rear vehicle 45 from turning right at the intersection 32 . In such a fourth case, the driving support device 1 does not output a sound or the like prompting the driver of the own vehicle 41 to accelerate the own vehicle. As a result, it is possible to prevent outputting a sound or the like prompting acceleration of the own vehicle to the driver who is about to give way.

Next, in the fifth case, a straddle-type vehicle 47 approaching the own vehicle 41 from behind overtakes the own vehicle 41 near an intersection 32 on a two-lane road 31, and the own vehicle 41 is traveling at a low speed. This is because there is a risk of cutting in front of the vehicle 41 . In other words, in the fifth case, under the same conditions as in the second case, the driver of the own vehicle does not move forward even when there is a large distance between the preceding vehicle 42 traveling in the straight lane 34 and the own vehicle 41. Regardless, the speed of the own vehicle 41 is greatly reduced from the position before the lane splits into the straight lane 34 and the right turn lane 35, and the vehicle 41 travels 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 , thereby preventing the rear vehicle 45 from turning right at the intersection 32 . In addition to this, in the fifth case, as shown in FIG. 3, a straddle-type vehicle 47 is approaching the own vehicle 41 from behind, and the straddle-type vehicle 47 overtakes the own vehicle 41, There is a possibility of interrupting before 41. In such a fifth case, the driving support device 1 does not output a sound or the like prompting the driver of the own vehicle 41 to accelerate the own vehicle. As a result, it is possible to avoid the risk of collision between the vehicle 41 accelerated in response to the voice prompting acceleration of the vehicle and the straddle-type vehicle 47 cutting in front of the vehicle 41 .

4 and 5 show driving assistance processing of the driving assistance device 1. FIG. The driving assistance device 1 repeatedly executes the driving assistance processing shown in FIGS. 4 and 5 while the vehicle is powered on. In the driving assistance process, the CPU 25 of the driving assistance device 1 first determines whether or not the vehicle has approached an intersection (step S1). For example, when the vehicle reaches a position about 3 m to 10 m away from the position where the right turn lane is added by branching into the lane on the side of the road on which the vehicle is traveling, the CPU 25 , it is determined that the vehicle has approached the intersection. Further, whether or not the vehicle has approached the intersection is determined by detecting the position of the vehicle using, for example, the GPS receiver 11, the angular velocity sensor 12, and the vehicle speed sensor 13. This is done by comparing the position of the intersection recorded in the data. If the vehicle is not approaching the intersection (step S1: NO), the CPU 25 ends the driving assistance process. After that, the driving support process is immediately executed from the first step.

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

If there is a vehicle behind the own vehicle (step S2: YES), then the CPU 25 determines whether the speed of the own 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, it is possible to include the case where the vehicle stops near an intersection, the case where the vehicle is driven slowly, and the case where the vehicle creeps as targets for outputting a voice or the like prompting acceleration of the vehicle. It is possible to enhance the effect of suppressing traffic congestion near intersections caused by low-speed driving. If the speed of the own vehicle is not equal to or lower than the speed reference value (step S3: NO), the CPU 25 ends the driving assistance process. After that, the driving support process is immediately executed from the first step.

If the speed of the own vehicle is 0 km or less than the speed reference value (step S3: YES), then the CPU 25 performs inter-vehicle distance determination processing (step S4). The inter-vehicle distance determination process is a process of determining whether or not the vehicle is far away from the preceding vehicle. Specifically, in the inter-vehicle distance determination process, it is determined whether or not the distance between the host vehicle and the preceding vehicle is greater than approximately 6 m. The grounds for setting the reference value of approximately 6 m for determining the correctness of the judgment are as follows. The reference value is desirably set to a value obtained by adding the distance between the front and rear vehicles at an intersection to the overall length of an ordinary passenger vehicle (for example, an ordinary passenger vehicle with a large engine displacement is assumed). For example, assuming that the average overall length of an ordinary passenger car is 5m, and that the inter-vehicle distance between vehicles slowing down near an intersection is at least 0.5m, the overall length of an ordinary passenger car is , the value obtained by adding the following inter-vehicle distance is 6 m. Therefore, the reference value should be set to 6m. When the distance between the vehicle and the vehicle in front is more than 6m, it can be considered that the traffic behind the vehicle is longer than an ordinary passenger car. By outputting a voice or the like prompting acceleration to reduce the distance between the vehicle and the vehicle ahead, traffic congestion can be alleviated. In addition, when the distance between the vehicle and the vehicle ahead is more than 6m, even if the vehicle is accelerated by outputting a voice or the like prompting the driver of the vehicle to accelerate the vehicle, can avoid colliding with the vehicle ahead.

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

As described above, the imaging device 15 can recognize the existence and type of an object located at a distance of approximately 0.5 m to 100 m from the own vehicle. On the other hand, the ultrasonic sensor 16 can detect objects within a range of approximately 6m from the vehicle, but cannot detect objects located farther than approximately 6m from the vehicle. As a result, when the distance between the vehicle and the vehicle ahead is approximately 6 m or less, the image of the vehicle ahead is captured by the imaging device 15 and the vehicle ahead is detected by the ultrasonic sensor 16 . On the other hand, when the distance between the vehicle and the vehicle ahead is greater than about 6 m, the image of the vehicle ahead is captured by the imaging device 15 but the vehicle ahead is not detected by the ultrasonic sensor 16 .

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

In FIG. 4, as a result of the inter-vehicle distance determination processing, when the own vehicle is approaching the preceding vehicle (step S4: NO), the CPU 25 ends the driving assistance processing. After that, the driving support process is immediately executed from the first step. On the other hand, if the result of the inter-vehicle distance determination processing is that the vehicle is far away from the vehicle ahead (step S4: YES), then the CPU 25 determines whether the vehicle is about to change lanes to the adjacent lane. If the vehicle is about to change lanes to the adjacent lane (step S5: YES), it is determined whether the adjacent lane where the vehicle is about to change lanes is congested. (Step S6). Then, if the adjacent lane is congested (step S6: YES), the CPU 25 ends the driving assistance process. In this case, no sound or the like prompting the driver of the vehicle to accelerate the vehicle is output. After that, the driving support process is executed from the first step. In the above-described third case, YES is determined in steps S5 and S6, respectively, and the driving support processing ends, so no sound or the like prompting the driver of the vehicle 41 to accelerate the vehicle is output. In the third case, as shown in FIG. 3, the right turn lane 35 on the right side of the lane in which the vehicle 41 is currently traveling corresponds to the adjacent lane. Not only the lane on the right side of the current lane, but also the lane on the left side. Further, the determination in step S5 as to whether or not the vehicle is about to change lanes to the adjacent lane is made, for example, by a detection signal indicating the operation of the direction indicator output from the direction indicator operation sensor 19, or from the steering wheel steering angle sensor 20. This is done based on the output detection signal indicating the steering angle of the steering wheel. Further, the determination of whether or not the adjacent lane is congested in step S6 is based on the captured image obtained from the imaging device 15 and the detection signal obtained from the ultrasonic sensor 16, for example. This is done by recognizing whether or not there is space in the adjacent lane for the vehicle to enter.

On the other hand, if the vehicle is not attempting to change lanes to the adjacent lane (step S5: NO), or if the adjacent lane to which the vehicle is attempting to change lanes is not congested (step S6: NO), then Then, the CPU 25 determines whether or not there is a vehicle that is about to cut in between the own vehicle and the preceding vehicle (step S7). Then, if there is a vehicle that is about to cut in between the own vehicle and the preceding vehicle (step S7: YES), the CPU 25 ends the driving assistance process. In this case, no sound or the like prompting the driver of the vehicle to accelerate the vehicle is 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 processing ends, the voice or the like prompting the driver of the own vehicle 41 to accelerate the own vehicle is not output. In the fourth case, as shown in FIG. 3, the vehicle on the left front of the vehicle is about to cut in between the vehicle and the vehicle ahead. YES is determined in step S6 even if the other vehicle is about to cut in between the own vehicle and the preceding vehicle. Further, the judgment as to whether or not there is a vehicle that is about to cut in between the own vehicle and the preceding vehicle is based on, for example, the captured image obtained from the imaging device 15 and the detection signal obtained from the ultrasonic sensor 16. , by recognizing whether or not there is a waiting vehicle in front left or right of the own vehicle with its direction indicator blinking.

If there is no vehicle that is going to cut in between the vehicle and the preceding vehicle (step S7: NO), then the CPU 25 determines whether there is a straddle-type vehicle approaching the vehicle from behind. (step S8). Then, if there is a straddle-type vehicle approaching the host vehicle from behind (step S8: YES), the CPU 25 ends the driving support processing. In this case, no sound or the like prompting the driver of the vehicle to accelerate the vehicle is output. After that, the driving support process is executed from the first step. In the fifth case described above, YES is determined in step S8 and the driving support processing ends, so that the driver of the own vehicle 41 is not output with a voice or the like prompting the driver to accelerate the own vehicle. In the fifth case, as shown in FIG. 3, the straddle-type vehicle is approaching from the left rear of the own vehicle. Even if it is, it is determined as YES in step S8. Straddle-type vehicles here include two-wheeled vehicles and three-wheeled vehicles. A scooter is also included in the straddle-type vehicle. Also, whether or not there is a straddle-type vehicle approaching the vehicle from behind is determined based on the captured image obtained from the imaging device 15 and the detection signal obtained from the ultrasonic sensor 16 .

If there is no saddle-ride type vehicle approaching the vehicle from behind (step S8: NO), the CPU 25 generates a sound or the like prompting the driver of the vehicle to accelerate the vehicle, as shown in FIG. (step S9). Specifically, the CPU 25 sends an audio signal to the speaker 21, and the speaker 21 outputs a voice such as "Please speed up". The CPU 25 also sends image data or text data to the display 22 and displays a message such as "Please speed up" on the screen of the display 22. FIG. In addition, the CPU 25 sends a drive signal to the vibrator 23 provided on the steering wheel, driver's seat, etc. to vibrate the vibrator 23 . A driver of the own vehicle is urged to accelerate the own vehicle by outputting a sound or the like prompting the acceleration of the own vehicle.

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

When a predetermined time (for example, about 10 to 30 seconds) elapses without the vehicle accelerating after outputting a voice prompting acceleration of the vehicle (step S10: NO, step S11: YES), the CPU 25 performs control to raise the level of prompting the acceleration of the own vehicle with voice or the like prompting the acceleration of the own vehicle (step S12). Specifically, the CPU 25 changes the sound output from the speaker 21 . For example, increase the audio volume. Also, the CPU 25 changes the display on the display 22 . For example, blink the message displayed on the screen. Also, the CPU 25 changes the vibration of the vibrator 23 . For example, increase the amplitude of vibration or increase the frequency of vibration. By increasing the level of prompting acceleration of the own vehicle in the sound, etc. prompting the acceleration of the own vehicle in this way, the driver of the own vehicle can surely notice the sound, etc. prompting 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 performs control to stop the voice prompting the acceleration of the own vehicle (step S13). Specifically, the CPU 25 stops the sound output from the speaker 21 , turns off the screen display of the display 22 , or stops the vibration of the vibrator 23 . After that, the CPU 25 ends the driving support process. Then, the driving support process is immediately executed from the first step.

In steps S1 to S4 in the driving support process described above, the own vehicle travels at a low speed in the vicinity of an intersection, even though there is a large distance between the vehicle ahead and the own vehicle, thereby hindering the travel of the vehicle behind. It is possible to determine whether there is However, the low-speed running of the own vehicle determined in steps S1 to S4 includes those based on the driver's unserious driving attitude and those based on not. However, in subsequent steps S5 to S7, it is determined whether or not the low-speed driving of the own vehicle is due to an unavoidable reason such as congestion in the adjacent lane, and whether the low-speed driving of the own vehicle permits the interruption of the vehicle. It can be determined whether or not it is based on attitude. As a result, it is possible to exclude those that are not based on the driver's frivolous driving attitude after the vehicle is running at low speed. Further, in step S8, it can be determined whether or not acceleration of the own vehicle, which is traveling at a low speed, should be encouraged in order to avoid collision between the own vehicle and the straddle-type vehicle. Then, if the low-speed running of the own vehicle is based on the driver's careless driving attitude, and if the collision between the own vehicle and the straddle-type vehicle can be avoided to ensure traffic safety, then the It is possible to prompt the driver of the vehicle to accelerate the vehicle by outputting a voice or the like prompting the driver to accelerate the vehicle. Therefore, according to the driving support device 1, it is possible to suppress traffic congestion near the intersection caused by the unserious driving attitude of the driver while ensuring traffic safety.

In addition, in the case of low-speed travel due to the driver's careless driving attitude, the driver of the rear vehicle is more frustrated than in the case of low-speed travel due to unavoidable reasons. Therefore, it is possible to effectively suppress the frustration of the driver of the rear vehicle by suppressing the low-speed running due to the unserious driving attitude of the driver. In addition, it is difficult to predict traffic jams caused by low-speed driving caused by driver's careless driving attitude. Therefore, by suppressing traffic congestion caused by low-speed driving caused by a driver's careless driving attitude, it is possible to improve the accuracy of prediction of traffic congestion at an intersection by, for example, a road traffic information center.

Further, in the driving support system 1 of the embodiment of the present invention, the image pickup device 15 and the ultrasonic sensor 16, both of which are inexpensive, are used to determine whether or not the vehicle is far away from the preceding vehicle. Therefore, the manufacturing cost of the driving assistance device 1 can be reduced.

In the above-described embodiment, the case where the own vehicle is a four-wheeled vehicle as shown in FIG. 1 or FIG. It may be a large vehicle such as those described above, or it may be a motorcycle or a three-wheeled vehicle. Moreover, although the crossroads shown in FIG. 1 or FIG. 2 have been exemplified, the crossover may be a T-junction or a Y-junction. The number of lanes on the road is also not limited. In addition, although the case where the intersection is provided with a time-staggered traffic signal is taken as an example, the traffic signal at the intersection may not be a time-staggered traffic signal, and the intersection may not have a traffic signal.

Also, an infrared camera may be used as the camera of the imaging device 15 in the above-described embodiments. A laser radar with a detection limit distance of about 6 m may be used as the transmission type object detection unit instead of the ultrasonic sensor 16 . Also, if an inexpensive millimeter-wave radar with a short detection limit distance is available, it may be adopted. Further, in the driving support device of the present invention, a vehicle position detection unit that detects the vehicle position, a vehicle speed detection unit that detects the speed of the vehicle, and a voice prompting the driver of the vehicle to accelerate the vehicle. etc. is not limited to those mentioned in the above-described embodiments. In addition, in the driving support process described above, when the conditions for outputting a voice or the like prompting acceleration of the own vehicle are satisfied, control is performed to output a voice or the like prompting the acceleration of the own vehicle and to automatically accelerate the vehicle. may be performed.

In addition, it is desirable that the own vehicle equipped with the driving assistance device 1 according to the above-described embodiment has a function of automatically stopping the own vehicle when the distance between the preceding vehicle and the own vehicle becomes extremely close. . As a result, it is possible to prevent the vehicle from colliding with the vehicle in front due to sudden acceleration when the driver accelerates the vehicle in response to a voice prompting the driver to accelerate the vehicle. .

In addition, the present invention can be modified as appropriate within the scope not contrary to the gist or idea of the invention that can be read from the scope of claims and the entire specification, and the driving support system that accompanies such modifications is also the technical concept of the present invention. include.

1 driving support device 11 GPS receiver (self-vehicle position detection unit)
12 Angular velocity sensor (vehicle position detector)
13 vehicle speed sensor (own vehicle position detector, own vehicle speed detector)
14 storage unit 15 imaging device (object detection unit, imaging unit)
16 Ultrasonic sensor (object detection unit, transmitting type object detection unit)
19 direction indication operation sensor (lane change detection unit)
20 steering wheel steering angle sensor (lane change detector)
21 speaker (output part)
22 display (output unit)
23 Vibrator (output part)
25 CPU (control unit)

Claims (7)

an own vehicle position detection unit that detects the position of the own vehicle;
an own vehicle speed detection unit that detects the speed of the own vehicle;
an object detection unit that detects an object existing around the own vehicle;
an output unit that outputs a voice, image, or text prompting the driver of the vehicle to accelerate the vehicle;
and a control unit,
The object detection unit is
an imaging unit having a camera for imaging the surroundings of the own vehicle and an image processing device for detecting an object existing around the own vehicle from the imaged image taken by the camera;
a transmission type object detection unit that transmits a detection wave, detects the object by receiving a reflected wave of the detection wave from the object, 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 determines whether or not the vehicle has approached an intersection. determining whether or not the speed of the vehicle is equal to or less than a predetermined speed reference value; determining whether or not a vehicle ahead of the own vehicle has been detected by the imaging unit; is detected, and as a result of these determinations, 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 preceding vehicle is detected by the imaging unit. outputting the voice, image or text through the output unit and automatically accelerating the own vehicle when the forward vehicle is detected and the transmitting object detection unit does not detect the forward vehicle; A driving support device characterized by: 2. The transmission type object detection unit according to claim 1, wherein the transmission type object detection unit is a laser radar with a detection limit distance of 6 m, a millimeter wave radar with a detection limit distance of 6 m, or an ultrasonic sensor with a detection limit distance of 6 m. Driving assistance device. an own vehicle position detection unit that detects the position of the own vehicle;
an own vehicle speed detection unit that detects the speed of the own vehicle;
an object detection unit that detects an object existing around the own vehicle;
an output unit that outputs a voice, image, or text prompting the driver of the vehicle to accelerate the vehicle;
and a control unit,
The object detection unit is
A camera that captures an image of the surroundings of the vehicle and an image processing device that detects an object existing around the vehicle from the captured image captured by the camera, and the object exists at a distance of 100 m from the vehicle. an imaging unit capable of detecting the presence or absence and type of an object that
and 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 determines whether or not the vehicle has approached an intersection. Determining whether or not the speed of the vehicle is equal to or less than a predetermined speed reference value, determining whether or not the vehicle ahead of the own vehicle is detected by the imaging unit, and detecting the vehicle ahead by the ultrasonic sensor. As a result of these determinations, 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 preceding vehicle is detected by the imaging unit. and, when the forward vehicle is not detected by the ultrasonic sensor, the control is performed to output the voice, image or text through the output unit and to automatically accelerate the own vehicle. Driving assistance device. 2. The control unit changes the output mode of the voice, the image or the text when the output of the voice, the image or the text continues for a predetermined time from the start of the output of the voice, the image or the text. 4. The driving assistance device according to any one of 1 to 3 . Based on the position of the vehicle detected by the vehicle position detection unit, the control unit determines that the vehicle has approached a position near the intersection where the right-turn lane diverges from the lane entering the intersection. 5. The driving support system according to any one of claims 1 to 4 , wherein it is determined whether or not. an own vehicle position detection unit that detects the position of the own vehicle;
an own vehicle speed detection unit that detects the speed of the own vehicle;
an object detection unit that detects an object existing around the own vehicle;
an output unit that outputs a voice, image, or text prompting the driver of the vehicle to accelerate the vehicle;
and a control unit,
The object detection unit is
an imaging unit having a camera for imaging the surroundings of the own vehicle and an image processing device for detecting an object existing around the own vehicle from the imaged image taken by the camera;
a transmission type object detection unit that transmits a detection wave, detects the object by receiving a reflected wave of the detection wave from the object, 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 determines whether or not the vehicle has approached an intersection. determining whether or not the speed of the vehicle is equal to or less than a predetermined speed reference value; determining whether or not a vehicle ahead of the own vehicle has been detected by the imaging unit; is detected, and as a result of these determinations, 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 preceding vehicle is detected by the imaging unit. When the forward vehicle is detected and the forward vehicle is not detected by the transmission type object detection unit, the output unit outputs the voice, image, or text, and the control unit outputs the forward vehicle and the own vehicle. A driving support system that automatically stops the vehicle in order to prevent the vehicle from colliding with the forward vehicle when the distance between the two becomes extremely close. an own vehicle position detection unit that detects the position of the own vehicle;
an own vehicle speed detection unit that detects the speed of the own vehicle;
an object detection unit that detects an object existing around the own vehicle;
an output unit that outputs a voice, image, or text prompting the driver of the vehicle to accelerate the vehicle;
and a control unit,
The object detection unit is
A camera that captures an image of the surroundings of the vehicle and an image processing device that detects an object existing around the vehicle from the captured image captured by the camera, and the object exists at a distance of 100 m from the vehicle. an imaging unit capable of detecting the presence or absence and type of an object that
and 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 determines whether or not the vehicle has approached an intersection. Determining whether or not the speed of the vehicle is equal to or less than a predetermined speed reference value, determining whether or not the vehicle ahead of the own vehicle is detected by the imaging unit, and detecting the vehicle ahead by the ultrasonic sensor. As a result of these determinations, 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 preceding vehicle is detected by the imaging unit. and outputting the voice, image or text through the output unit when the forward vehicle is not detected by the ultrasonic sensor, and the control unit determines the distance between the forward vehicle and the own vehicle. A driving support system, characterized in that, when the vehicle is extremely close to the vehicle, the vehicle is automatically stopped so as to prevent the vehicle from colliding with the vehicle ahead.

Images