JPH08335298A - Driving support device for vehicle - Google Patents

Abstract

PURPOSE: To make proper travel control possible on a curved road, etc., and differently support a driver to drive and lighten the burden by providing an operation limiting means which determines a control range for danger prediction control operation according to the output of a road search means and the driving state of a vehicle. CONSTITUTION: The road search means 21 extracts the front road shape of a travel road and road relative information from the current position of the vehicle and map data obtained by a navigation controller and a search information transmission means 22 sends information regarding the search results to a traction controller 15. The operation limiting means 23 receives the output of the search information transmitting means 22 and allows operation only when the travel path of this vehicle is determined and a travel control means 24 totally judges the behavior of the vehicle and performs optimum control with the search information obtained through the operation limiting means 23 together with the front road state and travel state in addition to the original travel control of a travel controller mounted on the vehicle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle driving support device mounted on a vehicle equipped with a vehicle navigation system.

[0002]

2. Description of the Related Art A navigation device performs necessary processing on output signals obtained from both a distance sensor and a direction sensor as a method of detecting the position of a vehicle traveling at an arbitrary position on a road traffic network. Equipped with a processing device, dead reckoning to obtain vehicle position data,
Furthermore, there is a map matching method to eliminate the cumulative error of the navigation method.

Since the position accuracy of the navigation device is improved and the current position of the vehicle can be estimated by such a system, it is possible to previously recognize the turning radius of the curved road approaching the front side, and further, based on the recognition result. An overspeed prediction device has been proposed to support safe driving in a forward curve (see Japanese Patent Laid-Open No. 5-141979).

[0004]

As is well known to the vehicle driver, when the traveling vehicle speed is constant, the smaller the turning radius is, the larger the lateral acceleration received by the vehicle is. It is necessary to sufficiently reduce the approach speed to the low vehicle speed. Therefore, the conventional device calculates the traveling speed (entry speed) of the vehicle with respect to the curved road that is close to the traveling direction of the vehicle and the lateral acceleration expected from the turning radius obtained by the navigation device, and determines the lateral acceleration to be a predetermined value. When the threshold value is exceeded, the driver is alerted.

However, in the conventional structure, it may not be possible to sufficiently decelerate depending on the distance between the position where the lateral acceleration exceeds the threshold value and the turning start position of the vehicle.
There is a problem in that the intended effect is halved because attention is urged even in the case where a branching direction without intention to drive is a curved road.

In view of the above points, the present invention has been made in order to solve the above-mentioned problems, and makes it possible to perform appropriate traveling control on a curved road or the like, thereby further driving the driver. An object of the present invention is to obtain a vehicle driving support device capable of supporting and reducing the burden.

[0007]

According to a first aspect of the present invention, there is provided a vehicle driving assistance device which detects a current position of a vehicle and displays related information in the vehicle interior together with a peripheral map based on the detected position. A navigation control device that optimally controls the traveling state of the vehicle that changes every moment, the navigation device receives a output from the road search means that extracts a road condition related to the travel route of the vehicle, and the road search means. Search information transmission means for transmitting to the travel control device, wherein the travel control device is a condition preset by a driver or a condition of a travel route depending on a road search result by the road search device and a driving situation of the vehicle. In accordance with the driving control means for determining the degree of danger ahead of the host vehicle according to the following, and performing the risk prediction control, the output of the road search means and the driving condition of the vehicle, the risk prediction control operation is performed. Configured with an actuating limiting means for determining that the control range.

According to another aspect of the present invention, there is provided a vehicle driving assistance device, which detects a current position of the own vehicle and displays related information in the vehicle interior together with a peripheral map based on the detected position, and a running vehicle which changes momentarily. A travel control device for optimally controlling the state, wherein the navigation device receives the output of the road search means for extracting a road condition regarding the travel route of the vehicle, and to the travel control device. The travel control device is provided with a search information transmitting means for transmitting, and the traveling control device is configured to detect the danger ahead of the host vehicle according to a condition preset by the driver or a condition of a traveling road according to a road search result by the road searching means and a driving situation of the vehicle. And a road control function that determines the degree of danger and performs danger prediction control, and limits the risk prediction control range of the travel control means by the output from the road search means. Configured with an actuating limiting means for permitting risk assessment and risk prediction control by the travel control means only when in route guidance at.

According to another aspect of the present invention, there is provided a vehicle driving assistance device, which detects a current position of a vehicle and displays related information in the vehicle interior together with a peripheral map based on the detected position, and a traveling vehicle which changes momentarily. A travel control device for optimally controlling the state, wherein the navigation device receives the output of the road search means for extracting a road condition regarding the travel route of the vehicle, and to the travel control device. The travel control device is provided with a search information transmitting means for transmitting, and the traveling control device is configured to detect the danger ahead of the host vehicle according to a condition preset by the driver or a condition of a traveling road according to a road search result by the road searching means and a driving situation of the vehicle. Of the own vehicle by limiting the risk prediction control range of the travel control means by the output from the road search means and the travel control means for determining the degree of danger prediction control. That the road is configured to include a operation restricting means for permitting the risk assessment and risk prediction control by the travel control unit only when a single road on the map data.

According to another aspect of the present invention, there is provided a vehicle driving assistance device, which detects a current position of a host vehicle and displays related information in the vehicle interior together with a peripheral map based on the detected position, and a running vehicle which changes momentarily. A travel control device for optimally controlling the state, wherein the navigation device receives the output of the road search means for extracting a road condition regarding the travel route of the vehicle, and to the travel control device. The travel control device is provided with a search information transmitting means for transmitting, and the traveling control device is configured to detect the danger ahead of the host vehicle according to a condition preset by the driver or a condition of a traveling road according to a road search result by the road searching means and a driving situation of the vehicle. Of the own vehicle by limiting the risk prediction control range of the travel control means by the output from the road search means and the travel control means for determining the degree of danger prediction control. That the road type is, during the search by the map data, configured with an actuating limiting means for permitting risk assessment and risk prediction control by the travel control unit as long as that is not an automobile-only road attribute.

According to a fifth aspect of the present invention, there is provided a vehicle driving support device which detects a current position of the own vehicle and displays related information in the vehicle interior together with a peripheral map based on the detected position, and a running vehicle which changes momentarily. A travel control device for optimally controlling the state, wherein the navigation device receives the output of the road search means for extracting a road condition regarding the travel route of the vehicle, and to the travel control device. The travel control device is provided with a search information transmitting means for transmitting, and the traveling control device is configured to detect the danger ahead of the host vehicle according to a condition preset by the driver or a condition of a traveling road according to a road search result by the road searching means and a driving situation of the vehicle. Of the own vehicle by limiting the risk prediction control range of the travel control means by the output from the road search means and the travel control means for determining the degree of danger prediction control. That forward road shape of a road is constructed only when it is clear the crooked path to include a operation restricting means for permitting the risk assessment and risk prediction control by the travel control unit.

According to another aspect of the present invention, there is provided a vehicle driving assistance device, which detects a current position of a vehicle and displays related information in the vehicle interior together with a peripheral map based on the detected position. A travel control device for optimally controlling the state, wherein the navigation device receives the output of the road search means for extracting a road condition regarding the travel route of the vehicle, and to the travel control device. The travel control device is provided with a search information transmitting means for transmitting, and the traveling control device is configured to detect the danger ahead of the host vehicle according to a condition preset by the driver or a condition of a traveling road according to a road search result by the road searching means and a driving situation of the vehicle. Degree is determined, and the control range for the danger prediction control operation is determined by the travel control means that performs risk prediction control, the output of the road search means, and the driving status of the vehicle. And a operation restricting means for, the search information transmitting means, at regular time intervals for the road ahead search results obtained by the road searching means configured to transmit a predetermined distance ahead of the information and matching information.

According to another aspect of the present invention, there is provided a vehicle driving assistance device, which detects a current position of a host vehicle and displays related information in the vehicle interior together with a peripheral map based on the detected position, and a running vehicle which changes momentarily. A travel control device for optimally controlling the state, wherein the navigation device receives the output of the road search means for extracting a road condition regarding the travel route of the vehicle, and to the travel control device. The travel control device is provided with a search information transmitting means for transmitting, and the traveling control device is configured to detect the danger ahead of the host vehicle according to a condition preset by the driver or a condition of a traveling road according to a road search result by the road searching means and a driving situation of the vehicle. Degree is determined, and the control range for the danger prediction control operation is determined by the travel control means that performs risk prediction control, the output of the road search means, and the driving status of the vehicle. And a operation restricting means for, the search information transmitting unit, for each predetermined distance on the road ahead search results obtained by the road searching means configured to transmit a predetermined distance ahead of the information and matching information.

[0014]

In the vehicle driving assistance device according to the first aspect, the road search means extracts the road condition relating to the traveling path of the vehicle, and the travel control device causes the road search result by the road search device and the driving condition of the vehicle. According to the condition set by the driver or the condition of the road in advance, the degree of danger in front of the own vehicle is determined, the risk prediction control is performed, and the operation limiting unit determines the output of the road searching unit and the driving condition of the vehicle. The control range for the risk prediction control operation is determined, and if there is no danger outside this control range, the risk determination and risk prediction control are not performed. This makes it possible to accurately and optimally perform risk prediction control at the time of risk determination,
It becomes possible to efficiently support driving of the driver.

In the vehicle driving support device according to the second aspect,
The road search means extracts a road condition relating to the travel route of the vehicle, and the travel control device determines the road search result obtained by the road search device and the driving condition of the vehicle according to a condition preset by the driver or a condition of the travel route. Judgment of the degree of danger ahead of the host vehicle, performing risk prediction control, limiting the risk prediction control range of the travel control means by the output from the road search means by the operation limiting means, and guiding the route when using the route guidance function. By permitting the risk determination and the risk prediction control by the traveling control means only in the middle, the risk determination and the risk prediction control are not performed when there is substantially no danger.

In the vehicle driving support device according to claim 3,
The road search means extracts a road condition relating to the travel route of the vehicle, and the travel control device follows the condition set by the driver or the condition of the travel route from the road search result obtained by the road search device and the driving condition of the vehicle. The road ahead of the host vehicle is determined by determining the degree of danger in front of the host vehicle, performing the risk predictive control, and limiting the risk predictive control range of the travel control unit based on the output of the road search unit by the operation limiting unit. By permitting the risk determination and the risk prediction control by the traveling control means only when is a single road on the map data, the risk determination and the risk prediction control are not performed when there is substantially no danger.

In the vehicle driving support device according to the fourth aspect,
The road search means extracts a road condition related to the traveling path of the vehicle, and the travel control means determines a condition or a travel condition preset by the driver on the basis of the road search result by the road searching means and the driving condition of the vehicle. According to the conditions, the degree of danger ahead of the host vehicle is determined, the risk prediction control is performed, and the operation restriction unit limits the risk prediction control range of the travel control unit by the output from the road search unit to drive the host vehicle. When the road type is searched by the map data, the risk determination and the risk prediction control by the travel control means are permitted only when the attribute is not the exclusive road for the automobile, so that it is dangerous when traveling on the exclusive road for the automobile, which can be driven at a high speed even on a curve. Degree judgment and risk prediction control are not performed.

In the vehicle driving support device according to claim 5,
The road search means extracts a road condition related to the traveling path of the vehicle, and the travel control means determines a condition or a travel condition preset by the driver on the basis of the road search result by the road searching means and the driving condition of the vehicle. According to the conditions, the degree of danger ahead of the host vehicle is determined, the risk prediction control is performed, and the operation restriction unit limits the risk prediction control range of the travel control unit by the output of the road search unit, and the road on which the host vehicle travels. By permitting the risk determination and the risk prediction control by the traveling control means only when the front road shape is an obvious curved road, the curvature of the curve in front of the own vehicle is small and it is not necessary to substantially decelerate. In this case, risk judgment and risk prediction control are not performed.

In the vehicle driving support device according to the sixth aspect,
The road search means extracts the road condition relating to the traveling path of the vehicle, and the road information is transmitted to the travel control device by the search information transmission means. Based on the driving situation, the risk level ahead of the host vehicle is determined according to the condition set by the driver in advance or the condition of the road, risk prediction control is performed, and the search information transmission unit obtains the road search unit. Regarding the result of the forward road search, information and matching information ahead of a predetermined distance are transmitted at regular intervals. As a result, the load on the navigation device is reduced, and the responsiveness during manual operation can be ensured.

In the vehicle driving support device according to the seventh aspect,
The road search means extracts the road condition relating to the traveling path of the vehicle, and the road information is transmitted to the travel control device by the search information transmission means. Based on the driving situation, the risk level ahead of the host vehicle is determined according to the condition set by the driver in advance or the condition of the road, risk prediction control is performed, and the search information transmission unit obtains the road search unit. With respect to the result of the forward road search, information and matching information ahead of a predetermined distance are transmitted at constant intervals. As a result, the driving condition (or driving environment) of the host vehicle
Information can be obtained, and the driver assistance device can reliably determine the degree of risk.

[0021]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

Example 1. The road on which the vehicle is traveling can be recognized by reading the map data by detecting the position by the navigation device, but in order to estimate the road on which the vehicle will travel, combination with other information is required. Needless to say, it will be necessary.
Therefore, in this embodiment, attention is paid to the route guidance function of the navigation device to recognize the road on which the vehicle is about to travel. The route guidance function is a function for the driver to input a destination in advance and to move the vehicle to the destination by the guidance of the navigation device. By using this function, the driver only has to travel according to the guidance of the navigation device and does not make a mistake on the road. Moreover, since it has the feature that it does not function when traveling on a road other than the set road,
When trying to use the route guidance function, it is always possible to determine the road on which the vehicle will travel.

The first embodiment of the present invention will be described below. In the present embodiment, whether the travel route is known in the navigation device, that is, the driver uses the route guidance function, and extracts whether or not the own vehicle is traveling on the route as route guidance information, The road search means is configured to transmit the curve information (distance to the inflection point / bending rate) of the road ahead searched from the map data to the travel control device via communication. As a result, the traveling control device can estimate the traveling route of the own vehicle, and performs risk prediction control by determining the degree of danger of the traveling route.

FIG. 1 is a block diagram showing the details of the system configuration of a vehicle driving support apparatus according to the first embodiment of the present invention. In this embodiment, the navigation device NV and the traction control device TC are connected via communication.

The navigation device NV and the traction control device TC may be connected by communication as long as they have a communication function including other control devices, even if they have a communication mode having logical channels corresponding to a plurality of connections. Good.

The navigation device NV is, as shown in FIG. 1, a display device 1, a console 2, a direction sensor 3 for detecting a traveling direction of a vehicle, a distance sensor 4 for detecting a traveling distance from a starting point, and a vehicle. Position sensor 5 for detecting the current position of the vehicle, a road map memory 6 storing road map data, a memory drive 7 for reading the stored data from the road map memory 6 at any time, and a memory drive based on each sensor input signal. In addition to the locator device 8 that performs correlation processing based on comparison with the road map data read from 7 to detect the vehicle position and the vehicle position display function / route guidance function and the like based on the above, the own vehicle position and the road map data , And has a communication function to extract the forward bending road situation (turning radius, distance, guidance information) approaching from the current guidance state and to transmit these related information. Navigation inclusive the apparatus called an audio output device 10 as the controller 9 and an output device.

The vehicle position detecting device may further have a device such as a beacon, which is installed on the road and radiates a radio signal including the installation position information, in addition to the above-mentioned components.

On the other hand, a traction control device TC, which is an example of a travel control device, includes a wheel speed sensor 11 for measuring a wheel speed difference of the host vehicle, a steering wheel angle sensor 12 for estimating the behavior of the vehicle, and an accelerator pedal. Based on input signals from the accelerator sensor 13 that detects the amount of depression, the throttle opening sensor 14 that detects the throttle valve opening, etc., the tires when the vehicle starts such as a low μ road (a road with a small friction coefficient μ of the road surface) A traction controller 15 having a slip control function for suppressing / preventing slipping (slip) and a communication function for obtaining information on a forward taxiway via communication from the navigation device NV.

Further, the information from the navigation controller 9 of the navigation device NV is communicated not only to the traction control device TC but also to other traveling control devices 16 such as a four-wheel steering device, an automatic transmission control device and a fuel injection device. Sent by. The traction control device TC may further include an indicator indicating an operating state, an operating switch, and the like in addition to the above-mentioned components.

FIG. 2 is a block diagram showing the functional configuration of the vehicle driving assistance device of the present invention. In this figure, 21
Reference numeral 22 denotes a road search means for extracting the road shape ahead and road-related information on the traveled road from the current position of the vehicle obtained by the navigation controller 9 and the map data, and 22 transmits information about the search result to the traction controller 15. The search information transmitting means 23, 23, receives the output of the search information transmitting means 22 and permits the operation only when the traveling route of the own vehicle is determined, and the reference numeral 24 is the original traveling control of the traveling control device mounted on the own vehicle. In addition, it is a traveling control means for comprehensively determining the behavior of the vehicle in accordance with the road condition in front and the traveling state based on the search information obtained via the operation limiting means 23, and controlling it optimally. In this figure, the road search means 21 and the search information transmission means 22 compose a navigation device NV, and the operation limiting means 23 and the travel control means 24 compose a traction controller 15 as an example of a travel control device.

Next, the operation of this embodiment will be described with reference to the flowchart of FIG. First, when the engine is started and the power supply from the vehicle-mounted battery (not shown) is started, the present control device starts its operation and executes the main routine processing shown in FIG.

At this time, since a pulse train signal having a frequency proportional to the traveling speed of the vehicle is input from the wheel speed sensor 11, an interrupt process for measuring the period is performed as shown in FIG.
It is performed separately from the main routine processing shown in.

In addition to this, the communication interrupt processing for transmitting and receiving the information (distance, turning radius, guidance information) on the road ahead from the current vehicle position to and from the navigation device is the same as the interrupt processing shown in FIG. It should be performed separately from the main routine processing shown in.

Next, the main routine process will be described in sequence. First, in the main routine processing, step S100
In step S101, after the microcomputer (not shown) of the traction controller 15 as the traveling control device is initialized, the traveling speed V of the vehicle is calculated from the latest pulse period T obtained by the interrupt processing in step S101.
Find B.

The traveling speed VB at this time is calculated by the following equation. Running speed VB = g / Δt (where g is a conversion constant) In step S102, the data received asynchronously by the communication interrupt processing that is performed separately from the main routine processing is stored in synchronization with the main cycle.

In step S103, in order to obtain a threshold value that serves as a reference for determining the operation of slip control, a threshold value is obtained by adding a correction value based on received data (guidance information: road pavement presence / absence) to a reference value determined as an initial value. After that, the wheel speed and the vehicle body speed are calculated from the input signals from the wheel speed sensors that detect the rotation speeds of the driving wheels and the driven wheels, and the own vehicle slip ratio is calculated based on these.

Next, in step S104, step S1
Whether the control is operated or not is determined by comparing the slip ratios of the driving wheel and the driven wheel obtained in step 03, and when the slip control is operating, the process proceeds to step S105, and when not operating, the process proceeds to step S106.

In step S105, a slip control process similar to the conventional one is performed, and a driving force control amount for preventing idling of the tire when the vehicle starts is calculated according to the slip ratio. By using the information held by the navigation device in this way, the control can be operated more quickly on a slippery road surface (low μ road) than in the past.

Next, in step S106, it is checked from the received data whether or not the host vehicle is on the route guideway (the guideway of the travel route to the destination by the navigation device) and there is a bend on the front route. If there is a curved road ahead of the guide route, the process proceeds to step S107, and if not, the process proceeds to step S111.

By limiting the operating conditions as described above, by excluding the front curved path at an unnecessary portion from the control target, it is possible to prevent the effect of the conventional operation at an unnecessary portion from being halved.

In step S107, step S101
Based on the running speed obtained in step 1, the running distance for each predetermined cycle is calculated and sequentially integrated.Similarly, forward bending is performed based on the distance from the arrival point to the forward bending road obtained from the received data to the end point. Find the remaining distance to the road start point. At this time, if the distance to the next curved road can also be known, the continuity of the front curved road can be judged.

At this time, the total running distance L and the reaching distance Lremain to the forward curved road are obtained by the following equations. Total mileage Ln = L _n-1 + VB / Δt

Reaching distance Lremain = distance to curved road (reception value) -total running distance Ln In step S108,
The allowable lateral acceleration αy * at each reaching distance (remaining distance to approach) to the curve approach point (turning motion start) is calculated from the forward turning radius value of the received data and the reaching distance to the forward bend road obtained in step S107. . This value may be uniquely determined or may be changed stepwise according to the distance until the start of turning.

Further, using the present traveling speed VB and the turning radius R, the expected lateral acceleration αy is calculated by the following equation.

Expected Occurrence Lateral Acceleration αy = VB ² / R Next, in step S109, risk prediction (whether a safe turn is possible) is made by comparing the above-described expected occurrence lateral acceleration αy with the allowable lateral acceleration αy * as a threshold value. When the condition is satisfied, the process proceeds to step S110, and when the condition is not satisfied, the process proceeds to step S111.

In step S110, when the vehicle enters the turning operation while maintaining the current vehicle speed, the grip force of the tire becomes less than the generated lateral acceleration, and if safe turning cannot be achieved, it is necessary to avoid it. Calculate the required engine output reduction amount.

Specifically, the current engine torque output Te is obtained by inputting the current accelerator opening, engine speed, vehicle speed, transmission gear ratio, etc., and the predetermined function F
The target controlled variable is determined using (X). The target control amount T at this time is calculated by the following equation. Target control amount T = F (Te)

As a result, in the case where the normal safe turning cannot be performed on the forward curved road, the engine output of the own vehicle is reduced by this control device, and the safe turning is possible. Become.

Further, at this time, deceleration processing such as changing the gear stage by the driver's accelerator operation or brake operation signal input is added to assist the driver in deceleration by switching or simultaneously performing control. Good.

Regardless of whether the risk prediction is successful or not, in step S111 which is a common process, the control having a large suppression effect is obtained from the control amount in the conventional control of the traction control device and the target control amount obtained by the present invention. The quantity is selected as the final controlled quantity and the actuator is driven.

At this time, a means for recognizing the operation of the control device (operation sound, lamp, voice, etc.) may be used together to prompt the driver to decelerate.

As a result, the above control can be realized without deteriorating the conventional function of the present control device, and the conventional function can be controlled more finely according to the road condition by the information from the navigation device. realizable.

In step S112, since a series of these operations are executed every predetermined period, the process returns to step S101 after a predetermined period of time, and the above process is repeated.

As described above, according to this embodiment, the driving support device can recognize the driver's intention by providing the operation limiting condition for limiting the operation of the route guidance function. When there is a curve on a road that does not pass in front of, there is an effect that the operation is restricted and the risk degree is not judged, and the risk prediction control at an unnecessary portion can be avoided.

Example 2. The road on which the vehicle is traveling can be recognized by reading the map data by detecting the position by the navigation device, but in order to estimate the road on which the vehicle will travel, combination with other information is required. It goes without saying that it will be necessary.

When considering the travel route, the driver determines the travel route by appropriately selecting one continuous road from the traffic road network formed by a plurality of roads that intersect each other in a complicated manner. To be done. The only option on roads with no choice is forward or backward. Therefore, in this embodiment, it is determined from the map data read from the navigation device whether or not the risk determination and the risk prediction control for the adjacent curve are necessary, that is, whether or not there is a road option, that is, from the current position of the host vehicle. Judging whether or not there is a branch point between the adjacent curves or in the curve (the traveling route does not change on a single road),
It is intended to recognize the road on which the vehicle is going to travel.

This embodiment will be described below. In this embodiment, the map data is read based on the position of the own vehicle detected by the navigation device, and the curve closest to the position of the own vehicle is extracted. Then, after reaching the extracted curve, or after reading from the map data whether or not the curve itself includes a branch road, this is read together with the curve information through the search information transmission means 22 through the traction information. This is transmitted to the control device 15 so as to determine the degree of danger in a curve near the host vehicle and perform risk prediction control.

The configuration of this embodiment is the same as that of the first embodiment shown in FIGS. 1 and 2, and the operation of this embodiment is substantially the same as the flowchart of the first embodiment of FIG.
Only the operation limiting condition of 106 is different. That is,
In step S106, an operation restriction item that indicates whether or not there is a choice of roads to be traveled is further added.

According to this embodiment, since the driving support device can recognize the intention of the driver by providing the operation restriction items such as the presence / absence of the choice of the traveling road, for example, a bend including a front branch road at an intersection or the like. In the case of a road or the like, there is an effect that the operation restriction is applied and the risk degree is not judged, and the risk prediction control at an unnecessary portion can be avoided.

Example 3. Generally, on a road such as an automobile road, the legal speed limit is relatively high, and therefore it can be considered that the bending rate of the traveling road is also relatively high. However, considering the risk prediction control, in the first embodiment, if it is determined that the own vehicle exceeds the predetermined threshold value (allowable lateral acceleration amount) regardless of the flow of the entire vehicle, etc. Predictive control is executed.

If the threshold value is set to be effective on an ordinary road, the traveling speed will be generally high on the automobile exclusive road, so that the danger control can be easily performed. Further, when the threshold value is increased, it becomes difficult to enter the danger control during high speed running on a general road, and the behavior of the vehicle tends to be unstable.

Therefore, in this embodiment, whether or not it is necessary to perform the risk determination and the risk prediction control for the adjacent curve in the map data read from the navigation device is selected by the road type, that is, the current traveling of the vehicle. The risk level of an adjacent curve is determined depending on whether or not the place is a motorway, and the risk prediction control on the road on which the vehicle is about to travel is limited.

This embodiment will be described below. In this embodiment, the map data is read based on the position of the own vehicle detected by the navigation device, and the curve closest to the position of the own vehicle is extracted. Then, after reading from the map data whether or not the type of the road before reaching the extracted curve or the road of the curve itself is an automobile-only road, this is read together with the curve information in the search information transmission means 22. It is transmitted to the traction control device 15 through the vehicle to determine the degree of danger in a curve close to the own vehicle and perform risk prediction control.

The configuration of this embodiment is similar to that of the first embodiment shown in FIGS. 1 and 2, and the operation thereof is substantially the same as that shown in the flow chart of the first embodiment of FIG. Only the operation restriction conditions are different. That is, in this embodiment, an operation restriction condition of road type selection is added in step S106.

According to this embodiment, by providing the operation restriction condition of selecting the road type, it is possible to judge the degree of risk according to the road environment such as switching the control threshold value, and it is possible to perform a sufficient judgment at the time of merging from the interchange, for example. When acceleration is required, there is an effect that the operation restriction is applied and the risk degree determination is not performed, and the risk prediction control at an unnecessary location can be avoided.

Example 4. The main criterion for risk determination is the amount of lateral acceleration that occurs when entering a forward curve at the current speed, and the factors that influence this calculated value are the vehicle speed and the turning radius of the curve.

However, since the turning radius is the average turning radius value of the adjacent front curve extracted from the map data, it has a value irrelevant to the magnitude of the turning angle.

Therefore, when the road in a substantially straight line ahead of the host vehicle is bent at one point, the turning radius value to be extracted becomes a very small value, and the generated lateral acceleration amount predicted from the traveling speed is obtained. On the contrary, since it becomes large, there is a possibility that risk prediction control may be performed by determining the risk depending on the traveling speed.

Therefore, in this embodiment, it is determined whether or not the risk degree determination and the risk prediction control with respect to the adjacent curve in the map data read from the navigation device are necessary, that is, the turning angle value based on the curve section distance information, that is, Attempting to limit the risk prediction control on the road from now on by calculating backward from the curve section distance how much the curve that is closest to the current vehicle is curving and obtaining the turning angle It is a thing.

This embodiment will be described below. In the present embodiment, the map data is read based on the own vehicle position detected by the navigation device, the curve closest to the own vehicle position is extracted, and then the section of the extracted curve (from the start of the inflection to the end) is extracted. After being read out from the map data as the curve section distance, this is transmitted to the traction control device 15 together with the curve information through the search information transmission means 22 to determine whether or not it is necessary to perform the risk determination on the curve near the own vehicle, and then it is dangerous. It is intended to perform predictive control.

The turning angle value at this time can be obtained by the following equation. Turning angle θ = (distance of curved road section (distance of curve section) / turning radius) x (360 / 2π)

The threshold value used for determining the degree of danger of the turning angle obtained by the calculation of the above equation is calculated backward from the turning radius of the adjacent front curve section so that the driver can visually recognize that the curve is sufficiently curved. Such a value (for example, 90 degrees) is set.

When the turning angle θ is smaller than a predetermined threshold value, the degree of bending of the curve is judged to be small, and the risk determination is not performed. The threshold value for judging the magnitude of the turning angle θ is It may be switched depending on the turning radius, the section distance to the next curved road, the traveling speed of the own vehicle, or the like.

The structure of this embodiment is the same as that of the first embodiment shown in FIGS. 1 and 2, and the operation of this embodiment is substantially the same as the flowchart of the first embodiment of FIG.
Only the operation limiting condition of 106 is different. That is,
In step S106, an operation restriction condition is added in which the turning angle of the curve, that is, the degree of bending is determined, and if the turning angle is smaller than a predetermined value, the risk determination is not performed.

According to this embodiment, by providing the operation restriction condition of the turning angle, it is judged whether or not the risk degree is to be judged depending on the bending condition of the curve located in front of the host vehicle. There is an effect that the risk prediction control is avoided at an unnecessary place without performing the risk determination in a place where the road bends slightly at one point and the driver does not think it is a curve.

Example 5. The predicted lateral acceleration amount used for the risk determination according to the first embodiment described above is performed by the navigation control device in advance to recognize road information such as a curve located ahead of the host vehicle by the navigation device before the vehicle passes through the curve. It is necessary to calculate before the control starts.

Here, in the case of considering the expected lateral acceleration amount, it can be seen that it is determined by the moving distance per unit time and the turning radius of the front curve since it is derived by the following equation. Occurrence expected lateral acceleration αy = VB ² / R [m / s ² ] where VB is the own vehicle traveling speed value [m / s ² ] and R is the turning radius value [m].

To recognize the expected lateral acceleration in advance,
It suffices to know the road information ahead of which is longer than the traveling distance in the required time when the vehicle is decelerated at a predetermined deceleration from the maximum traveling speed of the vehicle to the maximum allowable approach speed at the minimum turning radius detectable by the navigation device.

Forward recognition required distance L = (VBmax-V * mi
n) / 2Gx [m] where VBmax is the maximum traveling speed [m / s], V * min is the minimum allowable approach speed [m / s], and Gx is the deceleration [m / s]
s ² ].

If the bend rate information of the road ahead of a predetermined distance satisfying the above equation can be read out periodically, it becomes unnecessary to transmit the distance value from the vehicle to the front curve.

Therefore, in this embodiment, the inflection rate of a road located ahead by a predetermined distance is read out from the map data of the navigation device, and the inflection rate inflection points are recognized as the start point and the end point of the curve. Therefore, the degree of danger is judged, and risk prediction control is performed on the road on which the vehicle is about to travel.

This embodiment will be described below. In this embodiment, the map data is read based on the position of the vehicle detected by the navigation device at regular intervals, and the bending ratio ahead of a predetermined distance from the position of the vehicle is read out. By transmitting the information to the traction control device 15 through the search information transmission means 22 and measuring the moving distance from the change point of the bending rate on the traction device 15 side, the risk determination is performed on the curve near the own vehicle, and the danger is detected. It is intended to perform predictive control.

The predetermined distance forward here may be equal to or larger than the front recognition required distance value.

The configuration of this embodiment is similar to that of the first embodiment shown in FIGS. 1 and 2, and the operation thereof is substantially the same as that shown in the flow chart of the first embodiment of FIG. Only the mileage calculation is different. That is, in this embodiment, in step S107, the traveling distance is calculated by using the bending rate of the road ahead of the own vehicle by a predetermined distance and measuring the moving distance from the change point of the bending rate.

From the viewpoint of the control cycle, it is more ideal to incorporate the same curve information transmission capacity into the main control cycle.

According to this embodiment, since it is not necessary to transmit the distance value to reach the curve when extracting the adjacent curve, not only the load of the transmission capacity becomes uniform, but also the receiving process on the side of the traveling control device. Can also be simplified.

Further, instead of the abolished distance information, other information can be added and transmitted, and there is an effect that the control judgment by the traveling control device can be made more comprehensively.

Example 6. The required front recognition distance L for recognizing the expected lateral acceleration amount used for the risk determination before starting the risk control of the far curve is as follows.

Forward recognition required distance L = (VBmax-V * mi
n) / 2Gx [m] where VBmax = maximum traveling speed [m / s], V * min = minimum allowable approach speed [m / s], Gx is deceleration [m / s ² ]
Is.

If the bending ratio information of the front distance satisfying the above equation can be read, it becomes unnecessary to transmit the distance value from the vehicle to the curve.

However, in the navigation device, when the operation input by the occupant is performed, it is necessary to perform the processing promptly, so that the normal load applied to the navigation device should be reduced, and the transmission of the transmitted information amount by the high load. It is necessary to have a means capable of correcting the delay.

Therefore, in the present embodiment, a curve that is closer to a predetermined forward search range that can be corrected is extracted from the map data of the navigation device, and the distance to reach the start point and end point of the curve is determined. The navigation information is transmitted when the load is low, and the search information transmitting means 22 is configured to have a high degree of freedom, so that the distance error due to the transmission delay to the front curve is eliminated and the vehicle is about to travel. It is intended to perform risk prediction control on a road that runs.

This embodiment will be described below. In this embodiment, the map data is read based on the position of the vehicle detected by the navigation device and the curve existing within the search range is extracted. The relationship between the search range and the required recognition distance at this time is given by the following equation.

Search range ≧ recognition required distance That is, the travel control device extracts a curve in a certain range up to the minimum distance required for forward recognition, and the distance value to the curve is stored together with the curve information when the navigation device has a low load. It transmits to the traction control device 15 through the search information transmission means 22, and the traction control device 15 side measures the moving distance to the curve to determine the degree of danger in the curve close to the own vehicle, and the risk prediction control. Is what you are trying to do.

The predetermined distance forward here may be equal to or greater than the front recognition required distance value.

The configuration of this embodiment is the same as that of the first embodiment shown in FIGS. 1 and 2, and the operation of this embodiment is also substantially the same as the flowchart of the first embodiment of FIG.

According to this embodiment, since it is not necessary to transmit the distance value to reach the curve to the travel control device side every predetermined time when extracting the adjacent curve, not only the transmission capacity is reduced but also the navigation device is reduced. It is possible to give a degree of freedom to the timing of information transmission from the device, and it is also possible to secure the responsiveness to the original manual operation of the navigation device.

[0098]

As described above, according to the present invention, the following excellent operational effects can be obtained.

According to the vehicle driving support device of claim 1,
It has a navigation device that detects the current position of the host vehicle, and displays related information based on the detected position in the passenger compartment together with a peripheral map, and a traveling control device that optimally controls the traveling state of the vehicle that changes momentarily. The navigation device includes a road search unit that extracts a road condition related to a travel route of the vehicle, a search information transmission unit that receives an output of the road search unit and transmits the output to the travel control unit, and an output of the road search unit. Search information transmission means for receiving and transmitting to the travel control device, the travel control device is a condition or a travel route preset by the driver according to a road search result by the road search device and a driving situation of the vehicle. According to the conditions of 1. Since the operation control means for determining the control range for the measurement control operation is provided, the travel control device mounted on the vehicle and the navigation device are coupled through communication as an intermediary so that the entire processing can be shared by those devices. It is possible to store and process a large amount of information compared to the conventional one, and perform driving support control based on a comprehensive judgment by accumulating and using the information that cannot be obtained by conventional sensors. You can Also, by setting a control prohibition condition when determining the risk level in front of the host vehicle, the risk level is determined only when the driver's sense is met, so the risk of unnecessary risk level determination is reduced. Therefore, the risk prediction control at the time of risk determination can be performed accurately and optimally, and efficient driving support for the driver as a whole can be achieved. Furthermore, by combining communication as a medium for transmitting information, it is possible to build and further enhance the construction of an inexpensive safe driving support system without newly adding a sensor or the like.

According to the vehicle driving support device of claim 2,
It has a navigation device that detects the current position of the host vehicle, and displays related information based on the detected position in the passenger compartment together with a peripheral map, and a traveling control device that optimally controls the traveling state of the vehicle that changes momentarily. The navigation device includes a road search unit that extracts a road condition related to a travel route of the vehicle, and a search information transmission unit that receives an output of the road search unit and transmits the output to the travel control device. Is a traveling control means for determining the degree of danger in front of the own vehicle in accordance with a condition preset by the driver or a condition of the traveling road based on the road search result by the road searching means and the driving situation of the vehicle, and a risk predicting control. Limiting the risk prediction control range of the travel control means by the output from the road search means, and the travel only when the route guidance is being performed when the route guidance function is used. Since the control means is provided with an operation limiting means for permitting the risk determination and the risk prediction control, in addition to the action and effect according to claim 1, the risk determination and the risk prediction control are restricted during the route guidance, thereby making the useless. It is possible to further reduce the possibility of performing various risk determinations, and more efficient driving support control becomes possible.

According to the vehicle driving support device of claim 3,
It has a navigation device that detects the current position of the host vehicle, and displays related information based on the detected position in the passenger compartment together with a peripheral map, and a traveling control device that optimally controls the traveling state of the vehicle that changes momentarily. The navigation device includes a road search unit that extracts a road condition related to a travel route of the vehicle, and a search information transmission unit that receives an output of the road search unit and transmits the output to the travel control device. Is a traveling control means for determining the degree of danger in front of the own vehicle in accordance with a condition preset by the driver or a condition of the traveling road based on the road search result by the road searching means and the driving situation of the vehicle, and a risk predicting control. If the road on which the vehicle is traveling is a single road on the map data, the risk prediction control range of the traveling control means is limited by the output from the road searching means. Because and a operation restricting means for permitting the risk assessment and risk prediction control by the travel control means only, in addition to the effects according to the first aspect,
By limiting the risk judgment and risk prediction control to one-way roads that tend to travel at relatively high speeds, the possibility of making unnecessary risk judgments can be further reduced, and more efficient driving support control is possible. become.

According to the vehicle driving support device of claim 4,
It has a navigation device that detects the current position of the host vehicle, and displays related information based on the detected position in the passenger compartment together with a peripheral map, and a traveling control device that optimally controls the traveling state of the vehicle that changes momentarily. The navigation device includes a road search unit that extracts a road condition related to a travel route of the vehicle, and a search information transmission unit that receives an output of the road search unit and transmits the output to the travel control device. Is a traveling control means for determining the degree of danger in front of the own vehicle in accordance with a condition preset by the driver or a condition of the traveling road based on the road search result by the road searching means and the driving situation of the vehicle, and a risk predicting control. , The risk prediction control range of the travel control means is limited by the output from the road search means, and the road type on which the vehicle travels is determined when the map data is searched. And an operation limiting unit that permits the risk determination and the risk prediction control by the traveling control unit only when the attribute is not a road for automobiles. Therefore, the risk determination and the risk prediction control are performed in addition to the action and effect of claim 1. By restricting when driving on general roads other than dedicated roads, it is possible to perform more efficient driving support control by avoiding unnecessary risk judgments when driving on dedicated roads that are intended for high-speed driving. .

According to the vehicle driving support device of claim 5,
It has a navigation device that detects the current position of the host vehicle, and displays related information based on the detected position in the passenger compartment together with a peripheral map, and a traveling control device that optimally controls the traveling state of the vehicle that changes momentarily. The navigation device includes a road search means for extracting a road condition related to a traveling path of the vehicle, and a search information transmission means for receiving an output of the road search means and transmitting the output to the travel control means. Is a traveling control means for determining the degree of danger in front of the own vehicle in accordance with a condition preset by the driver or a condition of the traveling road based on the road search result by the road searching means and the driving situation of the vehicle, and a risk predicting control. The road predicting means limits the risk prediction control range of the traveling control device by the output from the road searching means, and the shape of the road ahead of the road on which the vehicle is traveling is an obvious curved road. In addition to the function and effect of claim 1, the risk control and the risk predicting control by the traveling control means are provided only in the case where the risk determining and the risk predicting control are permitted. When the vehicle is traveling on a curve with a small turn (turning angle), unnecessary risk determination is not performed when driving on a curve with a small turn (turning angle), and more efficient driving support control is possible. .

According to the vehicle driving support device of claim 6,
It has a navigation device that detects the current position of the host vehicle, and displays related information based on the detected position in the passenger compartment together with a peripheral map, and a traveling control device that optimally controls the traveling state of the vehicle that changes momentarily. The navigation device includes a road search unit that extracts a road condition related to a travel route of the vehicle, and a search information transmission unit that receives an output of the road search unit and transmits the output to the travel control device. Is a traveling control means for determining the degree of danger in front of the own vehicle in accordance with a condition preset by the driver or a condition of the traveling road based on the road search result by the road searching means and the driving situation of the vehicle, and a risk predicting control. And an operation limiting unit that determines a control range for the danger prediction control operation based on the output of the road search unit and the driving condition of the vehicle, and transmits the search information. Since the step is configured to transmit the information ahead of the predetermined distance and the matching information with respect to the forward road search result obtained by the road search means at regular time intervals, in addition to the action and effect of claim 1, By transmitting the matching information in addition to the road search result in front of the own vehicle by the navigation device, the running condition (or running environment) information of the own vehicle can be obtained, which enables more reliable risk determination. In addition, by using information such as the curvature of the road ahead of the vehicle by a predetermined distance, it is not necessary to transmit the distance value to reach the curve when extracting the adjacent curve, so that the load of the transmission capacity is uniform. In addition to this, the receiving process on the side of the traveling control device can be simplified. Furthermore, it becomes possible to add and transmit other information instead of the abolished distance information,
It is possible to make a more comprehensive control judgment by the traveling control device.

According to the driving assistance system for a vehicle of claim 7,
It has a navigation device that detects the current position of the host vehicle, and displays related information based on the detected position in the passenger compartment together with a peripheral map, and a traveling control device that optimally controls the traveling state of the vehicle that changes momentarily. The navigation device includes a road search unit that extracts a road condition related to a travel route of the vehicle, and a search information transmission unit that receives an output of the road search unit and transmits the output to the travel control device. Is a traveling control means for determining the degree of danger in front of the own vehicle in accordance with a condition preset by the driver or a condition of the traveling road based on the road search result by the road searching means and the driving situation of the vehicle, and a risk predicting control. And an operation limiting unit that determines a control range for the danger prediction control operation based on the output of the road search unit and the driving condition of the vehicle, and transmits the search information. The step is configured to transmit the information ahead of the predetermined distance and the matching information only when the adjacent curved road is extracted in the forward road search result obtained by the road searching means. In addition, since it is not necessary to transmit the distance value to reach the curved road to the travel control device side at every predetermined time when the adjacent curved road is extracted, not only the transmission capacity is reduced but also the navigation device It is possible to give the information transmission timing a degree of freedom, and it is possible to secure responsiveness to the original manual operation of the navigation device.

[Brief description of drawings]

FIG. 1 is a block diagram showing details of a system configuration of a vehicle driving assistance device according to the present invention.

FIG. 2 is a block diagram showing a functional configuration of a vehicle driving assistance device according to the present invention.

FIG. 3 is a flowchart showing an operation of the vehicle driving assistance device according to the present invention.

[Explanation of symbols]

16 travel control device, 21 road search means, 22 search information transmission means, 23 operation limiting means, 24 travel control means, NV navigation device as an example of travel control device.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kazuyori Katayama 840 Chiyoda-cho, Himeji City Mitsubishi Electric Corporation Himeji Works (72) Inventor Yasuo Naito 840 Chiyoda-cho Himeji City Mitsubishi Electric Corporation Himeji Works

Claims (7)

[Claims] 1. A navigation device that detects the current position of the host vehicle and displays related information in the passenger compartment together with a peripheral map based on the detected position, and a travel control device that optimally controls the running state of the vehicle that changes from moment to moment. In the vehicle driving support device, the navigation device includes: a road search unit that extracts a road condition regarding a travel route of the vehicle; and a search information transfer that receives the output of the road search unit and transfers the output to the travel control device. Means, the traveling control device determines the risk degree of the front of the own vehicle according to the condition of the road or the road search result by the road search means and the driving condition of the vehicle set in advance by the driver, The control range for the risk prediction control operation is determined by the travel control unit that performs the risk prediction control, the output of the road search unit, and the driving condition of the vehicle. And a operation restricting means for, vehicular driving support apparatus characterized by. 2. A navigation device that detects the current position of the own vehicle and displays related information based on the detected position in a vehicle interior together with a peripheral map, and a travel control device that optimally controls the running state of the vehicle that changes from moment to moment. In the vehicle driving assistance device having: a navigation device, the navigation device, road search means for extracting a road condition related to the traveling path of the vehicle; search information transmitted to the travel control device by receiving an output of the road search means; And a traveling unit, the traveling control device determines a risk degree in front of the own vehicle according to a condition preset by a driver or a condition of a traveling road based on a road search result by the road searching unit and a driving situation of the vehicle. A travel control unit that performs risk prediction control, and a road guidance function that limits the risk prediction control range of the travel control unit by the output from the road search unit. And a operation restricting means for permitting the risk assessment and risk prediction control by the travel control means only when in the route guidance at the time of use, the vehicle drive assist apparatus characterized by. 3. A navigation device that detects the current position of the host vehicle and displays related information based on the detected position in the passenger compartment together with a peripheral map, and a travel control device that optimally controls the running state of the vehicle that changes from moment to moment. In the vehicle driving assistance device having: a navigation device, the navigation device, road search means for extracting a road condition related to the traveling path of the vehicle; search information transmitted to the travel control device by receiving an output of the road search means; And a traveling unit, the traveling control device determines a risk degree in front of the own vehicle according to a condition preset by a driver or a condition of a traveling road based on a road search result by the road searching unit and a driving situation of the vehicle. , A travel control means for performing risk prediction control, and a risk prediction control range of the travel control means is limited by the output from the road search means, so that the vehicle travels. Road comprises an actuating limiting means for permitting risk assessment and risk prediction control by the travel control unit only when a single road on the map data, the vehicle driving support device, characterized in that. 4. A navigation device that detects the current position of the own vehicle and displays related information based on the detected position in a vehicle interior together with a peripheral map, and a travel control device that optimally controls the running state of the vehicle that changes from moment to moment. In the vehicle driving assistance device, the navigation device includes: a road search unit that extracts a road condition related to a travel route of the vehicle; and search information that is output to the road search unit and transmitted to the travel control unit. And a traveling unit, the traveling control device determines a risk degree in front of the own vehicle according to a condition preset by a driver or a condition of a traveling road based on a road search result by the road searching unit and a driving situation of the vehicle. , A travel control means for performing risk prediction control, and a risk prediction control range of the travel control means is limited by the output from the road search means, so that the vehicle travels. The vehicle driving method is characterized by further comprising: operation limiting means for permitting the risk degree determination and the risk prediction control by the traveling control means only when the road type to be searched does not have an exclusive road attribute for a vehicle when the map data is searched. Support device. 5. A navigation device that detects the current position of the own vehicle and displays related information based on the detected position in the passenger compartment together with a peripheral map, and a travel control device that optimally controls the running state of the vehicle that changes from moment to moment. In the vehicle driving assistance device having: a navigation device, the navigation device, road search means for extracting a road condition related to the traveling path of the vehicle; search information transmitted to the travel control device by receiving an output of the road search means; And a transmission means, the traveling control device optimally controls the traveling state of the vehicle, which changes from moment to moment, and conditions set by the driver in advance depending on the result of the road search by the road searching means and the driving situation of the vehicle. Driving control means for determining the degree of danger in front of the host vehicle according to the conditions of the traveling path and performing risk prediction control; and the traveling based on the output from the road searching means. The operation restriction means for limiting the risk prediction control range of the control means and permitting the risk determination and the risk prediction control by the travel control means only when the road shape ahead of the road on which the vehicle is traveling is an obvious curved road And a driving assistance device for a vehicle. 6. A navigation device that detects the current position of the own vehicle and displays related information based on the detected position in a vehicle interior together with a peripheral map, and a travel control device that optimally controls the running state of the vehicle that changes from moment to moment. In the vehicle driving assistance device having: a navigation device, the navigation device, road search means for extracting a road condition related to the traveling path of the vehicle; search information transmitted to the travel control device by receiving an output of the road search means; And a traveling unit, the traveling control device determines a risk degree in front of the own vehicle according to a condition preset by a driver or a condition of a traveling road based on a road search result by the road searching unit and a driving situation of the vehicle. , A driving control unit that performs risk prediction control, and a control range for the risk prediction control operation based on the output of the road search unit and the driving condition of the vehicle. The search information transmitting means transmits the information ahead of a predetermined distance and the matching information at regular time intervals with respect to the forward road search result obtained by the road searching means. Vehicle driving support device. 7. A navigation device that detects the current position of the own vehicle and displays related information based on the detected position in a vehicle interior together with a peripheral map, and a travel control device that optimally controls the running state of the vehicle that changes moment by moment. In the vehicle driving assistance device having: a navigation device, the navigation device, road search means for extracting a road condition related to the traveling path of the vehicle; search information transmitted to the travel control device by receiving an output of the road search means; And a traveling unit, the traveling control device determines a risk degree in front of the own vehicle according to a condition preset by a driver or a condition of a traveling road based on a road search result by the road searching unit and a driving situation of the vehicle. , A driving control unit that performs risk prediction control, and a control range for the risk prediction control operation based on the output of the road search unit and the driving condition of the vehicle. The search information transmitting means transmits information and matching information ahead of a predetermined distance for every constant distance in the forward road search result obtained by the road searching means. Vehicle driving support device.