JPH09254726A - Operation assisting device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely predict possibility of contact of one's own car with an obstacle, and enable a driver to recognize a part position requiring the greatest care exactly and quickly. SOLUTION: Vehicle speed and steering angle are detected, the relative position between one's own car and an object is obtained as three-dimensional object coordinate distribution, by a stereo optical system 3, a distance image generating device 4, a three-dimensional object extraction part 15, a three- dimensional object relative position computing part 16, and a relative position memory part 17. By a contact prediction part 18, based on the three-dimensional object coordinate distribution and a previously stored one's own car model, when the car is run at the present steering angle and vehicle speed, an object having possibility of contact with the own car is judged, the part position of the own car to be contacted is computed, and by an object requiring care selecting part 19, an object most early contacting with the own car is selected as an object requiring care, and an output part 20 outputs to a voice generating device 8, a display device 9, and a brake control device 10, according to a time up to contact with the object requiring care.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle driving system that prevents a driver from contacting an obstacle such as a guard rail, a side wall, a parked vehicle, etc., and assists the driver in driving on a narrow road. Regarding the support device.

[0002]

2. Description of the Related Art In recent years, in order to improve the safety of vehicles,
2. Description of the Related Art A comprehensive driving assistance system (ADA; Active Drive Assist system) has been developed that actively supports the driving operation of a driver. This ADA system estimates various possibilities such as a collision with a preceding vehicle, a contact with an obstacle, a lane departure, and the like from the traveling environment information of the vehicle and a traveling state of the own vehicle, and is predicted to be unable to maintain safety. In this case, notification and other control are performed to the driver. As a device for obtaining the traveling environment information of the vehicle, a laser radar device or the like is conventionally known, but recently, image information of a scene or an object in front of the vehicle captured by a plurality of cameras mounted on the vehicle is processed. Thus, it has become possible to recognize roads and traffic environments three-dimensionally with sufficient accuracy and time for practical use.

One of the functions of the ADA system is to prevent contact with obstacles such as guardrails, side walls, and parked vehicles, and to assist the driver's driving so that they can easily drive on narrow roads. JP-A-62-88639, a camera and a distance sensor are used to calculate the distance to an obstacle during traveling, and the calculated safe inter-vehicle distance is compared from the traveling speed, and a dangerous state is sounded by an alarm. Also, it is shown that automatic braking prevents accidents without requiring special attention of the driver.

Further, in Japanese Unexamined Patent Publication No. 62-152947, a plurality of sensors for detecting obstacles are provided around the vehicle, and when the distance from the obstacles becomes a set distance and the speed becomes less than a set speed. , Display on a screen or display panel installed in a position that is easy for the driver to see. On this occasion,
In addition to displaying the obstacles and the vehicle as if they were looking from above, it is also possible to clearly indicate the position of the sensor detected by the sensor and to give an alarm by voice in addition to the display. .

[0005]

However, in any of the above-mentioned prior arts, when there are a plurality of parts that may come into contact with obstacles while driving on a narrow road, etc., which part is the most important part to pay attention to? There was a problem that I did not know. In other words, if the possibility of contact is determined based only on the distance between the host vehicle and the obstacle, the driver may make a mistake in the determination of the part that requires the most attention and perform appropriate operations such as steering and braking. Sometimes there is not. It is necessary for the driver to accurately and quickly recognize the part that is most likely to come into contact, and it is desirable to be able to prevent contact even if the driver is late in performing an appropriate driving operation. Moreover, simply
If the possibility of contact is determined based only on the distance between the host vehicle and the obstacle, the possibility of contact is low if the host vehicle is still running even if the distance between the host vehicle and the obstacle is small. Nevertheless, there is a problem that an alarm is issued and it is noisy and difficult to use, especially when driving on a narrow road.

On the other hand, in addition to the function of preventing contact with an obstacle as described above, for example, a function of preventing a collision, a system that enables the driver to obtain judgment information accurately and quickly Need to be formed.

The present invention has been made in view of the above circumstances, and reliably predicts the possibility of contact between an own vehicle and an obstacle,
An object of the present invention is to provide a driving assistance device for a vehicle that allows a driver to accurately and quickly recognize a part to which attention is most important, prevent contact with an obstacle, and effectively assist driving of the driver. I am trying.

[0008]

In order to achieve the above object, a vehicle driving support apparatus according to the present invention according to claim 1 is a driving condition detecting means for detecting a driving condition of the own vehicle, and an object around the own vehicle. Based on the relative position calculating means for obtaining the relative position with respect to the vehicle, the traveling state detected by the traveling state detecting means, and the relative position obtained by the relative position calculating means, the peripheral objects that may come into contact with the own vehicle are detected. From the contact predicting means that determines and calculates the part of the own vehicle that comes into contact, and from the objects that the contact predicting means determines that there is a possibility of contact, select the object that the own vehicle is most careful of Attention object selection means, informing means for informing a part of the own vehicle with which the above attention object contacts, and output for at least the above informing means when the above attention object satisfies a preset setting condition hand It is those with a door.

According to a second aspect of the present invention, there is provided a vehicle driving assistance apparatus according to the first aspect, wherein the object to be alerted selected by the attentive object selecting means is most likely to be the subject vehicle. It is an object that may come into contact quickly.

Further, the vehicle driving support device according to the present invention as defined in claim 3 is the vehicle driving support device according to claim 1 or 2, wherein the output means is set in advance by the object requiring attention. When the condition is satisfied, it is output to at least the notification means and the braking means at a preset setting timing.

According to a fourth aspect of the present invention, there is provided the vehicle driving assistance device according to any one of the first to third aspects, wherein the output means is the object requiring attention. It outputs at least to the informing means when the time until the vehicle comes into contact falls below a predetermined set time.

Further, the vehicle driving support device according to the present invention according to claim 5 is the vehicle driving support device according to any one of claims 1 to 4, wherein the informing means is the object requiring attention. At least one of a display device for displaying a portion of the own vehicle in contact with the display unit and a voice generation device for guiding a portion of the own vehicle in contact with the object requiring attention.

According to a sixth aspect of the present invention, there is provided the vehicle driving assistance device according to the fifth aspect, wherein the display portion of the display device is a top view of the vehicle exterior and the object of caution is shown. The part of the own vehicle that is touched by is displayed.

That is, according to the first aspect of the invention, the traveling state detecting means detects the traveling state of the own vehicle, the relative position calculating means obtains the relative position between the own vehicle and the surrounding object, and the contact predicting means makes the above-mentioned. Based on the traveling state detected by the traveling state detecting means and the relative position obtained by the relative position calculating means, the peripheral object which may come into contact with the own vehicle is determined and the part of the own vehicle which comes into contact is calculated. Then, from the objects determined by the contact predicting means that there is a possibility of contact by the caution object selecting means, the object that the vehicle is most careful of is selected as the caution object, and the output means selects the caution object. When the predetermined setting condition is satisfied, at least it is output to the notification means. Receiving this output, the notifying means notifies the part of the own vehicle with which the above-mentioned object of caution contacts.

Further, according to the invention described in claim 2, according to claim 1,
In the vehicle driving assistance device according to the description, the attention-requiring object selecting means, from among the objects determined to have a possibility of contact by the contact predicting means, an object that may be the earliest contact with the vehicle, Select it as the most sensitive object.

Further, in the invention according to claim 3, in the vehicle driving support device according to claim 1 or 2, when the output means satisfies a predetermined setting condition, At least the notification means and the brake means are output at a predetermined set timing.

According to the invention of claim 4, the invention according to claim 1
In the vehicle driving assistance device according to any one of claims 1 to 3, the output unit informs at least the notification when a time until the object requiring attention and the own vehicle come into contact with each other falls below a predetermined set time. Output to the means.

Further, in the invention according to claim 5, in the vehicle driving support device according to any one of claims 1 to 4, the output from the output means is received, and the object to be contacted by the caution object is touched. At least one of the notifying means of the display device for displaying the part of the vehicle on the display unit and the sound generating device for guiding the part of the own vehicle with which the above-mentioned caution object comes into contact notifies the part of the own vehicle with which the above-mentioned caution object comes into contact. .

According to the invention described in claim 6,
In the vehicle driving assistance device described above, the display unit of the display device displays a portion of the own vehicle with which the object of caution contacts with a top view of the outer shape of the vehicle.

On the other hand, the vehicle driving support device according to the present invention according to the present invention is for a vehicle for predicting a running state of a vehicle and displaying the predicted result on at least the display unit of the display device to assist the driver in driving. In the driving support device, the display unit displays the predicted result on a top view of the outer shape of the vehicle, and the driver recognizes whether or not the vehicle is intruding into a narrow road or an object passing through the narrow road. It is possible to instantly and easily recognize the contact area between the vehicle and the vehicle.

[0021]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 5 show an embodiment of the present invention, and FIG. 1 is a functional block diagram of a vehicle driving support device,
2 is a schematic configuration diagram of a vehicle driving assistance device, FIG. 3 is an explanatory diagram of a vehicle turning left on a narrow road, FIG. 4 is an explanatory diagram of an example of a display on a display unit and sound generated from a speaker, and FIG. It is explanatory drawing of the modification of a display part.

In FIG. 2, reference numeral 1 denotes a vehicle such as an automobile, which has a function of determining whether or not a vehicle can enter a narrow road and a function of preventing contact with an obstacle as one of the functions of the driver. The vehicle driving support device 2 for supporting the vehicle is mounted. Hereinafter, in the embodiments of the present invention, only a part of a function of determining whether or not the vehicle driving support device 2 can enter a narrow road and preventing contact with an obstacle will be described, and other function parts will be described. Is omitted.

In the vehicle driving support device 2, the distance image generating device 4 generates a distance image from the image of the traveling direction of the vehicle captured by the stereo optical system 3, and the distance image and the vehicle speed sensor 5 detect the distance image. The vehicle speed V and the steering angle θ detected by the steering angle sensor 6 are input to the control device 7, and the control device 7
It is configured to output control to the voice generation device 8, the display device 9, and the brake control device 10 in order to achieve a function of determining whether or not a narrow road can be entered and preventing contact with an obstacle.

The stereo optical system 3 is a set of CCDs using a solid-state image sensor such as a charge coupled device (CCD).
The left and right CCD cameras are mounted at a certain interval in front of the ceiling in the vehicle cabin, and stereo images of an object outside the vehicle are taken from different viewpoints.

Further, the distance image generating device 4 is mainly formed by an image processor, and with respect to one stereo image pair picked up by the stereo optical system 3, the displacement amount of the corresponding position is used according to the principle of triangulation. A process for obtaining distance information over the entire image is performed to generate a distance image representing a three-dimensional distance distribution, which is input to the control device 7.

The control device 7 is formed by a multi-microprocessor system, processes the distance image from the distance image generating device 4 to extract necessary information, and the vehicle speed sensor 5 as a traveling state detecting means. And the vehicle speed V and the steering angle θ detected by the steering angle sensor 6
Based on the above, determination is made as to whether or not the vehicle can enter a narrow road and control for preventing contact with an obstacle is performed, and control output is performed to the sound generation device 8, the display device 9, and the brake control device 10 as the notification means.

The voice generating device 8 is one of the voices recorded in advance according to the output signal from the control device 7 (for example, "difficult to pass ahead", "left front caution", "left side caution". , Etc.) is selected, and a sound is emitted from the speaker 8a provided in the vehicle interior to the vehicle interior.

The display device 9 displays, in accordance with an output signal from the control device 7, a display portion 11 provided in the instrument panel, which indicates a portion where passage is difficult or the vehicle should pay the most attention. .

As shown in FIG. 4, the display unit 11 is designed to display the predicted state of the vehicle in a top view of the vehicle outer shape. When the vehicle moves forward and enters a narrow road, the size of the display unit 11 is reduced. If it is impossible (including the case where the narrow road width is slightly wider than the vehicle width ... This clearance is preset to, for example, "vehicle width + 5 cm".), The x mark in front of the vehicle is displayed. The driver is promptly notified that the driver cannot be invaded. Also, if there is a possibility that a three-dimensional object will come into contact with the vehicle when slipping through a narrow road or cornering, specify the contact area with an arrow and pay attention to the driver to that area. It is designed to be recognized. The X mark and the arrow are indicated by blinking or lighting of the lamp according to the output from the control device 7.

Further, the display section 11 may be, for example, as shown in FIG. The display according to FIG. 5 is provided with a lamp section 31 for instructing the outer periphery of the vehicle on the top view of the vehicle outer shape, and by blinking or illuminating the specific section of the lamp section 31, it is impossible to enter a narrow road, The display shows the part where the object contacts the vehicle.

If neither the display unit shown in FIG. 4 nor the display unit shown in FIG. 5 can be provided in the instrument panel, the screen provided in the vehicle can be used to display. You can

The brake control device 10 is connected to a brake drive unit 12 composed of a hydraulic unit equipped with a pressure source, a pressure reducing valve, a pressure increasing valve, etc. The brake pressure is introduced into the wheel cylinder (not shown) of the tire in response to the input signal of.

As shown in FIG. 1, the control device 7 includes a three-dimensional object extraction unit 15, a three-dimensional object relative position calculation unit 16, a relative position storage unit 17, a contact prediction unit 18, a caution object selection unit 19,
The output unit 20 is mainly configured.

The three-dimensional object extracting unit 15 recognizes a three-dimensional object by performing histogram processing on the distance distribution of the distance image generated by the distance image generating device 4, and further, the three-dimensional object seen from the own vehicle. It is designed to calculate relative position coordinates.

The three-dimensional object relative position calculation unit 16 calculates the three-dimensional object coordinate distribution stored in the relative position storage unit 17 up to the previous time and the relative position coordinate newly calculated by the three-dimensional object extraction unit 15. Based on the vehicle speed V from the vehicle speed sensor 5 and the elapsed time of the vehicle and the steering angle θ from the steering angle sensor 6, the current three-dimensional object coordinate distribution is calculated, and the relative position is again calculated. This is a part stored in the storage unit 17.

That is, the calculation of the three-dimensional object coordinate distribution is
Judging whether the vehicle is going straight or turning based on the steering angle θ, in the case of going straight, the amount of vehicle movement is added to the vehicle front-rear direction components of all three-dimensional object coordinates calculated up to the previous time. The rotation center and rotation angle of the vehicle are obtained from the angles, and all the three-dimensional object coordinates calculated up to the previous time are rotated with respect to the rotation center. After this processing, of all the stored three-dimensional object coordinates, the data that has gone out of the storage area and the data in the field of view of the stereo optical system 3 are deleted, and the data in the field of view of the stereo optical system 3 is newly added. The relative position coordinates calculated in step 1 are added to the stored data. The current three-dimensional object coordinate distribution indicating the relative position between the vehicle and the surrounding objects calculated in this way is output to the contact predicting unit 18.

As described above, the stereo optical system 3, the distance image generating device 4, the three-dimensional object extracting unit 15, the three-dimensional object relative position calculating unit 16, and the relative position storing unit 17 constitute a relative position calculating means.

The contact predicting section 18 is formed as contact predicting means, and the vehicle speed V from the vehicle speed sensor 5, the steering angle θ from the steering angle sensor 6, and the own vehicle from the three-dimensional object relative position calculating section 16 are provided. Based on the three-dimensional object coordinate distribution this time showing the relative position between the object and surrounding objects, the own vehicle model stored in advance on the three-dimensional object coordinate distribution is run at the current steering angle and vehicle speed. In this case, the surrounding objects that may come into contact with the host vehicle are determined and the part of the host vehicle that comes into contact is calculated.

For example, as shown in FIG. 3, when the host vehicle makes a left turn on a T-shaped road from a wide road to a narrow road, the three-dimensional object coordinate distribution shows each side wall forming the narrow road. When the host vehicle model is run with the current steering angle and vehicle speed, it is determined that the left side of the vehicle is in contact with point A on the side wall and the right front end of the vehicle is in contact with point B on the side wall. The vehicle portion (the left side portion of the vehicle) contacting at and the vehicle portion (the front right end portion of the vehicle) contacting at point B are output to the caution object selecting unit 19. At this time, speed information until each contact portion reaches each contact point (speed V1 at which the left side of the vehicle contacts point A, speed V1 at which the right front end of the vehicle contacts point B)
2) and the distance information from each contact portion to each contact point (distance CL1 between the left side of the vehicle and point A, distance CL2 between the front right end of the vehicle and point B), both of which are mentioned above. Is output to.

Further, the contact predicting section 18 uses the three-dimensional object coordinate distribution and the own vehicle model stored in advance in
By comparing the width of the narrow road about to enter with the width of the own vehicle, if the width of the narrow road is smaller than the width of the own vehicle plus a predetermined value, it is determined that it is difficult to enter. A signal indicating the difficulty of entering the vehicle along with the speed and distance until entering the narrow road is output to the caution object selecting unit 19.

The caution object selection unit 19 is formed as a caution object selection unit, and among the objects judged by the contact prediction unit 18 to have a possibility of contact, the object which the own vehicle should pay the most attention to, that is, The information output from the contact predicting unit 18 is processed to select the object that may come into contact with the host vehicle as soon as possible as an object requiring attention.
Specifically, the time to contact is calculated from the speed information and distance information about each contact point output from the contact predicting unit 18, and the contact point having the shortest time is selected as the object requiring attention. is there.

For example, in the case of FIG. 3, the time t1 until the left side of the vehicle contacts point A and the time t2 until the front right end of the vehicle contacts point B are as follows. t1 = CL1 / V1 (1) t2 = CL2 / V2 (2) Then, t1 and t2 are compared, and the result is
It is adapted to be output to the output unit 20.

Furthermore, in the object selection section 19 requiring attention,
When the contact predicting unit 18 outputs a signal indicating that it is difficult to enter a narrow road, the speed until entering and the time until entering based on distance information are calculated and output to the output unit 20.

The output section 20 is formed as an output means, and based on an input signal from the object selection section 19 requiring attention, the determination described below is performed, and the sound generation device 8, the display device 9 or the brake is performed. A signal is output to the control device 10.

That is, when the time required for the caution object and the object to come into contact with each other is input from the caution object selection unit 19, this time reaches the preset first set time ta. And whether or not the preset second preset time tb has been reached (here, t
a> tb), and when the time required for a caution object to come into contact reaches the first set time ta, the part that is output to the voice generator 8 and is predicted to come into contact Is generated and is output to the display device 9 to blink the portion corresponding to the part of the vehicle on which the contact of the display portion 11 is predicted.

Further, when the time until the object requiring attention reaches the second set time tb, it is output to the display device 9 to switch the blinking display to the lighting display and the brake control device. It outputs to 10 and operates the brake drive part 12 and stops a vehicle. At this time, an alarm such as a buzzer may be issued.

Further, when the time until the intrusion is input together with the signal that the intruding difficult object selecting unit 19 indicates that the intrusion is difficult, the output unit 20 compares the time until the intrusion with a predetermined set time. Then, when the set time is reached, it is output to the display device 9 and the corresponding portion of the display unit 11 is displayed in a blinking manner. That is, the portion marked with X on the display portion of FIG. 4 is made to blink.

Next, the operation of the vehicle driving support device having the above structure will be described. First, when the vehicle is traveling, the image in front of the vehicle is sequentially captured by the stereo optical system 3 and the distance image generation / generation device 4 generates a distance image representing a three-dimensional distance distribution and inputs it to the control device 7. Further, the vehicle speed V from the vehicle speed sensor 5 and the steering angle θ from the steering angle sensor 6
Is also input to the control device 7.

In the control device 7, the three-dimensional object extracting unit 15 recognizes a three-dimensional object or the like by performing histogram processing on the distance distribution of the distance image generated by the distance image generating device 4, and further from the own vehicle. The relative position coordinates of the viewed three-dimensional object are calculated.

Then, in the three-dimensional object relative position calculation section 16, the three-dimensional object coordinate distribution calculated up to the previous time stored in the relative position storage section 17 and the relative position coordinates newly calculated in the three-dimensional object extraction section 15 are calculated. Based on the vehicle speed V from the vehicle speed sensor 5 and the elapsed time, the current three-dimensional object coordinate distribution is calculated from the amount of movement of the vehicle and the steering angle θ from the steering angle sensor 6, and again the relative position storage unit is calculated. Store in 17.

Next, the contact predicting section 18 determines the vehicle speed V from the vehicle speed sensor 5, the steering angle θ from the steering angle sensor 6, the own vehicle from the three-dimensional object relative position calculating section 16 and the surrounding objects. Based on the current three-dimensional object coordinate distribution indicating the relative position, if the own vehicle model stored in advance on the three-dimensional object coordinate distribution is run at the current steering angle and vehicle speed, The surrounding objects that may come into contact with each other are determined, and the part of the own vehicle that comes into contact is calculated. The parts of the own vehicle that are in contact with each other, which are calculated by the contact predicting unit 18, also need speed information until each contact part reaches each contact point, and distance information from each contact part to each contact point. It is output to the attention object selection unit 19.

Further, the contact predicting section 18 uses the three-dimensional object coordinate distribution and the own vehicle model stored in advance,
By comparing the width of the narrow road about to enter and the width of the own vehicle, if the width of the narrow road is smaller than the value obtained by adding a predetermined value to the width of the own vehicle, it is determined that it is difficult to enter. A signal indicating the difficulty of entering the vehicle along with the speed and distance until entering the narrow road is output to the caution object selecting unit 19.

The object-to-be-selected selecting unit 19 processes the information output from the contact predicting unit 18 from among the objects determined to be in contact by the contact predicting unit 18 and outputs the most information to the own vehicle. An object that may come into early contact is selected as a caution object, and the caution object and the time until this object comes into contact are output to the output unit 20.

Furthermore, when the contact predicting unit 18 outputs a signal that it is difficult to enter the narrow road, the caution object selecting unit 19 calculates the speed to the intrusion and the time to the intrusion from the distance information. Output to the output unit 20.

Then, when the time required for the caution object and the object to come into contact with each other is input from the caution object selection unit 19, the output unit 20 presets this time. Whether or not the preset time ta has been reached, and whether or not the preset second preset time tb has been reached (here, ta> tb is set).
When the time until the object to be contacted reaches the first set time ta, the sound is output to the sound generation device 8 to generate a sound of the part where the contact is predicted, and the display device 9 is used. Is displayed on the display unit 11 and the portion corresponding to the part of the vehicle on which the contact of the display unit 11 is predicted is displayed in a blinking manner.

Further, when the time until the object requiring attention reaches the second set time tb, it is output to the display device 9 to switch the blinking display to the lighting display and the brake control device. 10 to operate the brake driving unit 12 to stop the vehicle. Further, the output unit 20 receives a signal from the caution object selecting unit 19 that it is difficult to enter, and when the time until the intrusion is input, The time until the intrusion is compared with a predetermined set time, and when the set time is reached, the time is output to the display device 9 and the corresponding portion of the display unit 11 is displayed in blinking.

Thus, according to the embodiment of the present invention,
For example, even if there are multiple parts that may come into contact with obstacles, the part that requires the most attention from among those parts that may come into contact is set as the part that comes into contact with the Since the notification is given to the driver, the driver can accurately and quickly recognize the part that requires the most attention.

Further, the output from the output section of the control device is such that the voice generating device and the display device are first operated and then output to the brake control device when the time until contact becomes short. Even if, for example, it is delayed for the driver to perform an appropriate driving operation, the contact can be effectively prevented.

Further, the output from the output section of the control unit is
It is designed to be performed when the time reference, that is, the time until the object comes into contact reaches the first set time and the second set time, which are set in advance, so that the own vehicle and the obstacle are Even if the distance is short, if there is little possibility of contact if the vehicle is still running, the voice generator, display device, and brake control device do not operate, and the driver's feeling is followed. .

Further, since the display device and the sound generating device notify the driver of the contact part, the driver can quickly recognize the part to be noted and the display device can continuously obtain the information. .

Further, since the display portion of the display device is adapted to display the part of the own vehicle with which the above-mentioned object of caution comes into contact in the top view of the outer shape of the vehicle, the current portion can be read without reading numbers or letters. It is possible to easily and intuitively grasp the state.

[0062]

As described above, according to the present invention, the possibility of contact between the host vehicle and the obstacle is reliably predicted, and the driver recognizes the portion that requires the most attention, accurately and quickly. Therefore, it is possible to prevent contact with an obstacle and effectively support driving of the driver.

[Brief description of drawings]

FIG. 1 is a functional block diagram of a vehicle driving support device.

FIG. 2 is a schematic configuration diagram of a vehicle driving support device.

FIG. 3 is an explanatory view of a vehicle turning left on a narrow road.

FIG. 4 is an explanatory diagram of an example of the display on the display unit and the sound generated from the speaker.

FIG. 5 is an explanatory diagram of a modified example of the display unit.

[Explanation of reference numerals] 1 vehicle 2 vehicle driving support device 3 stereo optical system (relative position calculating means) 4 distance image generating device (relative position calculating means) 5 vehicle speed sensor (running state detecting means) 6 steering angle sensor (running state) Detecting means 7 Control device 8 Voice generating device (informing means) 9 Display device (informing means) 10 Brake control device 11 Display section 12 Brake drive section 15 Three-dimensional object extracting section (relative position calculating means) 16 Three-dimensional object relative position calculating section (Relative Position Calculation Means) 17 Relative Position Storage Unit (Relative Position Calculation Means) 18 Contact Prediction Unit (Contact Prediction Means) 19 Caution Object Selection Unit (Caution Object Selection Means) 20 Output Unit (Output Means)

Claims (7)

[Claims] 1. A traveling state detecting means for detecting a traveling state of the own vehicle, a relative position calculating means for obtaining a relative position between the own vehicle and an object in the vicinity, and a traveling state detected by the traveling state detecting means and the above relative. Based on the relative position obtained by the position calculating means, a contact predicting means that determines a surrounding object that may come into contact with the own vehicle and calculates a part of the own vehicle that comes into contact,
Of the objects determined to have a possibility of contact by the contact predicting means, a caution object selecting means for selecting an object which the own vehicle should pay the most attention as a caution object, and the own vehicle contacting the caution object A driving assistance device for a vehicle, comprising: an informing unit for informing a body part; and an output unit for outputting at least the informing unit when the object requiring attention satisfies a predetermined setting condition. 2. The vehicle driving assistance device according to claim 1, wherein the object of caution selected by the object of caution selecting means is an object that may come into contact with the host vehicle most quickly. 3. The output means outputs at least the notification means and the brake means at a predetermined setting timing when the object requiring attention satisfies a predetermined setting condition. The vehicle driving assistance device according to claim 1 or 2. 4. The output means outputs at least to the notifying means when a time until the object requiring attention and the own vehicle come into contact with each other falls below a predetermined set time. Item 7. A vehicle driving support device according to any one of items 1 to 3. 5. The notification means is at least one of a display device for displaying a portion of the own vehicle with which the attention object contacts, and a voice generation device for guiding a portion of the own vehicle with which the attention object contacts. It is characterized by these.
4. The vehicle driving assistance device according to any one of 4. 6. The driving assistance device for a vehicle according to claim 5, wherein the display unit of the display device displays a portion of the own vehicle with which the object of caution contacts in a top view of the outer shape of the vehicle. 7. A vehicle driving support device for predicting a traveling state of a vehicle and displaying the predicted result on at least a display unit of a display device to assist the driver in driving, wherein the display unit is a top view of a vehicle outer shape. The vehicle driving support device, wherein the predicted result is displayed on.