JP2006224754A - Driving assistance system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving assistance system that uses a vehicle-mounted system to detect any intersection where vehicles should pause and to warn the driver to pause, and that operates the vehicle to avoid a collision on behalf of the driver if the driver has not properly operated the vehicle to avoid the collision. <P>SOLUTION: The driving assistance system includes an image input means for taking images of a road ahead of the vehicle and for inputting its image information, and an image recognition means for processing the inputted image information and recognizing the images of situations at an intersection ahead of the vehicle. Based on information about the intersection recognized by the image recognition means, a determination is made as to whether or not the vehicle in motion needs to stop at the intersection ahead. If a determination is made that the vehicle needs to stop, the vehicle's driver is warned. Based on the result of the driver's braking operation, a determination is made as to whether or not the vehicle will be able to stop in front of an expected stopping position; if a determination is made that the vehicle will not be able to stop in front of the expected stopping position, the device brakes the vehicle on behalf of the driver. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a driving support device.

In recent years, an in-vehicle device has been proposed in which a camera and various sensors are mounted on a vehicle to collect information outside the vehicle and issue a warning when a driver misses a danger. For example, in Patent Document 1 below, a vehicle navigation device that extracts a temporary stop point on a road from a map database of a navigation device and notifies that it has approached the temporary stop point during traveling or issues a warning to decelerate the vehicle. Is disclosed. Further, the following Patent Document 2 includes driving assistance that includes a vehicle outside information input unit that collects various types of vehicle outside information and a line of sight detection unit that detects the driver's line of sight, and issues a warning when the driver misses a traffic light or the like A system is disclosed.
JP 2000-46574 A Japanese Patent No. 3160108

  However, in the above-mentioned patent document 1, there is a problem that a warning display cannot be given when there is a temporary stop point that is not registered on the map database. Moreover, in the said patent document 2, after a warning is given, there exists a problem that a collision cannot be avoided unless a driver | operator performs appropriate operation.

  The present invention has been made in the background as described above, and in particular, detects an intersection to be temporarily stopped by a device mounted on a vehicle, gives a warning to the driver to stop, and the driver appropriately collides. It is an object of the present invention to provide a driving support device that performs a collision avoidance operation of a vehicle on behalf of a driver when an avoidance operation is not performed.

Means for Solving the Problems and Effects of the Invention

In order to solve the above problems, the first invention
In a driving support device that supports safe driving of a vehicle,
Image input means for photographing the road in the vehicle traveling direction and inputting the image information;
Image recognition means for processing the input image information and recognizing the situation of an intersection in front of the vehicle;
Stop determination means for determining whether or not the traveling vehicle needs to stop at the front intersection based on the information about the intersection recognized by the image recognition means;
A planned stop position setting means for setting a planned stop position of the vehicle at the intersection;
Warning means for warning the driver of the vehicle when it is determined by the stop determination means that the vehicle needs to stop;
As a result of the braking operation by the driver, a stoppable determination means for determining whether the vehicle can stop before the planned stop position;
Braking control means for braking the vehicle when it is determined by the stop possibility determination means that the vehicle cannot stop before the planned stop position;
The main feature is to have

  According to the first aspect of the present invention, the image input means (for example, a camera) for capturing a road in the vehicle traveling direction is provided. Further, image recognition means is provided, and image information input from the image input means is subjected to image processing by the image recognition means, and the situation of the intersection in front of the vehicle is recognized. More specifically, the image recognizing means includes the presence / absence of a signal, the identification of the color of the signal, the presence / absence / position of a stop sign, the presence / absence / position of a stopped road display, the width of the road on which the vehicle is traveling, and the presence / absence of a white line Recognize the width of intersection roads and the presence of white lines.

  As described above, the first invention is configured to include the stop determination means, the scheduled stop position setting means, the warning means, the stop possibility determination means, and the braking control means. In other words, the stop recognizing means determines whether it is necessary for the image recognition means to recognize the color of the traffic light, the stop sign, the road display, the road width (whether it is a priority road) and stop at the intersection in front of the vehicle. To do. Then, the planned stop position setting means sets the planned stop position, and the warning means gives a warning to the driver that the vehicle is decelerated or stopped. If the driver does not perform a braking operation despite the warning, the braking control means brakes the vehicle. As a result, even if the driver misses a traffic light or a stop sign, the vehicle can be braked automatically, and traffic accidents can be prevented.

The second invention also provides
In a driving support device that supports safe driving of a vehicle,
A vehicle navigation apparatus having map information storage means for storing whether or not an intersection on the map should be temporarily stopped together with other map information, and position detection means for detecting the current position of the vehicle;
Image input means for photographing the road in the vehicle traveling direction and inputting the image information;
Image recognition means for processing the input image information and recognizing the situation of an intersection in front of the vehicle;
Stop determination means for mutually complementing information on the intersection from the image recognition means and the vehicle navigation device, and determining whether the traveling vehicle needs to stop at the front intersection;
A planned stop position setting means for setting a planned stop position of the vehicle at the intersection;
Warning means for giving a warning to the driver of the vehicle when it is determined that the vehicle needs to be stopped by the first stop determination means;
As a result of the braking operation by the driver, a stoppable determination means for determining whether the vehicle can stop before the planned stop position;
Braking control means for braking the vehicle when it is determined by the stop possibility determination means that the vehicle cannot be stopped before the planned stop position;
The main feature is to have

  According to the second aspect of the invention described above, for a vehicle having map information storage means for storing together with other map information whether or not an intersection on a map is to be temporarily stopped, and position detection means for detecting the current position of the host vehicle. A navigation device is provided. As a result, the vehicle can recognize the current position and can obtain information on whether or not the intersection in front of the vehicle should be temporarily stopped. On the other hand, the second invention is provided with an image input means and an image recognition means, which can recognize the situation at the intersection in front of the vehicle. Further, the stop determination means of the second aspect of the present invention makes a vehicle stop determination by mutually complementing information related to the intersection from the vehicle navigation device and the image recognition means. That is, if only the information from the vehicle navigation apparatus is used, it is not possible to make a stop determination if no intersection that needs to be temporarily stopped is stored, and as a result, a warning cannot be issued. Also, using only the information from the image recognition means is dangerous if there is another vehicle in front of the vehicle and the traffic lights and signs cannot be seen well. Therefore, by mutually complementing the information from the vehicle navigation device and the image recognition means, the vehicle can be stopped more reliably at the intersection to be temporarily stopped, and the safety is increased.

The third invention is a more detailed description of the first and second inventions.
A signal recognition means for recognizing the presence of a traffic light at the intersection and its display state;
Vehicle speed measuring means for measuring the speed of the vehicle;
Based on the vehicle speed measured by the vehicle speed measuring means and the display state of the signal recognized by the signal recognizing means, whether the traffic light shows a stop display when the vehicle reaches the stop line before the intersection A signal prediction means for predicting whether or not
The planned stop position setting means sets the stop line as the planned stop position when the signal predicting means predicts that the traffic light indicates a stop display.

  According to the configuration of the third invention, the vehicle has signal predicting means for predicting whether or not the traffic light shows a stop display (red or yellow) when the own vehicle reaches the stop line before the intersection. When it is predicted that the display is indicated, the stop line is set as the planned stop position. The signal predicting means recognizes the display state of the pedestrian traffic light by the image recognizing means, and predicts that the vehicle traffic light immediately changes to red or yellow when it is blinking in blue. Alternatively, as soon as the forward signal becomes visible by the image input means, the image recognition means determines the red, yellow, and blue of the signal and measures the display time of each color, up to the intersection calculated by the image recognition means or the navigation device Based on the distance and the vehicle speed information from the vehicle speed measuring means, it is predicted whether or not the signal switches to yellow or red before the vehicle reaches the intersection.

According to the fourth invention,
A sign / display recognition means for recognizing presence / absence and position of a sign indicating a temporary stop or road display,
When the signal recognizing means recognizes that there is no traffic light at the intersection and the sign / display recognizing means recognizes that there is a stop sign or road display, the scheduled stop position setting means determines whether the predetermined stop sign or road display Set the distance and foreground as the planned stop position.

  According to the configuration of the fourth aspect of the invention, the image recognition means includes the sign / display recognition means. When it is recognized that there is no traffic light at the intersection in front of the vehicle and there is a sign indicating a temporary stop or a road display, the planned stop position setting means stops a position at a predetermined distance from the sign or road display. Set as planned position.

According to the fifth invention,
Priority road discrimination means for discriminating which of the road on which the vehicle is traveling and the intersection road intersecting with it is a priority road,
When the signal recognition means recognizes that there is no traffic light at the intersection, the sign / display recognition means recognizes that there is no stop sign or road indication, and the priority road discrimination means determines that the intersection road is a priority road The planned stop position setting means sets a position at a predetermined distance from the entrance of the intersection as a planned stop position.

  The fifth aspect of the invention includes priority road discrimination means. If there is no sign or road indication indicating a stop or stop at the intersection in front of the vehicle and the intersection road is recognized as a priority road, the planned stop position setting means is a predetermined distance from the intersection entrance. Is set as the planned stop position. The priority road discriminating means discriminates which of the road on which the vehicle is traveling and the intersecting road intersecting with the road is the priority road from the width of the road and the presence or absence of a white line.

According to the sixth invention,
Moving object recognition means for recognizing moving objects such as other vehicles and pedestrians crossing the intersection;
A collision prediction means for predicting whether or not the moving object recognized by the moving object recognition means and the vehicle collide;
When the collision predicting unit predicts that the moving object and the vehicle will collide, the planned stop position setting unit sets a position a predetermined distance from the entrance of the intersection as the planned stop position. To do.

  According to the configuration of the sixth invention, the host vehicle can be safely stopped even when another vehicle ignores the signal and crosses the intersection. The moving object recognizing means is specifically constituted by a sensor using a laser or a radar. That is, a moving object is recognized by emitting a laser from the vehicle side and receiving a laser reflected by the moving object. Further, the image information input from the image input means may be processed by the image recognition means so as to recognize the moving object.

Furthermore, according to the seventh invention,
The image recognition means includes forward vehicle recognition means for recognizing whether there is another vehicle in front of the vehicle,
When it is recognized by the forward vehicle recognition means that there is another vehicle ahead, the planned stop position setting means sets a predetermined distance and a position in front of the other vehicle as the planned stop position.

  According to the structure of the said 7th invention, the accident which collides with the vehicle currently drive | working ahead of the own vehicle can be prevented.

Further, the eighth invention is a more specific one of the first to seventh inventions, that is,
Based on the planned stop position set by the planned stop position setting unit and the vehicle speed measured by the vehicle speed measurement unit, the vehicle includes a deceleration start position calculation unit that calculates the deceleration start position of the vehicle,
The warning means warns the driver before the vehicle reaches the deceleration start position, and an emergency stop warning different from the warning when the vehicle further approaches the planned stop position and the driver does not perform a deceleration operation. And
The braking control means sends a braking signal to the braking device of the vehicle together with the emergency stop warning, and stops the vehicle at or before the planned stop position.

In addition, the ninth invention
Gaze detection means for detecting the spatial position of the driver's gaze;
Warning control means for controlling the warning means not to give a warning when the driver's line of sight detected by the line-of-sight detection means is directed to a traffic light or a stop sign or road display;
Is provided.

  With the configuration of the ninth aspect of the present invention, it is possible to prevent a warning from being issued when the driver is watching a traffic light or a stop sign.

Furthermore, the tenth invention
Engine control means is provided for restricting fuel supply to the engine of the vehicle when it is determined by the stop possibility determination means that the vehicle cannot be stopped before the planned stop position.

  According to the configuration of the tenth aspect of the invention, not only the brake is controlled, but also the vehicle can be braked more effectively by limiting the fuel supply to the engine.

According to the eleventh invention,
Steering control means for controlling the steering of the vehicle to change the traveling direction of the vehicle when the collision predicting means predicts that the vehicle and the moving object will collide and that the collision cannot be avoided even by the braking operation by the driver Is provided.

  According to the configuration of the eleventh aspect of the invention, when the driver misses a pedestrian or the like and a collision with the vehicle cannot be avoided, the vehicle traveling direction can be changed to prevent the collision.

Furthermore, according to the twelfth invention,
If a moving object that crosses the intersection is recognized by the moving object recognition means after the vehicle has stopped, even if the driver performs a driving operation to start the vehicle, the engine must be connected to prevent the vehicle from entering the intersection. Entry control means for restricting fuel supply or prohibiting release of the brake is provided.

  With the configuration of the twelfth aspect of the invention, for example, even when the signal turns blue and the vehicle can be started, the start of the vehicle is controlled when a pedestrian is crossing. Thereby, the collision accident with a pedestrian etc. can be prevented beforehand.

The best mode for carrying out the present invention will be described below with reference to the drawings.
First, FIG. 1 shows a block diagram of a driving support apparatus 1 according to the present invention. As described above, the present invention includes the image input means 2 (camera), the image recognition means 3, the stop determination means 4, the planned stop position setting means 5, the warning means 6, the vehicle navigation device 7, the priority road determination means 8, and the line of sight detection means. 9, vehicle speed measurement means 10, moving object recognition means 11 (sensor), driver gaze detection camera 12, display device 13, audio alarm output device 14, steering control means 15, braking control means 16, engine control means 17, wheels 18, a brake 19, an engine 20, and a deceleration / stop command generating means 21. In addition, a map information storage means 71 and a position detection means 72 are provided in the vehicle navigation device 7.

  The driver's line-of-sight detection camera 12 is arranged at a position where the driver's eyeball can be photographed, photographs the driver's eye movement, and sends the image data to the line-of-sight detection means 9. The line-of-sight detection means 9 detects the spatial position of the driver's line of sight by combining image information outside the vehicle sent from the image input means 2 and image data relating to the driver's eyeball sent from the driver's line-of-sight detection camera 12. To do.

  On the other hand, the map information storage means 71 in the vehicle navigation device 7 uses a storage medium such as a CD-ROM or a hard disk, and the position detection means 72 uses an in-vehicle GPS (Global Positioning System).

  The block diagram of FIG. 2 is a more detailed description of FIG. 1. The dotted line (control circuit) in FIG. 1 includes the CPU 22, ROM 23, RAM 24, image recognition processor 25, line of sight detection circuit 26, I / O 27, and the like. The bus line 28 is connected. The image recognition processor 25 is a dedicated processor for performing image processing and recognizing traffic lights, stop signs, etc., and functions as the image recognition means 3 in FIG. The line-of-sight detection circuit 26 functions as the line-of-sight detection means 9 in FIG. As shown in FIG. 3, various programs 4-8p, 21p, 29-36p are stored in the ROM 23, and the CPU 22 reads and executes these programs, whereby the collision prediction means 29 of the present invention is stopped. Determination means 4, scheduled stop position setting means 5, stop possibility determination means 30, deceleration / stop command generation means 21, signal prediction means 31, deceleration start position calculation means 32, warning means 6, entry control means 33, warning control means 34 , Function as signal recognition means 35, sign / display recognition means 36, and priority road discrimination means 8.

  In addition, a liquid crystal panel etc. are used for the display means 13, and it serves also as the function which displays the map information from the navigation apparatus 7 for vehicles. The voice alarm output device 14 may output voice guidance from the vehicle navigation device 7. Furthermore, various ECUs for control are used for the steering control means 15, the braking control means 16, and the engine control means 17.

  Next, the operation of the driving support apparatus 1 will be described with reference to the flowchart of FIG. First, the image input means 2 captures an intersection in front of the vehicle and inputs image information. The input image information is sent to the image recognition means 3 where the situation of the intersection is recognized (step S1). Thereafter, the process proceeds to step S2, and the signal recognition means 35 recognizes the presence / absence, position, and display state of a traffic light in front of the vehicle. Here, if the traffic light can be recognized and the answer is Y, the process proceeds to step S3, and the signal predicting means 31 determines whether or not the traffic light shows a stop display (red or yellow) when the own vehicle reaches the stop line before the intersection. Predict. This prediction is performed by, for example, recognizing an image of a pedestrian traffic light and predicting that the vehicle traffic light immediately changes to red or yellow when it is blinking. In the case of Y in step S3, the process proceeds to step S6, and the stop line at the intersection is set as the planned stop position by the planned stop position setting means 5.

  On the other hand, if N in step S2, the process proceeds to step S4, where the sign / display recognition means 36 recognizes whether there is a temporary stop sign or a stop road display. In the case of Y here, the process proceeds to step S8, and the planned stop position setting means 5 sets a position that is a predetermined distance and ahead of the temporary stop sign or the stopped road display as the planned stop position. In the case of N in step S4, the process proceeds to step S5, and the priority road discrimination means 8 discriminates which of the traveling road of the own vehicle and the intersection road intersecting with it is the priority road. This determination is made using the width of the road, the presence or absence of a white line, and the like. In the case of N in step S5 (when the intersection road is a priority road), the process proceeds to step S8, and the planned stop position setting means 5 sets a position at a predetermined distance from the stop line or the entrance of the intersection as the planned stop position. .

  If it is recognized as Y in step S5 or N (signal is blue) in step S3, the process moves to step S7, where the moving object recognition unit 11 (sensor) and the collision prediction unit 29 use the intersection. It is predicted whether there is an object that may collide inside. If N is predicted in step S7, the process proceeds to end E, and the vehicle passes through the intersection. When it is predicted as Y in step S7, the process proceeds to step S8, and the planned stop position setting means 5 sets a position a predetermined distance and near from the entrance of the intersection as the planned stop position.

  After the planned stop position is set in this way, the process proceeds to step S9, where the deceleration start position calculating means 32 calculates the vehicle deceleration start position based on the vehicle speed and the planned stop position from the vehicle speed measuring means 10. Thereafter, the process proceeds to step S10. If it is determined in step 10 that the vehicle has approached the deceleration start position, the process proceeds to step S11. In step S11, the warning means 6 issues a warning signal that prompts the driver to decelerate. This warning signal is displayed on the display device 13 or outputted as a sound by the sound alarm output device 14.

  After the warning, the process proceeds to step S12, and the stop possibility determination means 30 determines whether or not the vehicle can be stopped before the planned stop position by the driver's braking operation. More specifically, a switch is incorporated in the brake, and the switch is turned on when the driver steps on the brake. Then, the timing at which this switch is turned on and the vehicle speed information from the vehicle speed measuring means 10 are combined to determine whether or not the vehicle can be stopped before the planned stop position. If it is determined as Y in step S12, the process proceeds to end E. If it is determined as N in step S12, the process proceeds to step S13, where the deceleration / stop command generating means 21 issues a deceleration command to the braking control means 16, and the braking control means 16 sends a braking signal to the brake 19 to brake the vehicle. .

  The brake control means 16 may send a brake signal to the brake 19 and the engine control means 17 may restrict the fuel supply to the engine 20. In this way, the vehicle can be decelerated efficiently.

  On the other hand, steps S14 to S16 may be provided as shown in the flowchart of FIG. In step S14, the moving object recognizing means 11 recognizes whether there is a moving object such as a pedestrian, and in the case of Y, the process proceeds to step S15. In step S15, the collision prediction means 29 predicts whether or not a collision between the moving object and the own vehicle can be avoided. If it is predicted in step S15 that a collision with a moving object is unavoidable (N), the process proceeds to step S16, where the steering control means 15 controls the steering to change the direction of the wheels 18 so that the vehicle is a pedestrian ( Do not collide with moving objects. In this way, even if the driver does not perform an appropriate avoidance operation, a collision accident with a pedestrian or the like can be prevented.

  Furthermore, steps S1 'and S1 "may be provided as shown in the flowchart of FIG. In step S1 ', it is determined whether there is another vehicle in front of the host vehicle. If it is determined as Y here, the process moves to step S1 ". Then, a predetermined distance from the front of the front car and a position in front are set as the planned stop position. Thereafter, the process proceeds to step S9. By doing in this way, the rear-end collision with the vehicle ahead can be prevented beforehand.

  Further, as shown in FIG. 7, step S10 'may be provided. If the driver's line of sight detected by the line-of-sight detection means 9 is directed to a traffic light, a stop sign or a stop road display in step S10 ', step S11 is bypassed by the warning control means 34, and the process proceeds to step S12. Move. This prevents the alarm from sounding even though the driver recognizes the signal and plans to brake.

  If the moving object crossing the intersection is recognized by the moving object recognizing means 11 after the vehicle stops according to the flowcharts of FIGS. 4 to 7, the driver cannot enter the intersection even if he tries to advance the vehicle. The entry control means 33 may restrict the fuel supply to the engine 20 or prohibit the release of the brake 19.

An example of the block diagram of the driving assistance device 1 which concerns on this invention. It is the block diagram which described FIG. 1 more concretely. A storage area of the ROM 23 is schematically shown. It is an example of a flowchart. This is an example in which steps S14 to S16 are added to the flowchart of FIG. This is an example in which steps S <b> 1 ′ and S <b> 1 ″ are added to the flowchart of FIG. 4. This is an example in which step S10 'is added to the flowchart of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Driving assistance device 2 Image input means 3 Image recognition means 4 Stop judgment means 5 Stop planned position setting means 6 Warning means 7 Vehicle navigation device 8 Priority road discrimination means 9 Gaze detection means 10 Vehicle speed measurement means 11 Moving object recognition means 12 Driving Person gaze detection camera 13 Display device 14 Audio alarm output device 15 Steering control means 16 Braking control means 17 Engine control means 29 Collision prediction means 30 Stoppable judgment means 31 Signal prediction means 32 Deceleration start position calculation means 33 Approach control means 34 Warning Control means 35 Signal recognition means 36 Sign / display recognition means

Claims (12)

In a driving support device that supports safe driving of a vehicle,
Image input means for photographing the road in the vehicle traveling direction and inputting the image information;
Image recognition means for processing the input image information and recognizing the situation of an intersection in front of the vehicle;
Stop determination means for determining whether or not the traveling vehicle needs to stop at the front intersection based on information on the intersection recognized by the image recognition means;
A planned stop position setting means for setting a planned stop position of the vehicle at the intersection;
Warning means for warning the driver of the vehicle when it is determined by the stop determination means that the vehicle needs to be stopped;
As a result of the braking operation by the driver, a stoppability judging means for judging whether or not the vehicle can stop before the planned stop position;
Braking control means for braking the vehicle when it is determined by the stop possibility determination means that the vehicle cannot be stopped before the planned stop position;
A driving support apparatus comprising: In a driving support device that supports safe driving of a vehicle,
A vehicle navigation apparatus having map information storage means for storing whether or not an intersection on the map should be temporarily stopped together with other map information, and position detection means for detecting the current position of the vehicle;
Image input means for photographing the road in the vehicle traveling direction and inputting the image information;
Image recognition means for processing the input image information and recognizing the situation of an intersection in front of the vehicle;
Stop determination means for mutually complementing information on the intersection from the image recognition means and the vehicle navigation device and determining whether or not the traveling vehicle needs to stop at the intersection ahead,
A planned stop position setting means for setting a planned stop position of the vehicle at the intersection;
Warning means for warning the driver of the vehicle when it is determined by the stop determination means that the vehicle needs to be stopped;
As a result of the braking operation by the driver, a stoppability judging means for judging whether or not the vehicle can stop before the planned stop position;
Braking control means for braking the vehicle when it is determined by the stop possibility determination means that the vehicle cannot be stopped before the planned stop position;
A driving support apparatus comprising: A signal recognition means for recognizing the presence of a traffic light at the intersection and its display state;
Vehicle speed measuring means for measuring the speed of the vehicle;
Based on the vehicle speed measured by the vehicle speed measuring means and the display state of the signal recognized by the signal recognizing means, whether the traffic light shows a stop display when the vehicle reaches the stop line before the intersection A signal prediction means for predicting whether or not
3. The driving support device according to claim 1, wherein the planned stop position setting unit sets the stop line as the planned stop position when the signal predicting unit predicts that the traffic light indicates a stop display. A sign / display recognition means for recognizing presence / absence and position of a sign indicating a temporary stop or road display,
When the signal recognition means recognizes that there is no traffic signal at the intersection, and the sign / display recognition means recognizes that the stop sign or the road display is present, the scheduled stop position setting means is temporarily stopped. The driving support device according to claim 3, wherein a predetermined distance and a short distance from the sign or the road display are set as the planned stop position. Priority road discrimination means for discriminating which is the priority road among the traveling road of the vehicle and the intersection road intersecting with the road,
The signal recognition means recognizes that there is no traffic signal at the intersection, the sign / display recognition means recognizes that there is no stop sign or the road display, and the priority road discrimination means prioritizes the intersection road. The driving support device according to claim 4, wherein, when it is determined that the road is a road, the planned stop position setting unit sets a position at a predetermined distance from the entrance of the intersection as the planned stop position. Moving object recognition means for recognizing moving objects such as other vehicles and pedestrians crossing the intersection;
A collision prediction means for predicting whether or not the moving object recognized by the moving object recognition means and the vehicle collide;
When the collision predicting unit predicts that the moving object and the vehicle will collide, the planned stop position setting unit sets a position a predetermined distance from the entrance of the intersection as the planned stop position. The driving support device according to any one of claims 1 to 5. Forward vehicle recognition means for recognizing whether there is another vehicle in front of the vehicle,
7. If the preceding vehicle recognizing means recognizes that there is another vehicle ahead, the planned stop position setting means sets a predetermined distance and a position in front of the other vehicle as the planned stop position. The driving support device according to any one of the above. A deceleration start position calculation unit that calculates a deceleration start position of the vehicle based on the planned stop position set by the planned stop position setting unit and the vehicle speed measured by the vehicle speed measurement unit;
The warning means warns the driver before the vehicle reaches the deceleration start position, and when the vehicle further approaches the planned stop position and the driver does not perform a deceleration operation, the warning means An emergency stop warning is performed separately from the warning,
The driving support device according to any one of claims 1 to 7, wherein the braking control means sends a braking signal to the braking device of the vehicle together with the emergency stop warning to stop the vehicle at or before the planned stop position. . A line-of-sight detection means for detecting a spatial position of the driver's line of sight;
Warning control means for controlling the warning means not to perform the warning when the driver's line of sight detected by the line-of-sight detection means is directed to the traffic light or the stop sign or the road display. When,
The driving support device according to any one of claims 3 to 9, further comprising:   The engine control means for restricting fuel supply to the engine of the vehicle when the stop possibility determination means determines that the vehicle cannot stop before the planned stop position. The driving support device according to item.   When the collision prediction means predicts that the vehicle and the moving object will collide, and predicts that the collision cannot be avoided even by the braking operation by the driver, the vehicle steering direction is controlled by controlling the steering of the vehicle. The driving support device according to claim 6, further comprising a steering control means for switching.   After the vehicle stops, if the moving object crossing the intersection is recognized by the moving object recognition means, even if the driver performs a driving operation to start the vehicle, the vehicle The driving support device according to claim 6, further comprising an entry control unit that restricts fuel supply to the engine so as not to enter or prohibits release of a brake.

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