JP2014199677A - Driving supporting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving supporting device capable of easily reminding a driver of a collision with a rear vehicle and of catching a person or vehicle due to a right or left turn at an intersection in accordance with driving conditions.SOLUTION: When a determining part 13 determines a left turn at an intersection, an image combining part 12 creates a combined image when viewed backward at a left front position from a left front end of an own vehicle and also overlaps an estimated trajectory line of a left rear wheel of the own vehicle corresponding to a steering angle. When the determining part 13 determines a right turn at an intersection, the image combining part 12 creates a combined image when viewed to the left at a right front position from a right front end of the own vehicle. When the determining part 13 determines a left turn due to a lane change, the image combining part 12 creates a combined image obtained by arranging a picked-up image obtained by photographing a left side of the own vehicle and a picked-up image obtained by photographing the back of the own vehicle in parallel. When the determining part 13 determines a right turn due to a lane change, the image combining part 12 creates a combined image obtained by arranging a picked-up image obtained by photographing a right side of the own vehicle and a picked-up image obtained by photographing the back of the own vehicle in parallel.

Description

  The present invention relates to a driving support device that performs appropriate visual field support when turning left or right at an intersection or changing lanes.

  Conventionally, a driving support device that switches the camera display at an appropriate timing according to the driving situation using driving information such as turn signal and vehicle speed in order to make the driver easily grasp the right / left turn and lane change situation of the own vehicle. Yes (see, for example, Patent Document 1). In addition, a driving assistance device is known that displays a distance guide line superimposed on a camera image so that the driver can easily grasp the positional relationship with other vehicles when the vehicle turns right or left or changes lanes ( For example, see Patent Document 2).

JP 2001-055100 A JP 2006-051850 A

  However, in the conventional driving support device, it is possible to determine the collision with the rear vehicle by switching the camera display, but the winding by the right / left turn at the intersection is not considered.

  The present invention has been made to solve the conventional problems, and can easily alert the driver of a collision with a rear vehicle and an entrainment caused by a right or left turn at an intersection depending on the driving situation. An object is to provide a support device.

  In order to achieve the above object, the present invention determines, based on the driving situation acquired by the driving situation acquisition means, whether the host vehicle makes a right / left turn at an intersection or a lane change, and based on the determination result. And control means for controlling the video composition means.

  According to the present invention, there is an effect that it is possible to easily alert the driver of a collision with a rear vehicle and an entrainment caused by a right or left turn at an intersection according to a driving situation.

The block diagram which shows the structure of the driving assistance apparatus in embodiment of this invention. The flowchart figure explaining the image | video synthetic | combination process by the control means which is the principal part of the same FIG. The figure explaining the composite image by the image when the control means which is the principal part of FIG. 1 determines the left turn at the intersection The figure explaining the composite image by the image when the control means which is the principal part of FIG. 1 determines the right turn at the intersection The figure explaining the composite image by the image when the control means which is the principal part of FIG. 1 determines the left turn by the lane change The figure explaining the composite image by the image when the control means which is the principal part of FIG. 1 determines the right turn by the lane change The figure explaining the imaging area of the imaging means which is the principal part of FIG.

  Hereinafter, a driving support device according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing a configuration of a driving support apparatus according to an embodiment of the present invention.

  In FIG. 1, the driving support device 1 is connected to an imaging unit 2, a display unit 3, a rudder angle sensor 4, a vehicle speed sensor 5, a gear position sensor 6, an input unit 7, and a blinker 8. Note that the imaging means 2, the display means 3, the steering angle sensor 4, the vehicle speed sensor 5, the gear position sensor 6, the input means 7, and the blinker 8 may be included in the driving support device 1.

  The driving support device 1 includes a video acquisition unit 9, a storage unit 10, and a control unit 11. The driving support apparatus 1 is connected to an imaging unit 2, a display unit 3, a rudder angle sensor 4, a vehicle speed sensor 5, a gear position sensor 6, an input unit 7, and a blinker 8. The driving support device 1 creates a composite image using a captured image around the host vehicle input from the imaging unit 2 based on at least input signals from the vehicle speed sensor 5 and the blinker 8 and outputs the composite image to the display unit 3. Note that the driving support device 1 may further use input signals from the steering angle sensor 4, the gear position sensor 6, and the input means 7 to create a composite image.

  The imaging means 2 is provided at the front camera 710 provided at the front end of the host vehicle, the left side camera 711 and the right side camera 712 provided near the side mirrors at the left and right ends of the host vehicle, and the rear end of the host vehicle. The rear camera 713 is used. FIG. 7 is a diagram for explaining the imaging area of each camera of the imaging means 2 using an image. As shown in FIG. 7, the front camera 710 images a region 720 in front of the left and right of the host vehicle 700. The left side camera 711 images a left front area, a left side area, and a left rear area 721 of the host vehicle 700. The right side camera 712 images the area 723 on the right front side, right side, and right rear side of the host vehicle 700. The rear camera 713 images a region 723 on the left and right rear of the host vehicle 700.

  The display means 3 is comprised by the display provided in the navigation apparatus or the rear seat, for example. The display unit 3 displays the composite video input from the driving support device 1.

  The steering angle sensor 4, the vehicle speed sensor 5, the gear position sensor 6, the input means 7, and the winker 8 are respectively a steering angle signal indicating the steering angle of the steering wheel, a vehicle speed signal indicating the vehicle speed of the host vehicle, and a shift lever. A shift lever state signal indicating the state of the vehicle, an input signal indicating the instruction command of the user, and a signal indicating the state of the blinker are output to the driving support device 1. The input unit 7 includes, for example, a touch panel, a remote control, a switch, and operation buttons. The input means 7 may be provided in the display means 3 when configured by a touch panel.

  The video acquisition means 9 is composed of a volatile memory. For example, it is composed of a video memory or RAM (Random Access Memory). The video acquisition unit 9 is connected to the imaging unit 2. The video acquisition unit 9 temporarily stores video data obtained from the captured video input from the imaging unit 2. The video data stored in the video acquisition unit 9 is read by the control unit 11.

  The storage means 10 is composed of a nonvolatile memory. For example, it is composed of a flash memory or a ROM (Read Only Memory). The storage means 10 stores image data of the host vehicle, image data unique to the host vehicle such as an expected trajectory line and a distance index, and various programs of the control means 10.

The control means 11 is, for example, an ASIC (Application Specific Integrated Circuit) or a VLSI (Very Large Scale).
Integration) and CPU (Central Processing Unit). The control unit 11 includes a video composition unit 12 and a determination unit 13. The control unit 11 is connected to the display unit 3, the steering angle sensor 4, the vehicle speed sensor 5, the gear position sensor 6, the input unit 7, the blinker 8, the video acquisition unit 9, and the storage unit 10. The control means 11 starts a driving support process in response to an input signal from the input means 7 and performs various processes such as creating a video for driving assistance based on the input signals from the vehicle speed sensor 5 and the blinker 8. Further, the control means 11 may perform processing by further using input signals from the steering angle sensor 4 and the gear position sensor 6.

  The video composition unit 12 is connected to the display unit 3, the video acquisition unit 9, and the storage unit 10. The video synthesizing unit 12 performs image processing on the captured video input from the video acquisition unit 9 to convert it into a video signal that can be displayed on the display unit 3, and the predicted trajectory line and fixed trajectory line read from the storage unit 10, Image data such as a distance index is superimposed. The video composition unit 12 outputs the superimposed video created every predetermined time to the display unit 3 as a video.

  The determination unit 13 is connected to the rudder angle sensor 4, the vehicle speed sensor 5, the gear position sensor 6, the input means 7, the blinker 8, and the video composition unit 12. The determination unit 13 determines the driving state of the host vehicle based on at least input signals from the vehicle speed sensor 5 and the turn signal 8. For example, the determination unit 13 determines, based on signals input from the turn signal 8 and the vehicle speed sensor 5, whether the host vehicle is going to turn left or right at an intersection or is going to turn right or left due to a lane change. The determination unit 13 may determine the driving state of the host vehicle by further using input signals from the steering angle sensor 4, the gear position sensor 6, and the input means 7. The determination unit 13 superimposes image data such as an expected trajectory line, a fixed trajectory line, and a distance index on the video composition unit 12 based on the determination result of the driving state of the host vehicle, and outputs a composite video to the display unit 3. And so on.

  Next, driving support processing by the driving support device 1 will be described.

  FIG. 2 is a flowchart for explaining the driving support processing by the control means 11.

  First, as shown in step S <b> 101, the determination unit 13 detects a driving support processing instruction input from the input unit 7 and starts processing.

  Next, as shown in step S <b> 102, the determination unit 13 determines whether the winker 8 is lit based on an input signal from the winker 8. If NO in step S102, the process of step S102 is performed again after a predetermined time. In the case of YES in step S102, as shown in step S103, the determination unit 13 determines whether or not the vehicle speed input from the vehicle speed sensor 5 is equal to or less than a predetermined threshold value.

  In the case of YES in step S103, the determination unit 13 determines that the host vehicle is about to turn at the intersection. And as shown to step S104, the determination part 13 determines whether the instruction | indication destination of the turn signal 8 is a left direction based on the input signal from the turn signal 8.

  If YES in step S104, the determination unit 13 determines that the host vehicle is about to make a left turn at the intersection, and issues a command to the video composition unit 12 to create a composite video for the left turn at the intersection.

Then, as shown in step S105, the video composition unit 12 creates a composite video for left turn at the intersection. Specifically, the video composition unit 12 uses the captured images of the left front, left side, and left rear of the host vehicle acquired from the video acquisition unit 9 to view the rear from the position on the left front of the left front end of the host vehicle. Create a composite video. For example, the video compositing unit 12 converts the viewpoint of the video captured by the left side camera 711 and creates a composite video when the rear is viewed from the left front position from the left front end of the host vehicle. Note that the video composition unit 12 may further use a captured video of the front camera 710. Then, the video composition unit 12 superimposes an expected trajectory line for an intersection left turn that changes according to the steering angle on the composite video. The predicted trajectory line for the left turn at the intersection is set to the expected trajectory line of the left rear wheel of the host vehicle. Based on the rudder angle input from the rudder angle sensor 4, the determination unit 13 sends the image data of the expected trajectory line and the image data of the fixed trajectory line corresponding to the rudder angle from the storage unit 10 to the video composition unit 12. An instruction to read is performed. This fixed trajectory line means an expected trajectory line when the host vehicle travels at the maximum steering angle.

  Next, as shown in step S106, the video composition unit 12 superimposes the left turn distance index read from the storage unit 10 on the composite video created in step S105. The left turn distance index is an index indicating a distance from the rear end of the host vehicle to the rear, and is provided at every predetermined distance. Then, the video composition unit 12 outputs the video created in step S105 and step S106 to the display means 3.

  On the other hand, in the case of NO in step S104, the determination unit 13 determines that the host vehicle is about to make a right turn at the intersection, and instructs the video composition unit 12 to create a composite video for the intersection right turn. And as shown to step S107, the image | video synthetic | combination part 12 produces the synthetic | combination image | video for the right turn of an intersection. Specifically, the video composition unit 12 creates a composite video when the left side is viewed from the position in front of the right front end of the host vehicle using the captured image including the left and right acquired from the video acquisition unit 9. To do. For example, the video synthesizing unit 12 converts the viewpoint of the video captured by the front camera 710 and creates a synthesized video when the left side is viewed from a position in front of the right front end of the vehicle. Then, the video composition unit 12 superimposes the predicted trajectory line for the right turn at the intersection that changes according to the steering angle on the composite video. The predicted trajectory line for turning right at the intersection is set to the predicted trajectory line of the left and right front wheels of the host vehicle or the predicted trajectory lines of the left front wheel and the right rear wheel. Based on the steering angle input from the steering angle sensor 4, the determination unit 13 instructs the video composition unit 12 to read out the image data of the predicted trajectory line corresponding to the steering angle from the storage unit 10. The predicted trajectory line for turning right at the intersection may be set to an expected trajectory line at the left and right front ends of the host vehicle.

  Next, as shown in step S108, the video composition unit 12 superimposes the right turn distance index read from the storage unit 10 on the composite video created in step S107. The right turn distance index is an index indicating the distance from the left end of the host vehicle to the left, and is provided at every predetermined distance. Then, the video composition unit 12 outputs the video created in step S107 and step S108 to the display means 3.

  If NO in step S103, the determination unit 13 determines that the host vehicle is about to change lanes. And as shown to step S109, the determination part 13 determines whether the indication point of the turn signal 8 is a left direction based on the input signal from the turn signal 8.

  If YES in step S109, the determination unit 13 determines that the host vehicle is about to change the left lane, and instructs the video composition unit 12 to create a composite image for changing the left lane.

  Then, as shown in step S110, the video composition unit 12 creates a left lane change composite video. Specifically, the video composition unit 12 creates a composite video in which the left and rear images of the host vehicle acquired from the video acquisition unit 9 are arranged in parallel. For example, the video composition unit 12 arranges the captured video of the left side camera 711 and the captured video of the rear camera 713 in parallel.

Next, as shown in step S111, the video composition unit 12 superimposes the left lane change distance index read from the storage unit 10 on the composite video created in step S110. The left lane change distance index is an index indicating the distance from the rear end of the host vehicle to the rear, and is provided for each predetermined distance. Then, the video composition unit 12 outputs the video created in step S110 and step S111 to the display unit 3.

  On the other hand, in the case of YES in step S109, the determination unit 13 determines that the host vehicle is about to change the right lane, and instructs the image composition unit 12 to create a composite image for changing the right lane.

  Then, as shown in step S112, the video composition unit 12 creates a composite image for changing the right lane. Specifically, the video composition unit 12 creates a composite video in which the right and rear images of the host vehicle acquired from the video acquisition unit 9 are arranged in parallel. For example, the video composition unit 12 arranges in parallel a video including the right side and the rear of the host vehicle captured by the right side camera 712 and a video of the rear of the host vehicle captured by the rear camera 713.

  Next, as shown in step S113, the video composition unit 12 superimposes the right lane change distance index read from the storage unit 10 on the composite video created in step S112. The right lane changing distance index is an index indicating the distance from the rear end of the host vehicle to the rear, and is provided for each predetermined distance. Then, the video composition unit 12 outputs the video created in step S112 and step S113 to the display means 3.

  Then, as shown in step S <b> 114, the determination unit 13 determines whether the turn signal 8 is turned off based on an input signal from the turn signal 8. In the case of NO in step S114, the determination unit 13 repeats the process of step S114 again after a predetermined time. On the other hand, in the case of YES in step S114, the determination unit 13 instructs the video composition unit 12 to end video output and ends the processing. As a result, the display unit 3 deletes the composite video created by the video composition unit 12 in steps S105, S107, S110, and S112 and the distance index superimposed in steps S106, S108, S111, and S113 from the screen.

  Next, creation of a composite image and a distance indicator for intersection right / left turn and right / left turn lane change will be described.

  FIG. 3 is a diagram illustrating an image of a composite image when the control unit 11 determines a left turn at an intersection. FIG. 4 is a diagram illustrating an image of a composite image when the control unit 11 determines a right turn at an intersection. FIG. 5 is a diagram illustrating an image of a composite image when the control unit 11 determines the left lane change. FIG. 6 is a diagram illustrating an image of a composite image when the control unit 11 determines the right lane change. 3 to 6, the vertical direction on the paper surface indicates the actual front-rear direction, and the left-right direction on the paper surface indicates the actual left-right direction.

  First, a composite image and a distance index when turning left at an intersection will be described.

  As shown in FIG. 3, when turning left at the intersection, the video composition unit 12 creates a composite image that reflects an area 301 including the left front, left side, and left rear of the host vehicle 300. At this time, the video composition unit 12 uses the captured image of the left side camera 711 to create a composite video obtained by performing viewpoint conversion from the viewpoint 302 that looks from the front left to the rear rather than the front left end of the host vehicle 300.

In this viewpoint conversion, the video composition unit 12 performs a conversion in which the captured image of the left side camera 711 is projected from the viewpoint 302 onto a projection plane perpendicular to the road surface. If the projection plane is tilted from the vertical, the approaching object or obstacle in the region 301 in the composite image has a shape that collapses compared to the real world shape. At this time, the difference between the approaching object or the obstacle in the region 301 in the composite image and the shape of the real world becomes large, which hinders the driver's intuitive grasp. In order to prevent this, a projection plane that is perpendicular to the road surface is used for viewpoint conversion. By using this vertical projection plane, the region 301 can include the region behind the host vehicle 300 far away even if the viewpoint 302 has a vector component in the overhead direction. Therefore, when turning left at the intersection, obstacles and approaching objects on the left rear of the host vehicle 300 can be included in the composite image without omission. Thereby, the driver can recognize the object to be entrained at an early stage.

  A portion corresponding to the left front of the host vehicle 300 in the region 301 may include at least a line connecting the driver seat to the pillar of the host vehicle 300. As a result, the blind spot area hidden by the driver in the pillar portion of the host vehicle 300 can be grasped by the composite video for turning left at the intersection.

  As shown in FIG. 3, the composite video for turning left at the intersection shows the expected trajectory line 303 of the left rear wheel of the host vehicle 300 corresponding to the current steering angle and the left of the host vehicle 300 when fixed at a predetermined steering angle. A fixed trajectory line 304 for the rear wheel is superimposed. The portion where the predicted locus line 303 and the fixed locus line 304 overlap corresponds to a portion obtained by extending the left rear wheel of the host vehicle 300 outward in the axle direction by a margin value. By superimposing the predicted trajectory line 303 and the fixed trajectory line 304 on the intersection left turn composite image, it is possible to prevent the left rear wheel of the host vehicle 300 from climbing on the shoulder due to the difference in the inner wheel.

  Also, as shown in FIG. 3, distance indicators 305 to 307 are superimposed on the intersection left turn composite image. The distance indexes 305 to 307 are each configured with a horizontal linear shape. In addition, the distance indexes 305 to 307 may be configured to be distinguishable from each other. For example, color classification and distinction by solid line / dotted line / broken line may be performed. Further, a distance value from the rear end of the host vehicle 300 may be superimposed on the distance indicators 305 to 307. Since the same applies to the distance index in the following drawings, detailed description of similar points is omitted.

  Next, a composite image and a distance index when turning right at the intersection will be described.

  As shown in FIG. 4, when turning right at the intersection, the video composition unit 12 creates a composite video that shows an area 401 including the right front and left front of the host vehicle 400. At this time, the video compositing unit 12 uses the captured video of the front camera 710 to create a composite video that has undergone viewpoint conversion from a viewpoint 402 looking left from a position in front of the right front end of the host vehicle 400. A vehicle traveling in a lane that intersects the lane where the host vehicle 400 is located approaches from the front left, which is likely to be a driver's blind spot when turning right. The region 401 can include the left front of the host vehicle 400 far away by the composite image viewed from the viewpoint 402. Therefore, when turning right at the intersection, obstacles and approaching objects on the left front of the host vehicle 400 can be included in the composite image without omission. As a result, the driver can recognize the vehicle to be collided with the host vehicle 400 at an early time when making a right turn.

  A portion corresponding to the left front of the host vehicle 400 in the region 401 may include at least a line connecting the driver seat to the pillar of the host vehicle 400. As a result, the blind spot area hidden by the driver in the pillar portion of the host vehicle 400 can be grasped by the composite video for turning left at the intersection.

As shown in FIG. 4, the predicted trajectory line 403 for the left front wheel and the predicted trajectory line 404 for the right front wheel of the host vehicle 400 corresponding to the current steering angle are superimposed on the composite video for turning right at the intersection. The predicted trajectory line 403 and the predicted trajectory line 404 start from a position where the left and right front wheels of the host vehicle 400 are extended outward in the axle direction by a margin value. Obstacles on the traveling route of the host vehicle 400 can be confirmed by superimposing the predicted trajectory line 403 and the predicted trajectory line 404 on the composite video for turning right at the intersection. Note that the determination unit 13 may cancel the superimposition of the predicted trajectory line 403 and the predicted trajectory line 404 by the video composition unit 12 according to the driving situation. For example, when the rudder angle input from the rudder angle sensor 4 exceeds a predetermined value, when the erasing signal is input from the input means 7, the determination unit 13 receives the gear signal input from the gear position sensor 6 from parking. When the vehicle is changed to forward, it is determined that the driver needs to have the predicted trajectory line 403 and the predicted trajectory line 404 low. Then, the determination unit 13 instructs the video composition unit 12 to delete the predicted trajectory line 403 and the predicted trajectory line 404. Visibility of the composite image can be improved by erasing the superimposed image with low necessity. Note that the predicted trajectory lines 403 and 404 may be set to the predicted trajectory lines at the left and right front ends of the host vehicle.

  Also, as shown in FIG. 4, distance indices 405 to 407 are superimposed on the intersection right turn composite video. The distance indexes 405 to 407 are each configured with a straight line shape in the vertical direction.

  Next, a composite image and a distance index when changing the left lane will be described.

  As shown in FIG. 5, when the left lane is changed, the video composition unit 12 captures a part of the captured image from the left side camera 711 of the host vehicle 500 and a part of the captured image from the rear camera 713. Create a composite video with and in parallel. A region 501 and a region 502 indicate a region cut out from the imaging region of the left side camera 711 and a region cut out from the captured video region of the rear camera 712, respectively. It is not necessary for the driver to view the image in front of the host vehicle when changing lanes. The video synthesizing unit 12 outputs, to the display unit 3, a synthesized video in which specific areas with high necessity are arranged without changing the viewpoint of the captured images of the left side camera 711 and the rear camera 712. Two screen images of the left side camera 711 and the rear camera 712 can be displayed. And, when changing lanes where the need to watch a solid object is higher than when turning left or right at an intersection, it is possible to avoid the distortion of the solid object in the image due to the display of the composite image and the occurrence of blind spots in the joint portion of the composite image it can. Therefore, the driver can visually recognize the left side and the rear area of the host vehicle, which are highly necessary, without any discomfort from the real world.

  Further, as shown in FIG. 5, in the composite image for changing the left lane, the first distance indices 503 to 505 are displayed for the captured image of the left side camera 711, and the second distance indices 506 to 506 are captured for the captured image of the rear camera 713. 508 is superimposed at a predetermined distance from the rear end of the host vehicle toward the rear. The video composition unit 12 sets the upper and lower positions of the first distance indicators 503 to 505 and the second distance indicators 506 to 508 to match each other, so that the display means 3 displays two screens. The driver can easily grasp the correspondence between the displayed images.

  Next, a composite image and a distance index when the right lane is changed will be described.

  As shown in FIG. 6, when the right lane is changed, the video composition unit 12 captures a part of the captured image from the right side camera 712 of the host vehicle 600 and a part of the captured image from the rear camera 713. Create a composite video with and in parallel. A region 601 and a region 602 indicate a region cut out from the imaging region of the right side camera 712 and a region cut out from the captured video region of the rear camera 713, respectively. It is not necessary for the driver to view the image in front of the host vehicle when changing lanes. The video synthesizing unit 12 outputs to the display unit 3 a synthesized video in which specific areas with high necessity are arranged without changing the viewpoint of the video captured by the right side camera 712 and the rear camera 713, so that the display unit 3 Two screen images of the right side camera 712 and the rear camera 713 can be displayed. Therefore, the driver can visually recognize the area on the right side and the rear side of the host vehicle, which is highly necessary, without feeling uncomfortable with the real world.

  As shown in FIG. 6, in the composite image for changing the right lane, the first distance indices 603 to 605 are captured for the captured image of the right side camera 712, and the second distance indices 606 to 606 are captured for the captured image of the rear camera 713. 608 is superimposed. The video composition unit 12 sets the upper and lower positions of the first distance indices 603 to 605 and the second distance indices 606 to 608 to match each other, so that the display means 3 displays two screens. The driver can easily grasp the correspondence between the displayed images.

  As described above, according to the control means 11 having the video composition unit 12 and the determination unit 13 of the present invention, the composite image in consideration of the wrapping when turning left at the intersection, and the lane where the host vehicle is located when turning right at the intersection. A composite image in consideration of a rear-end collision from a traveling vehicle in an intersecting lane and a composite image in consideration of a collision with a rear vehicle when the lane is changed can be output to the display means 3. Accordingly, it is possible to alert the driver of the risk of different accidents depending on when the intersection turns right or left and when the right or left turn lane changes. In addition, the driver can check different dangerous areas at the time of turning right and left at the intersection and changing right and left lanes without requiring active operation.

  The driving assistance device of the present invention is useful as a device that provides appropriate visual field assistance when turning left or right at an intersection or when changing lanes.

DESCRIPTION OF SYMBOLS 1 Driving assistance apparatus 2 Imaging means 3 Display means 9 Image | video acquisition means 12 Image | video synthetic | combination part

Claims (13)

Image acquisition means for acquiring a plurality of captured images around the host vehicle;
Creating a composite video using a plurality of captured video acquired by the video acquisition means and superimposing a guide image on the composite video; a driving situation acquisition means for acquiring a driving situation of the host vehicle;
Based on the driving situation acquired by the driving situation acquisition means, it is determined whether the vehicle turns right or left at an intersection or lane change, and the control means for controlling the video composition means based on the determination result And a driving support device.   The said image | video synthetic | combination means produces the synthetic | combination image | video when the back is seen from the position ahead of the left from the front left end of the own vehicle, when the said control means determines the left turn in the intersection. Driving assistance device.   The driving assistance apparatus according to claim 2, wherein the video composition unit further superimposes an expected trajectory line of the left rear wheel of the host vehicle according to a steering angle.   The driving according to claim 2 or 3, wherein when the control means determines a left turn at an intersection, the video composition means superimposes a distance index at a predetermined distance from the rear end of the host vehicle to the rear. Support device.   The driving support apparatus according to claim 4, wherein when the control means determines a left turn at an intersection, the video composition means further superimposes a fixed locus line of the left rear wheel of the host vehicle.   2. The method according to claim 1, wherein when the control means determines a right turn at an intersection, the video composition means creates a composite image when the left side is viewed from a position in front of the right front end of the host vehicle. The driving support device according to any one of 5.   The driving assistance apparatus according to claim 6, wherein the video composition unit further superimposes an expected trajectory line of the host vehicle corresponding to a steering angle.   The driving according to claim 6 or 7, wherein when the control means determines a right turn at an intersection, the video composition means superimposes a distance index at predetermined distances from the left end of the host vehicle toward the left. Support device.   When the control means determines a left turn due to a lane change, the video composition means creates a composite video in which a captured image obtained by photographing the left side of the own vehicle and an image obtained by photographing the rear of the own vehicle are arranged in parallel. The driving support apparatus according to any one of claims 1 to 8, wherein   When the control means determines a left turn due to a lane change, the video composition means superimposes a distance index for each predetermined distance from the rear end of the host vehicle to the rear of the parallel composite video. The driving support device according to claim 9.   When the control means determines a right turn due to a lane change, the video composition means creates a composite video in which a captured image obtained by photographing the right side of the host vehicle and a captured image obtained by photographing the rear of the own vehicle are arranged in parallel. The driving support apparatus according to any one of claims 1 to 10, wherein the driving support apparatus is characterized in that   When the control means determines a right turn due to a lane change, the video composition means superimposes a distance index for each predetermined distance from the rear end of the host vehicle to the rear of the parallel composite video. The driving support device according to claim 11. The driving support apparatus according to any one of claims 1 to 12, further comprising an imaging unit that captures an image of the surroundings of the host vehicle and a display unit that displays a synthesized video synthesized by the video synthesizing unit.