JP5459277B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device.

  In recent years, some vehicles such as automobiles are equipped with a driving assistance device that assists driving by a driver. For example, Patent Document 1 describes a driving support device that supports driving so that an intersection can be appropriately passed based on the driving state of a vehicle and the state of a traffic light. This driving support device determines whether or not the host vehicle can pass through a traffic signal intersection ahead by a green signal by inducing acceleration (accelerator ON) of the host vehicle, and accelerating and guiding the host vehicle to forward the host vehicle. If it is determined that the intersection can be cleared with a green light, the acceleration guidance function by the accelerator indicator is implemented, and the driver is prompted to accelerate in the section before the traffic signal intersection. When it is determined that a green signal cannot pass through the traffic signal intersection ahead, the driver is prompted to decelerate or stop in the section before the traffic signal intersection by implementing a red signal entry prevention function by warning.

  Further, Patent Document 2 discloses a vehicle travel in which an actual travel speed of a vehicle is compared and displayed as a relative value to a reference value with respect to a recommended travel speed or a corrected recommended travel speed as a reference value fixedly displayed on a display screen. A speed display method is described.

JP 2010-191518 A JP 2009-289007 A

  The device described in Patent Literature 1 or Patent Literature 2 can notify the driver of a traveling condition that allows a signal to pass by performing guidance display for acceleration and display of recommended traveling speed. However, the device described in Patent Literature 1 or Patent Literature 2 may present a traveling condition that gives the driver a feeling of strangeness. For example, when the recommended travel speed is uncomfortable for the driver, there is a possibility that the driver may be confused whether or not the driver can drive at the recommended travel speed even if the recommended travel speed is presented.

  The objective of this invention is providing the driving assistance apparatus which can support driving | operation appropriately, reducing the discomfort given to a driver | operator.

The present invention is a driving support device that supports driving of a vehicle, wherein an information acquisition unit that acquires a speed limit of a road on which the vehicle is traveling, and a display of a traffic light arranged in the traveling direction of the vehicle are switched off. An infrastructure communication unit that acquires information of a signal cycle that is a replacement cycle, a position calculation unit that calculates relative position information between the vehicle and a traffic light point where the traffic signal is disposed, and the vehicle that is calculated by the position calculation unit And a signal indicating that the traffic signal can pass through the target route based on information on relative position information between the traffic signal and the signal cycle acquired by the infrastructure communication unit. the speed range where the vehicle can pass the traffic signal is arranged traffic point while the state is calculated as the reference target vehicle speed region, the reference target vehicle speed range and the display state and the base current of the traffic And the target vehicle speed control unit that determines a target vehicle speed region you are, the a and the target vehicle speed display unit for displaying the target vehicle speed region determined by the target vehicle speed control unit, and the target vehicle speed control unit, the current of the traffic If the a passable display state, the reference target vehicle speed region speed region below the speed limit determined the traffic is arranged traffic point the vehicle can pass on the basis of the said target vehicle speed region, the current the When the traffic light is not in the passable display state , the speed range including 0 km / h is set as the target vehicle speed range, and the speed difference between the upper limit and the lower limit of the target vehicle speed range is greater than a predetermined value, The target vehicle speed range is displayed on the target vehicle speed display unit, and the target vehicle speed range is not displayed on the target vehicle speed display unit when the speed difference is equal to or less than the set predetermined value .

The present invention is a driving support device that supports driving of a vehicle, and includes an information acquisition unit that acquires a speed limit of a road on which the vehicle is traveling, and a display of a traffic light from a traffic light that is disposed in the traveling direction of the vehicle. Calculated by an infrastructure communication unit that acquires information of a signal cycle that is a cycle of switching, a position calculation unit that calculates relative position information between the vehicle and a traffic light point where the traffic signal is disposed, and the position calculation unit Based on the information on the relative position between the vehicle and the traffic light and the information of the signal cycle acquired by the infrastructure communication unit, a speed range in which the vehicle can pass through the traffic light point where the traffic signal is arranged is set as a reference target vehicle speed range. calculated, and the target vehicle speed control unit that determines a target vehicle speed region below the speed limit on the basis of the display state of the reference target vehicle speed region and the current the signals, determined by the target vehicle speed control unit A and the target vehicle speed display unit for displaying the target vehicle speed region was, and the target vehicle speed control unit, can pass the current of the traffic is performing a display indicating that it is possible to pass the path of the target In the display state , if the speed difference between the upper limit and the lower limit of the target vehicle speed range is larger than the set predetermined value, the target vehicle speed range is displayed on the target vehicle speed display section, and the speed difference is set. If it is equal to or less than the predetermined value, the target vehicle speed display unit does not display the target vehicle speed range, and if the current traffic light is not in the passable display state , the target vehicle speed display unit displays the target vehicle speed range. Is not displayed.

Moreover, it is preferable that the target vehicle speed control unit determines that the traffic light is in the passable display state when the traffic light is a green light.

In addition, it is preferable that the target vehicle speed control unit determines that the traffic light is in the passable display state when the traffic light lights the arrow lamp in the traveling direction.

A vehicle speed sensor for detecting a traveling speed of the vehicle;
The target vehicle speed control unit sets a display upper limit speed that is equal to or lower than the speed limit based on the current vehicle speed detected by the vehicle speed sensor, and if the entire region of the reference target vehicle speed range exceeds the display upper limit speed, the traffic light is The driving support device according to any one of claims 1 to 4, wherein the same processing as that in the case where the display is not in the passable state is executed.

Also, setting the speed limit acquired by the information acquisition unit to display the upper limit speed, as with the whole area of the reference target vehicle speed region is, if it exceeds the display limit speed, the traffic is not the passable display state It is preferable to execute the process.

  Moreover, it is preferable that the said target vehicle speed control part makes the said target vehicle speed area the speed area below the said display upper limit speed.

  The driving support apparatus according to the present invention has an effect that driving can be appropriately supported while reducing the uncomfortable feeling given to the driver.

FIG. 1 is an explanatory diagram illustrating an example of a driving support system according to the present embodiment. FIG. 2 is a block diagram illustrating a schematic configuration of a vehicle on which the driving support device according to the embodiment is mounted. FIG. 3 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 4 is a flowchart illustrating an example of processing of the driving support device. FIG. 5 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 6 is a schematic diagram illustrating an example of a speed display area of the display device. FIG. 7 is a flowchart illustrating another example of the process of the driving support device. FIG. 8 is a schematic diagram illustrating another example of the speed display area of the display device.

  Hereinafter, a driving assistance apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art or those that are substantially the same.

(Embodiment)
The embodiment will be described with reference to FIGS. 1 to 6. The present embodiment relates to a driving support system having a vehicle on which a driving support device is mounted. First, the configuration of a driving support system having a vehicle equipped with a driving support device will be described with reference to FIGS. 1 to 3. FIG. 1 is an explanatory diagram illustrating an example of a driving support system according to the present embodiment. FIG. 2 is a block diagram illustrating a schematic configuration of a vehicle on which the driving support device according to the embodiment is mounted. FIG. 3 is a schematic diagram illustrating an example of a speed display area of the display device.

  The driving support system 1 shown in FIG. 1 includes a plurality of vehicles 10, a plurality of traffic lights 12, 12a, a plurality of infrastructure information transmitting devices 14, and a GPS satellite 16. In the driving support system 1, a vehicle 10 equipped with a driving support device 19, which will be described later, out of a plurality of vehicles 10 detects a relationship with another vehicle 10 or acquires from the infrastructure information transmission device 14 or the GPS satellite 16. It is a system that supports the driving of the driver based on the information obtained by doing.

  The vehicle 10 is a vehicle capable of traveling on a road, such as an automobile or a truck. The vehicle 10 can travel on the road where the traffic lights 12 and 12a are arranged. The configuration of the vehicle 10 will be described later.

  The traffic lights 12, 12a are lighting devices arranged at intersections. The traffic light 12 includes a lighting section of three colors of green, yellow, and red. The traffic light 12a includes a lighting part (arrow lamp) that displays an arrow in addition to the lighting parts of three colors of green, yellow, and red. The traffic lights 12, 12a are arranged in the traveling direction of the vehicle on the road. The traffic light 12 is in a state in which the vehicle 10 may pass through the traveling direction of the vehicle 10 on the road by switching the lighting portion to emit light among the lighting portions of green, yellow, and red. Indicates a state in which it cannot pass, that is, a state to be stopped. In addition, although the driving assistance system 1 shown in FIG. 1 has shown the case where the traffic lights 12 and 12a are arrange | positioned at an intersection, the arrangement position of the traffic lights 12 and 12a is not limited to an intersection. The traffic lights 12, 12a may be arranged with respect to a pedestrian crossing, for example.

  The infrastructure information transmitting device 14 transmits infrastructure information such as road information of a road on which the vehicle 10 travels and signal information related to traffic lights 12 and 12a ahead of the vehicle 10 in the traveling direction. The infrastructure information transmission device 14 according to the present embodiment is arranged at each intersection and transmits infrastructure information to the vehicle 10 traveling in a certain range around by wireless communication. Here, the road information typically includes speed limit information of a road on which the vehicle 10 travels, stop line position information of an intersection, and the like. The signal information typically includes signal cycle information such as lighting cycles and signal change timings of the blue, yellow, and red signals of the traffic lights 12 and 12a. The infrastructure information transmitting device 14 may be provided for each of the traffic lights 12 and 12a, or may be provided at a plurality of intersections.

  The GPS satellite 16 is a satellite that outputs a GPS signal necessary for position detection by GPS (GPS: Global Positioning System, Global Positioning System). Although only one GPS satellite 16 is shown in FIG. 1, the driving support system 1 includes at least three GPS satellites 16. The device that detects the position by GPS receives GPS signals output from at least three GPS satellites 16 and compares the received GPS signals to detect the position of the device itself.

  Next, the vehicle 10 equipped with the driving support device 19 will be described with reference to FIG. In the driving support system 1 illustrated in FIG. 1, all the vehicles are the vehicles 10 on which the driving support device 19 is mounted. However, at least one vehicle 10 may be mounted on the driving support device 19. That is, in the driving support system 1, a vehicle that does not include the driving support device 19 may travel before and after the vehicle 10 that includes the driving support device 19.

  The vehicle 10 includes an ECU 20, a storage unit 22, an accelerator actuator 24, a brake actuator 26, a car navigation device 28, a speaker 30, a GPS communication unit 32, an in-vehicle camera 34, a millimeter wave radar 36, an infrastructure, The communication unit 38, the vehicle speed sensor 40, the display device 42, the ACC switch 44, and the PCS switch 46 are included. The ECU 20 of the vehicle 10, the storage unit 22, the accelerator actuator 24, the brake actuator 26, the car navigation device 28, the speaker 30, the GPS communication unit 32, the in-vehicle camera 34, the millimeter wave radar 36, The infrastructure communication unit 38, the vehicle speed sensor 40, the display device 42, the ACC switch 44, and the PCS switch 46 also serve as the driving support device 19 for the vehicle 10. In addition to the above-described parts, the vehicle 10 includes various parts generally provided in the vehicle, a vehicle body, a drive source, a brake device, an operation part (for example, a handle, an accelerator pedal, and a brake pedal).

  The ECU 20 is an electronic control unit, and each part of the vehicle 10, an accelerator actuator 24, a brake actuator 26, a car navigation device 28, a speaker 30, a GPS communication unit 32, an in-vehicle camera 34, a millimeter wave radar 36, an infrastructure communication unit 38, a vehicle speed. The sensor 40 and the display device 42 are controlled. The ECU 20 includes information acquired by the GPS communication unit 32, the in-vehicle camera 34, the millimeter wave radar 36, the infrastructure communication unit 38, and the vehicle speed sensor 40, the ACC switch 44, the PCS switch 46, an accelerator pedal, a brake pedal, and the like not shown. Based on the operation of the driver or the like input from various operation units, the operation of each unit is controlled. The ECU 20 includes an inter-vehicle distance control unit 20a, a vehicle maintenance control unit 20b, and a target vehicle speed control unit 20c. The inter-vehicle distance control unit 20a, the vehicle maintenance control unit 20b, and the target vehicle speed control unit 20c will be described later.

  The storage unit 22 is a storage device such as a memory, and stores conditions and data necessary for various processes in the ECU 20 and various programs executed by the ECU 20. The storage unit 22 stores a map information database 22a. The map information database 22a stores information (map, straight road, curve, uphill / downhill, highway, sag, tunnel, etc.) necessary for vehicle travel. The map information database 22a includes a map data file, an intersection data file, a node data file, and a road data file. The ECU 20 reads out necessary information with reference to the map information database 22a.

  The accelerator actuator 24 controls the output of the power source of the vehicle 10 such as an engine and a motor. The accelerator actuator 24 can control, for example, the intake amount to the engine, the intake timing and the ignition timing, the voltage value supplied by the motor, the frequency, and the like. The accelerator actuator 24 is electrically connected to the ECU 20 and its operation is controlled by the ECU 20. The ECU 20 operates the accelerator actuator 24 according to the accelerator control signal, and adjusts the intake amount to the engine, the intake timing and the ignition timing, the voltage value and the frequency supplied by the motor. In other words, the accelerator actuator 24 is a device for automatically controlling the driving force by the power source, receives the accelerator control signal output from the ECU 20, and drives each part to control the driving conditions and drive as desired. Generate power. Thus, the accelerator actuator 24 adjusts the acceleration by controlling the driving force acting on the vehicle 10.

  The brake actuator 26 controls driving of a brake device mounted on the vehicle 10. The brake actuator 26 controls the hydraulic pressure of a wheel cylinder provided in the brake device, for example. The brake actuator 26 is electrically connected to the ECU 20 and its operation is controlled by the ECU 20. The ECU 20 operates the brake actuator 26 according to the brake control signal to adjust the brake hydraulic pressure of the wheel cylinder. In other words, the brake actuator 26 is a device for automatically controlling the braking force by the brake, and drives a solenoid or a motor of a mechanism that receives a brake control signal output from the ECU 20 and supplies hydraulic oil to the wheel cylinder. As a result, the brake hydraulic pressure is controlled to generate a desired braking force. In this way, the brake actuator 26 adjusts the deceleration by controlling the braking force acting on the vehicle 10.

  The car navigation device 28 is a device that guides the vehicle 10 to a predetermined destination. The car navigation device 28 is capable of bidirectional communication with the ECU 20. The car navigation device 28 includes a display unit, and based on the information stored in the map information database 22a and the current position information acquired by the GPS communication unit 32 described later, the surrounding map information is displayed on the display unit. indicate. In addition, the car navigation device 28 uses the information stored in the map information database 22a, the current position information acquired by the GPS communication unit 32, which will be described later, and the destination information input by the driver or the like. And the detected route information is displayed on the display unit. The car navigation device 28 includes a map information database and a GPS communication unit in its own device separately from the map information database 22a and the GPS communication unit 32, and performs route guidance and notification of current location information using each unit of the own device. You may do it.

  The speaker 30 outputs sound into the vehicle 10. The speaker 30 outputs sound corresponding to the sound signal transmitted from the ECU 20 into the vehicle.

  The GPS communication unit 32 receives GPS signals output from the plurality of GPS satellites 16. The GPS communication unit 32 sends the received GPS signal to the ECU 20. The ECU 20 detects the position information of its own device by analyzing the plurality of received GPS signals.

  The in-vehicle camera 34 is an imaging device arranged in front of the vehicle 10 and acquires an image in front of the vehicle 10 (front side in the traveling direction). The in-vehicle camera 34 sends the acquired front image of the vehicle 10 to the ECU 20. The ECU 20 analyzes the image acquired by the in-vehicle camera 34 to obtain information such as the state in front of the vehicle 10, that is, whether there is another vehicle 10 ahead, whether the traffic lights 12, 12a are close, or the intersection is close. Can be acquired.

  The millimeter wave radar 36 is a sensor that measures an inter-vehicle distance between the host vehicle and a front vehicle (a vehicle in front of the vehicle 10). The millimeter wave radar 36 emits millimeter wave band radio waves to the front of the vehicle 10 and receives radio waves reflected from an object (front vehicle) and returned to the own aircraft among the emitted radio waves. The millimeter wave radar 36 calculates the distance from the preceding vehicle by comparing the output condition of the emitted radio wave with the detection result of the received radio wave. The millimeter wave radar 36 may detect a distance from an obstacle ahead of the host vehicle. The millimeter wave radar 36 transmits the calculated distance information to the front vehicle to the ECU 20. In the present embodiment, the millimeter wave radar 36 is used as a sensor for measuring the inter-vehicle distance between the host vehicle and the preceding vehicle (the vehicle in front of the vehicle 10), but the distance from the object in front of the vehicle 10 is measured. Various sensors that can be used can be used. For example, the vehicle 10 and the driving support device 19 may use a laser radar sensor instead of the millimeter wave radar 36.

  The infrastructure communication unit 38 communicates with the above-described infrastructure information transmission device 14 wirelessly. The infrastructure communication unit 38 acquires the infrastructure information transmitted from the infrastructure information transmission device 14 and transmits the acquired infrastructure information to the ECU 20. The infrastructure communication unit 38 may always communicate with the communicable infrastructure information transmission device 14 to acquire infrastructure information, or communicate with the infrastructure information transmission device 14 at regular time intervals to acquire infrastructure information. Alternatively, when communication with a new infrastructure information transmission apparatus 14 becomes possible, communication with the infrastructure information transmission apparatus 14 may be performed to acquire infrastructure information.

  The vehicle speed sensor 40 detects the vehicle speed of the vehicle 10. The vehicle speed sensor 40 transmits the acquired vehicle speed information to the ECU 20.

  The display device 42 is a display device that displays various types of information notified to the driver, and is, for example, an instrument panel arranged on the dashboard of the vehicle 10. The display device 42 may be a liquid crystal display device or a display device in which various instruments are arranged. The display device 42 displays information such as the remaining amount of fuel, the output of the drive source (engine speed), the door opening / closing state, the seat belt wearing state, and the like. The display device 42 includes a speed display area 48 that displays the vehicle speed.

  As shown in FIG. 3, the speed display area 48 includes a scale display unit 50 and a needle 52. The scale display unit 50 has an arc shape and has a scale from 0 km / h to 160 km / h. The needle 52 indicates the vehicle speed of the measurement result, and in FIG. 3, it indicates 40 km / h. The speed display area 48 is an analog meter, and the position of the scale display unit 50 pointed to by the needle 52 changes according to the current vehicle speed. Accordingly, the driver can recognize the current detection result of the vehicle speed by confirming the position of the hand 52 in the speed display area 48.

  An ACC (Adaptive Cruise Control) switch (ACC control switch) 44 is for the driver to perform various operations of ACC control. The driver can use the ACC switch 44 to turn on / off ACC control, input a set vehicle speed, input a predetermined distance in follow-up traveling, and the like. The ACC switch 44 sends an operation input by the driver to the ECU 20 as an operation signal. The inter-vehicle distance control unit 20 a of the ECU 20 executes various controls based on the operation signal sent from the ACC switch 44.

  A PCS (Pre-Crash Safety or Pre-Collision System) switch (PCS control switch) 46 is for a driver to perform various operations of PCS control. The driver can turn on / off the PCS control, input the detection target distance, set the safety level, and the like by the PCS switch 46. The PCS switch 46 sends an operation input by the driver to the ECU 20 as an operation signal. The vehicle maintenance control unit 20 b of the ECU 20 executes various controls based on the operation signal sent from the PCS switch 46.

  Next, control executed by the inter-vehicle distance control unit 20a, the vehicle maintenance control unit 20b, and the target vehicle speed control unit 20c of the ECU 20 will be described. The inter-vehicle distance control unit 20a performs ACC (Adaptive Cruise Control) control. The inter-vehicle distance control unit 20a detects the preceding vehicle by the in-vehicle camera 34 or the millimeter wave radar 36, and follows the following control so as to keep a constant inter-vehicle distance according to the preceding vehicle, and the vehicle speed of the vehicle 10 is a constant vehicle speed. The constant speed traveling control for causing the vehicle 10 to travel is executed.

  The vehicle maintenance control unit 20b executes PCS (Pre-Crash Safety or Pre-Collision System) control. Specifically, the vehicle maintenance control unit 20b performs various processing (warning to the driver, assisting operation of the brake, etc.) by detecting an obstacle with the in-vehicle camera 34 or the millimeter wave radar 36 and preparing for a collision. Further, the vehicle maintenance control unit 20b may drive an occupant protection device that can protect an occupant provided in the vehicle 10 as various types of processing to prepare for a collision. As an actuator that plays the role of an occupant protection device, there are an actuator used for brake assist that assists a braking force for a driver's braking operation, a seat belt winding motor that performs a seat belt winding operation, and the like.

  Next, the target vehicle speed control unit 20c will be described. The target vehicle speed control unit 20c calculates a reference target vehicle speed range based on information acquired by each part of the vehicle 10, and processes the calculated reference target vehicle speed range based on a reference that sets the target vehicle speed range (target speed range). And the determined target vehicle speed range is displayed in the speed display area 48 of the display device 42. Specifically, the target vehicle speed control unit 20c obtains the signal cycle information such as the lighting cycle and signal change timing of the traffic lights 12 and 12a arranged at the intersection or pedestrian crossing acquired by the infrastructure communication unit 38, the vehicle 10 and Based on the information such as the distance to the traffic lights 12 and 12a (to be precise, the distance to the intersection where the traffic lights 12 and 12a are arranged and the pedestrian crossing (also referred to as a passing object or traffic light spot)). , 12a is calculated in the range of the traveling speed (reference target vehicle speed range) necessary for passing the vehicle 12a during the green signal state (that is, during the traffic light display state). Further, the target vehicle speed control unit 20c determines a target vehicle speed range based on the current state of traffic lights arranged at intersections, pedestrian crossings and the like (that is, traffic signal points) to be passed, and calculates the calculated target vehicle speed range (recommended travel speed). Speed range) is displayed in the speed display area 48. Further, the target vehicle speed control unit 20c compares the calculated reference target vehicle speed range with the current vehicle speed in addition to the current status of traffic lights arranged at intersections and pedestrian crossings to be passed, and based on the comparison result, The vehicle speed range is determined, and the calculated target vehicle speed range (recommended travel speed range) is displayed in the speed display area 48. In this way, the target vehicle speed control unit 20c performs green wave support, which is control for guiding the vehicle speed to the driver so that the number of times the vehicle 10 stops at a red signal can be further reduced. The signal indicating that the traffic signal is in a passable display state is a state in which the traffic signal is executing a display indicating that the target route can be passed. Including the state that is. Further, the state in which the yellow signal is displayed by setting can also be regarded as the display state in which the traffic light can pass.

  Hereinafter, the control executed by the target vehicle speed control unit 20c of the ECU 20 of the vehicle 10 will be described in more detail with reference to FIGS. FIG. 4 is a flowchart illustrating an example of processing of the driving support device. FIG. 5 and FIG. 6 are schematic diagrams each showing an example of a speed display area of the display device.

  The target vehicle speed control unit 20c of the ECU 20 determines whether green wave support is possible as step S12. Specifically, the target vehicle speed control unit 20c determines whether information necessary for calculating the target vehicle speed range can be acquired and a condition for displaying the target vehicle speed range is satisfied. The information necessary for calculating the target vehicle speed range includes the infrastructure information such as the lighting cycle and signal change timing of the traffic signals 12 and 12a to be passed, and the distance between the vehicle 10 and the traffic signals 12 and 12a. This is map information including information on the current position necessary for calculation and position information of the traffic lights 12 and 12a. Further, as a condition for displaying the target vehicle speed range, the distance between the vehicle 10 and the traffic lights 12 and 12a (the distance to the target intersection or the like) is a certain distance or more, and the current vehicle speed of the vehicle 10 is constant. It is more than speed. When the distance between the vehicle 10 and the traffic lights 12 and 12a (the distance to the target intersection, etc.) is less than a certain distance, the target vehicle speed control unit 20c can respond to the display even if the target vehicle speed range is displayed. Since it is difficult to drive, it is determined that green wave support will not be provided. Further, when the current vehicle speed of the vehicle 10 is less than a predetermined speed, the vehicle speed control unit 20c is congested on the road on which the vehicle 10 is traveling and the traveling speed is limited, or the vehicle speed control unit 20c is about to stop or stop for some reason. Since it is difficult for the driver to drive corresponding to the display even if the target vehicle speed range is displayed, it is determined that the green wave support is not performed. If the target vehicle speed control unit 20c determines that support is not possible (No) in step S12, that is, it cannot be supported, the process ends.

  If the target vehicle speed control unit 20c determines that support is possible in step S12 (Yes), the target vehicle speed control unit 20c performs a passage stop determination in step S14. That is, the target vehicle speed control unit 20c calculates a reference target vehicle speed range based on the acquired information, and determines whether to perform passage support or stop support from the calculated reference target vehicle speed range in step S14. Here, the reference target vehicle speed range is a range of vehicle speeds that can pass through the target intersection, pedestrian crossing, etc., that is, the target traffic light passes through the target intersection, pedestrian crossing, etc. while the traffic light is green. The range of vehicle speed that can be. Further, the target vehicle speed control unit 20c of the present embodiment, when the calculated lower limit of the reference target vehicle speed range is a speed higher than the current vehicle speed by α or more, that is, (current vehicle speed + α) <(lower limit of the reference target vehicle speed range). Speed), it is determined that stop assistance is performed.

  When the target vehicle speed control unit 20c determines in step S14, the target vehicle speed control unit 20c determines whether it is possible to support passage in step S16, that is, whether the result determined in step S14 is passage support. If the target vehicle speed control unit 20c determines in step S16 that the passage support is not possible (No), the process proceeds to step S22.

When the target vehicle speed control unit 20c determines that the passage support is possible (Yes) in Step S16, that is, when the determination result in Step S14 is the passage support, the current signal light color is blue as Step S18. Determine if there is. In other words, the target vehicle speed control unit 20c determines whether or not the traffic light arranged corresponding to the intersection or pedestrian crossing (that is, the traffic light spot) to be passed is in a state where a green light is lit. In addition, the target vehicle speed control unit 20c determines whether or not the traffic light is in a state in which a green light is lit based on the signal cycle of the traffic signal acquired from the infrastructure information. If the target vehicle speed control unit 20c determines in step S18 that the lamp color is not blue (No), that is, it is not a display indicating that the traffic light is allowed to pass , that is, the traffic light is not allowed to pass , the step is performed. Proceed to S22. The traffic light is in a period not allowing display is a display indicating that the traffic light cannot pass, for example, a state in which the traffic light is displaying a red signal. In addition, you may include the state in which the traffic light is displaying the yellow signal in the traffic signal impossibility display period.

  Moreover, the target vehicle speed control part 20c performs a passage assistance display as step S20, when it determines with the lamp color being blue (Yes) at step S18. The target vehicle speed control unit 20c determines the target vehicle speed range based on the reference target vehicle speed range as the passage support display, and displays the determined target vehicle speed range in the speed display region. Here, the target vehicle speed control unit 20c preferably adjusts the target vehicle speed range displayed in the speed display region 48 based on the reference target vehicle speed range calculated in step S14, the current vehicle speed, and preset conditions. The target vehicle speed control unit 20c of the present embodiment sets the upper limit value (display upper limit speed) of the target vehicle speed range to the current vehicle speed + α or less.

  For example, the target vehicle speed control unit 20c displays a speed display area 48a shown in FIG. The speed display area 48 a displays a mark 60 in a speed range that overlaps the target vehicle speed range of the scale display unit 50. Here, in the present embodiment, since the target vehicle speed range is 30 km / h to 50 km / h, the speed display area 48a displays the mark 60 in the speed range from 30 km / h to 50 km / h. When the scale display unit 50 is displayed as an image on the liquid crystal display device, the speed display area 48a may be superimposed on the image of the mark 60 as an image to be displayed on the liquid crystal display device. In addition, when the scale display unit 50 is filled with ink or the like, the speed display area 48a is arranged by placing a light emitting unit on the scale display part of the scale display unit 50 and turning on the light emitting unit in the target vehicle speed range. 60 may be displayed. In this way, the target vehicle speed control unit 20c can display the determined target vehicle speed range as the mark 60 on the scale display unit 50 so that the user can recognize the determined target vehicle speed range. Here, when a part of the reference target vehicle speed range calculated in step S14 is higher than the current vehicle speed + α, the target vehicle speed control unit 20c of the present embodiment sets the upper limit value of the target vehicle speed range to the current vehicle speed + α, The speed higher than the current vehicle speed + α is not displayed. When the target vehicle speed control unit 20c performs the process shown in step S20, the process proceeds to step S24.

  If the target vehicle speed control unit 20c determines in step S16 that passage support is not possible (No), or if it is determined in step S18 that the light color is not blue (No), the target vehicle speed control unit 20c executes stop support display as step S22. . Here, the stop support display indicates a speed range near 0 km / h as the target vehicle speed range. For example, the target vehicle speed control unit 20c displays a speed display area 48b shown in FIG. The speed display area 48 b displays a mark 62 in a speed range that overlaps the target vehicle speed range of the scale display unit 50. Here, since the stop support display is a speed range where the target vehicle speed range is near 0 km / h (speed range including 0 km / h, in this embodiment, from 0 km / h to 10 km / h), the speed display area 48b is The mark 62 is displayed in the speed range near 0 km / h. In this manner, the target vehicle speed control unit 20c can display the determined target vehicle speed range as a mark 62 on the scale display unit 50 so that the user can recognize the determined target vehicle speed range. Thereby, in step S22, it can be made to recognize that the user recommends stopping a vehicle. When the target vehicle speed control unit 20c performs the process shown in step S22, the process proceeds to step S24.

  The target vehicle speed control part 20c will determine whether display end conditions are satisfied as step S24, if the process of step S20 or the process of step S22 is performed. Here, the display end condition is a display end condition of the target vehicle speed range set in advance. For example, when the distance between the vehicle and the intersection (target traffic signal) is less than a certain range, the vehicle speed is out of the certain range. Or a certain time has elapsed since the target vehicle speed range was displayed. If the target vehicle speed control unit 20c determines in step S24 that the condition is not satisfied (No), the target vehicle speed control unit 20c proceeds to step S14 and repeats the above-described processing. That is, the target vehicle speed range is calculated again and the target vehicle speed range is displayed again. If the target vehicle speed control unit 20c determines that the condition is satisfied (Yes) in step S24, the target vehicle speed control unit 20c ends the process.

  Specifically, the driving support device 19 (and the vehicle 10 having the same, the driving support system 1) switches whether to perform the passage support display or the stop support display based on the lighting state of the traffic light. When the traffic signal to be passed is a green signal, the passing assistance display is performed. When the traffic signal is not a green signal, the stop assistance display is performed, thereby reducing the possibility that the displayed target vehicle speed range gives the driver a sense of incongruity. In other words, the driving support device 19 suppresses the display of the target vehicle speed range that needs to be maintained or accelerated when the driver needs to decelerate, such as when the traffic light in front of the driver is red. This can reduce the possibility of giving the driver a sense of incongruity.

  In addition, the driving support device 19 of the present embodiment determines whether or not the passage support is possible, and specifically determines whether or not the calculated reference target vehicle speed range exceeds the upper limit value set based on the current vehicle speed. If the calculated reference target vehicle speed range exceeds the upper limit set based on the current vehicle speed, a stop target display is executed to display a reference target that requires rapid acceleration to pass the target intersection or pedestrian crossing. It is possible to suppress the vehicle speed range from being displayed as the target vehicle speed range. Thereby, it is possible to suppress the display of the target vehicle speed range that requires rapid acceleration, and it is possible to display the target vehicle speed range that is less likely to cause discomfort and stress to the driver. In addition, since the driver can travel in the target vehicle speed range with an appropriate range of acceleration and deceleration, the driver can easily stop while maintaining a suitable condition (in this embodiment, stop with a red signal). The vehicle can be made to travel with a small amount.

  Further, when the calculated reference target vehicle speed range exceeds the upper limit value set based on the current vehicle speed, the driving support device 19 executes the stop support display so that the target vehicle speed range displayed in the speed display area 48 is The target vehicle speed range is set to be equal to or lower than the upper limit value set based on the current vehicle speed. In other words, the driving support device 19 can prevent a speed higher than the upper limit value (display upper limit speed) set based on the current vehicle speed from being displayed as the target vehicle speed area displayed in the speed display area 48. As a result, the driving support device 19 can suppress the display of the target vehicle speed range that requires rapid acceleration, and can display the target vehicle speed range that is less likely to cause discomfort or stress to the driver. it can. In addition, since the driver can travel in the target vehicle speed range with an appropriate range of acceleration and deceleration, the driver can easily stop while maintaining a suitable condition (in this embodiment, stop with a red signal). The vehicle can be driven (with less).

  Further, the driving support device 19 uses the current vehicle speed + α, that is, a reference speed for determining whether or not the vehicle can be supported at a constant speed higher than the current vehicle speed, thereby increasing the acceleration required to bring the vehicle speed to the target vehicle speed range. This can be suppressed. Thereby, the vehicle 10 and the driving support device 19 can display a target vehicle speed range that is less likely to give the driver a sense of discomfort or stress.

  In addition, the driving support device 19 displays the target vehicle speed range for stop support by displaying the target vehicle speed range for stop assistance when passage support is not possible, specifically when the reference target vehicle speed range is higher than the display upper limit speed. Can be recommended to stop. As a result, the driving support device 19 can recommend stopping to the driver without recommending unreasonable driving when rapid acceleration is required to pass the target traffic light, and the driver feels uncomfortable or stressed. This can reduce the risk of giving.

  In this embodiment, when the passing support is not possible, specifically, when the reference target vehicle speed range is higher than the display upper limit speed or when it is not a green signal, the target vehicle speed range for stop support is displayed. It is not limited to this. The driving assistance device 19 may not display the target vehicle speed range in place of the process of step S22 if the passage assistance is not possible or the signal is not green.

  In the driving support device 19 of the present embodiment, the display upper limit speed (the reference speed for determining whether or not the passage support is possible) is set to the current vehicle speed + α, that is, a speed that is a constant speed higher than the current vehicle speed, but is not limited thereto. Here, the driving support device 19 may set the display upper limit speed to the current vehicle speed + G × t. Here, G is acceleration and t is time. That is, the driving support device 19 may set the reference speed for determining whether or not the passage support is possible to the current vehicle speed + G × t, that is, the speed that can be realized with the acceleration G in t seconds. Here, t seconds may be a value that changes based on the distance to the traffic light and the current vehicle speed. For example, t may be increased when the distance to the traffic signal is long, and t may be decreased when the distance to the traffic signal is short.

  Further, the driving support device 19 of the present embodiment may set the display upper limit speed to the current vehicle speed. In this manner, the target vehicle speed control unit 20c can set the target vehicle speed range to a speed that does not require acceleration by setting the current speed as the reference speed for determining whether passage assistance is possible. Thereby, since the driving assistance device 19 does not display the target vehicle speed range that needs to be accelerated to the driver, it is possible to display the target vehicle speed range that is less likely to give the driver a sense of discomfort or stress.

  Moreover, although the driving assistance apparatus 19 of the said embodiment all determined the display upper limit speed using the present vehicle speed, it is not limited to this. The driving assistance device 19 may use the speed limit of the road (road) on which the vehicle is traveling as the display upper limit speed. Here, the speed limit is, for example, the legal speed of the road on which the vehicle is currently traveling. The map information database 22a is detected by detecting the current position from the infrastructure information acquired by the infrastructure communication unit 38 or the GPS signal received by the GPS communication unit 32. May be obtained from the information of the current position stored in. The driving support device 19 can use a combination of the infrastructure communication unit 38, the GPS communication unit 32, and the map information database 22a as an information acquisition unit that acquires information on the speed limit. The information acquisition unit that acquires information on the speed limit may use another function of the driving support device 19, for example, the in-vehicle camera 34. The driving support device 19 may acquire an image of a sign installed on the road on which the vehicle is traveling with the in-vehicle camera 34 and detect the legal speed displayed on the sign image as the speed limit. The driving assistance device 19 can suppress the display of the target vehicle speed range from exceeding the speed limit by using the speed limit as the reference speed for determining whether or not passage assistance is possible. Thereby, since the driving assistance device 19 can display the target vehicle speed range at a speed equal to or lower than the speed limit, it can suppress the display of the speed that should not be actually traveled, and the driver feels uncomfortable or stressed. It is possible to display a target vehicle speed range that is less likely to give

  It is more preferable that the driving support device 19 of the above embodiment determines the display upper limit speed (a reference speed for determining whether or not the passage support is possible) using both the current vehicle speed and the speed limit. That is, it is preferable that the driving support device 19 does not exceed the speed limit even when the display upper limit speed is determined using the current vehicle speed. Thereby, the driving assistance device 19 can obtain both of the above-described effects, and can display a target vehicle speed range that is less likely to give the driver a sense of discomfort or stress.

  Further, the driving support device 19 of the above embodiment has described the case where the display upper limit speed is set as the reference speed for determining whether the passage support is possible and the display upper limit speed is set under various conditions. And the display upper limit speed may be set separately. In other words, the driving support device 19 determines whether to perform the passing support at the reference speed for determining whether the passing support is possible, and based on the display upper limit speed different from the reference speed for determining whether the passing support is possible. The upper limit value to be displayed may be determined. In addition, the above-described various conditions can be used for the display upper limit speed in the same manner as the reference speed for determining whether passage support is possible. In this case, the driving support device 19 adjusts the reference target vehicle speed range based on the display upper limit speed, and determines the target vehicle speed range.

  The driving assistance device 19 preferably uses different colors for the marks to be displayed in the target vehicle speed range displayed at the time of passing assistance and the target vehicle speed range displayed at the time of stop assistance. In addition, you may make it change a pattern, a lighting state, etc. instead of a color. Thereby, the driver can immediately grasp whether the passage assistance is displayed or the stop assistance is displayed.

  Next, another example of the process of the driving support device will be described with reference to FIG. Here, FIG. 7 is a flowchart illustrating another example of the process of the driving support device. Of the processes shown in FIG. 7, the same processes as those in FIG. 4 described above are denoted by the same step numbers and will not be described in detail.

  The target vehicle speed control unit 20c of the ECU 20 determines whether green wave support is possible as step S12. If the target vehicle speed control unit 20c determines that support is not possible (No) in step S12, that is, it cannot be supported, the process ends. If the target vehicle speed control unit 20c determines that support is possible in step S12 (Yes), the target vehicle speed control unit 20c performs a passage stop determination in step S14.

  When the target vehicle speed control unit 20c determines in step S14, the target vehicle speed control unit 20c determines whether it is possible to support passage in step S16, that is, whether the result determined in step S14 is passage support. If the target vehicle speed control unit 20c determines in step S16 that the passage support is not possible (No), the process proceeds to step S22.

  When the target vehicle speed control unit 20c determines that the passage support is possible (Yes) in Step S16, that is, when the determination result in Step S14 is the passage support, the current signal light color is blue as Step S18. Determine if there is. If the target vehicle speed control unit 20c determines in step S18 that the lamp color is blue (Yes), the process proceeds to step S20.

  Moreover, the target vehicle speed control part 20c determines whether the arrow lamp is lighted as step S30, when it determines with the lamp color not being blue (No) at step S18. Specifically, the target vehicle speed control unit 20c determines whether an arrow lamp device in the traveling direction of the target traffic light is lit. The target vehicle speed control unit 20c can determine whether the arrow lamp is lit by using the infrastructure information. If the target vehicle speed control unit 20c determines in step S30 that the arrow lamp is lit (Yes), that is, the arrow lamp in the traveling direction (passing direction) is lit, the traffic light can pass. It is determined that the display indicates that, and the process proceeds to step S20. When the target vehicle speed control unit 20c determines in step S30 that the arrow lamp device is not lit (No), that is, the arrow lamp device in the traveling direction is not lit, the display indicating that the traffic light can pass is displayed. It determines with there not being, and progresses to step S22. Further, the target vehicle speed control unit 20c determines that the arrow lamp is not always lit when the target traffic signal does not have an arrow lamp.

  In addition, when the target vehicle speed control unit 20c determines that the lamp color is blue (Yes) in Step S18, or when it is determined that the arrow lamp is lit (Yes) in Step S30, the target vehicle speed control unit 20c supports passage as Step S20. Execute display. When the target vehicle speed control unit 20c performs the process shown in step S20, the process proceeds to step S24.

  If the target vehicle speed control unit 20c determines in step S16 that passage assistance is not possible (No), or if it is determined in step S30 that the arrow lamp is not lit (No), a stop support display is displayed as step S22. Run. When the target vehicle speed control unit 20c performs the process shown in step S22, the process proceeds to step S24. The target vehicle speed control part 20c will determine whether display end conditions are satisfied as step S24, if the process of step S20 or the process of step S22 is performed. When it is determined that the condition is not satisfied (No) in the target vehicle speed control unit 20c and step S24, the process proceeds to step S14 and the above-described processing is repeated. That is, the target vehicle speed range is calculated again and the target vehicle speed range is displayed again. If the target vehicle speed control unit 20c determines that the condition is satisfied (Yes) in step S24, the target vehicle speed control unit 20c ends the process.

  As shown in FIG. 7, the driving support device 19 determines the display state of the traffic signal based on the lighting state of the arrow lamp device in addition to the lighting state of the green light, thereby crossing the intersection and the crossing where the traffic signal is arranged. It is possible to more accurately determine whether or not the display indicates that the sidewalk can pass. Thereby, the driving assistance device 19 can display the target vehicle speed range in which the driver feels less uncomfortable.

  Further, the driving support device 19 of the above embodiment determines that the display indicates that the vehicle can pass when the green signal is displayed (lighted) or the arrow lamp device is displayed (lighted). The support display is executed, and in other cases, it is determined that the display is not possible to pass, and the stop support display is executed. However, the present invention is not limited to this. The driving support device 19 can determine whether the display state of the traffic light is a display indicating that it can pass or not, and a display recommending a stop based on various criteria. When the red signal is displayed (lighted), the driving support device 19 determines that it is not a display indicating that the passage is possible, and executes the stop support display. In other cases, for example, a blue signal and a yellow signal are displayed. When displayed (lighted), the passage support display may be executed.

  In addition, when the travel route is set by the car navigation device 28, the driving support device 19 calculates the travel direction and the passage route based on the travel route set by the car navigation device 28, and the traffic signal on the passage route is It is preferable to execute the process of step S18 and the process of step S30 based on whether or not the vehicle can pass in the traveling direction. Thus, by specifying the traveling direction based on the travel route, it is possible to display the target vehicle speed range appropriate for the display state of the traffic light.

  In addition, the target vehicle speed control unit 20c of the driving support device 19 determines whether there is a vehicle within a certain distance in front using at least one of the in-vehicle camera 34 and the millimeter wave radar 36, and within a certain distance in front. If it is determined that there is a vehicle, the stop support display may be executed or the target vehicle speed range may not be displayed. As a result, the target vehicle speed range for passing through the target intersection or pedestrian crossing is displayed in a state where the vehicle is within a certain distance in front of the vehicle, thereby reducing the possibility of causing a driver's crushing.

  Further, the driving support device 19 does not display the target vehicle speed range when the upper limit value Vmax−the lower limit value Vmin ≦ the threshold value, that is, when the speed difference between the determined upper limit value and the lower limit value of the target vehicle speed range is narrower than the threshold value. May be. For example, when the target vehicle speed control unit 20c determines the target vehicle speed range in step S18, in step S42, whether the upper limit value Vmax−the lower limit value Vmin> the threshold value, that is, the upper limit value Vmax and the lower limit value Vmin of the target vehicle speed range. It is determined whether the difference is greater than a threshold value. When the target vehicle speed control unit 20c determines that the upper limit value Vmax−the lower limit value Vmin> the threshold value, the determined target vehicle speed range is displayed in the speed display area, and the upper limit value Vmax−the lower limit value Vmin> the threshold value is not satisfied. When it is determined that value Vmax−lower limit value Vmin ≦ threshold value, the determined target vehicle speed range is hidden.

  The driving support device 19 does not display the target vehicle speed range when the upper limit value Vmax−the lower limit value Vmin ≦ the threshold value, that is, when the speed difference between the determined upper limit value and lower limit value of the target vehicle speed range is narrower than the threshold value. It is possible to prevent the target vehicle speed range that is difficult to adjust the speed from being displayed in a narrow speed range. As a result, the driving support device 19 can selectively display the target vehicle speed range under conditions where the allowable speed range is wide and the speed adjustment is relatively easy, which may cause the driver to feel uncomfortable or stressful. A lower target vehicle speed range can be displayed.

  Moreover, although the driving assistance apparatus 19 of the said embodiment used the analog meter for the speed display displayed on the speed display area 48 of the display apparatus 42, it is not limited to this. The driving support device 19 of the above embodiment may use a digital meter for the speed display displayed in the speed display area 48 of the display device 42. Here, FIG. 8 is a schematic diagram illustrating another example of the speed display area of the display device. The speed display area 102 is a display mechanism that displays the speed with numbers, and includes a first area 104 and a second area 106. The first area 104 is an area for displaying the current vehicle speed. In the first area 104 of FIG. 8, “40 km / h” is displayed. The second area 106 is an area on the upper side of the screen of the first area 104, and is an area for displaying the target vehicle speed range. In the second area 106 of FIG. 8, “30 km / h to 53 km / h” is displayed. Thus, even if the driving assistance device 19 displays the speed display area 102 of the display device 42 with the digital meter, the same effect as described above can be obtained. Here, the driving support device 19 displays the current vehicle speed displayed in the first area 104 of the speed display area 102 and the target vehicle speed area displayed in the second area 106 in at least one of different colors and different sizes. It is preferable. Thereby, the driving assistance device 19 can suppress the possibility that the driver will confuse the current vehicle speed with the target vehicle speed range.

  Moreover, although the driving support device 19 of the above embodiment is configured to include the inter-vehicle distance control unit 20a and the vehicle maintenance control unit 20b, the inter-vehicle distance control unit 20a and the vehicle maintenance control unit 20b are not necessarily provided. May be. Moreover, the vehicle 10 and the driving assistance apparatus 19 should just be able to perform control by the target vehicle speed control part 20c mentioned above.

DESCRIPTION OF SYMBOLS 1 Driving assistance system 10 Vehicle 12, 12a Traffic light 14 Infrastructure information transmission apparatus 16 GPS satellite 19 Driving assistance apparatus 20 ECU
20a Vehicle-to-vehicle distance control unit 20b Vehicle maintenance control unit 20c Target vehicle speed control unit 22 Storage unit 24 Accelerator actuator 26 Brake actuator 28 Car navigation device 30 Speaker 32 GPS communication unit 34 Vehicle-mounted camera 36 Millimeter wave radar 38 Infrastructure communication unit 40 Vehicle speed sensor 42 Display device 44 ACC switch 46 PCS switch 48 Speed display area

Claims (7)

A driving support device for supporting driving of a vehicle,
An information acquisition unit for acquiring a speed limit of a road on which the vehicle is traveling;
An infrastructure communication unit that acquires information on a signal cycle that is a cycle in which a display of a traffic light arranged in the traveling direction of the vehicle is switched;
A position calculation unit that calculates relative position information between the vehicle and the traffic signal point where the traffic signal is disposed;
Based on the information on the relative position between the vehicle and the traffic signal calculated by the position calculation unit and the signal cycle acquired by the infrastructure communication unit, the traffic signal indicates that the target route can be passed. A speed range in which the vehicle can pass through the traffic signal point where the traffic signal is placed while the display is in a passable display state is calculated as a reference target vehicle speed range, and the reference target vehicle speed range and the current traffic signal A target vehicle speed control unit that determines a target vehicle speed range based on the display state ;
A target vehicle speed display unit for displaying the target vehicle speed range determined by the target vehicle speed control unit;
Have
When the current traffic signal is in the passable display state , the target vehicle speed control unit is equal to or lower than the speed limit at which the vehicle can pass through the traffic signal point where the traffic signal determined based on the reference target vehicle speed range is arranged . When the speed range is the target vehicle speed range and the current traffic light is not in the passable display state , the speed range including 0 km / h is set as the target vehicle speed range, and the speed between the upper limit and the lower limit of the target vehicle speed range When the difference is larger than the set predetermined value, the target vehicle speed display unit displays the target vehicle speed range, and when the speed difference is equal to or less than the set predetermined value, the target vehicle speed display unit displays the target vehicle speed. A driving assistance device characterized by not displaying the area . A driving support device for supporting driving of a vehicle,
An information acquisition unit for acquiring a speed limit of a road on which the vehicle is traveling;
An infrastructure communication unit that acquires information on a signal cycle that is a cycle in which a display of the traffic signal is switched from a traffic signal arranged in the traveling direction of the vehicle;
A position calculation unit that calculates relative position information between the vehicle and the traffic signal point where the traffic signal is disposed;
The speed at which the vehicle can pass through the traffic signal point where the traffic signal is arranged based on the information on the relative position information of the vehicle and the traffic signal calculated by the location calculation unit and the signal cycle acquired by the infrastructure communication unit. A target vehicle speed control unit for calculating a region as a reference target vehicle speed region, and determining a target vehicle speed region equal to or lower than the speed limit based on the reference target vehicle speed region and the current display state of the traffic light ,
A target vehicle speed display unit for displaying the target vehicle speed range determined by the target vehicle speed control unit;
Have
When the target vehicle speed control unit is in a passable display state in which the current traffic signal is in a display indicating that the target route can be passed , a speed difference between an upper limit and a lower limit of the target vehicle speed range Is larger than the set predetermined value, the target vehicle speed display unit displays the target vehicle speed range. If the speed difference is equal to or less than the set predetermined value, the target vehicle speed display unit displays the target vehicle speed. When the current traffic signal is not in the passable display state , the target vehicle speed range is not displayed on the target vehicle speed display unit. The driving assistance device according to claim 1, wherein the target vehicle speed control unit determines that the traffic light is in the passable display state when the traffic light is a green light. The said target vehicle speed control part judges that the said traffic signal is the said passable display state , when the said traffic signal is lighting the arrow lamp device of the advancing direction, It is any one of Claim 1 to 3 characterized by the above-mentioned. The driving support device according to item. A vehicle speed sensor for detecting a traveling speed of the vehicle;
The target vehicle speed control unit sets a display upper limit speed that is equal to or lower than the speed limit based on the current vehicle speed detected by the vehicle speed sensor, and if the entire region of the reference target vehicle speed range exceeds the display upper limit speed, the traffic light is The driving support device according to any one of claims 1 to 4, wherein the same processing as that in the case where the display is not in the passable state is executed. When the speed limit acquired by the information acquisition unit is set as a display upper limit speed, and the entire region of the reference target vehicle speed range exceeds the display upper limit speed, the same processing as when the traffic light is not in the passable display state The driving support device according to any one of claims 1 to 4, wherein the driving support device is executed.   The driving assistance apparatus according to claim 5 or 6, wherein the target vehicle speed control unit sets the target vehicle speed range to a speed range equal to or lower than the display upper limit speed.

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