JP7014103B2 - Driving support device - Google Patents

Description

The present invention relates to a driving support device.

When the own vehicle enters the intersection, if the vehicle is congested in front of the intersection and there is an oncoming vehicle trying to turn right from the oncoming lane, the own vehicle should pass to the oncoming vehicle. As a result, the occupant of the own vehicle may try to inform the occupant of the oncoming vehicle that he / she intends to give priority to the right turn of the oncoming vehicle. In this way, information may be exchanged between vehicles at a place where two roads such as an intersection and a T-junction intersect (for example, Patent Document 1 and Patent Document 2).

Japanese Unexamined Patent Publication No. 2009-289290 Japanese Unexamined Patent Publication No. 2008-96517

In the above-mentioned intersection situation, the passing transmitted from the own vehicle to the oncoming vehicle indicates the transfer to inform the occupants of the oncoming vehicle that the oncoming vehicle intends to give priority to the right turn. Some warnings attempt to inform the occupants of oncoming vehicles of the presence of a two-wheeled vehicle approaching an intersection from behind the vehicle. Since the content of the information to be transmitted differs depending on the originator, region and situation of the passing, the occupant of the vehicle receiving the passing misunderstood that the passing indicating the warning is the passing indicating the transfer. In some cases, a collision accident such as a so-called thank-you accident may occur. Therefore, there is a demand for a technique that can prevent misunderstandings when information is exchanged between vehicles.

According to one embodiment of the present invention, a driving support device is provided. This driving support device is a vehicle driving support device (10), and is an information acquisition unit (11) that acquires prediction information for predicting a first situation in which the traveling direction of the own vehicle and the traveling direction of the oncoming vehicle overlap. ) And the predetermined travel transfer condition including the condition that the first situation is predicted in the acquired prediction information, the vehicle travels preferentially to the oncoming vehicle over the own vehicle. A control unit (12) for transmitting a transfer signal indicating what should be done to the own vehicle is provided , and the prediction information further includes another vehicle traveling forward from the blind spot direction of the own vehicle. The information for predicting the two situations is included, and the travel transfer condition further includes the condition that the second situation is not predicted, and the control unit further includes the first situation and the second situation. When a predetermined driving warning condition including the condition that is predicted is satisfied, a warning signal indicating that the oncoming vehicle should be warned of driving is transmitted to the own vehicle, and the warning signal is used. It is a signal different from the transfer signal, and is the blinking of the headlight that is transmitted in a predetermined blinking pattern.

According to this type of driving support device, a transfer signal indicating that the vehicle should be driven with priority over the own vehicle is transmitted to the oncoming vehicle, so that misunderstandings may occur in the exchange of information between the vehicles. can.

It is a block diagram which shows the schematic structure of the driving support device in 1st Embodiment. It is a flow which shows the signal transmission processing. It is explanatory drawing which showed the traffic condition around an intersection. It is explanatory drawing which showed the traffic condition around an intersection. It is explanatory drawing which showed the traffic condition around an intersection. It is explanatory drawing which showed the traffic condition around an intersection. It is a flow which shows the signal transmission processing. It is explanatory drawing which showed the traffic condition around an intersection.

A. First Embodiment:
The driving support device 10 of the first embodiment shown in FIG. 1 is mounted on a vehicle and supports automatic driving of the vehicle. In the present embodiment, the vehicle equipped with the driving support device 10 may be referred to as "own vehicle". In the present embodiment, the driving support device 10 is configured by an ECU (Electronic Control Unit) equipped with a microcomputer and a memory. In the present embodiment, the own vehicle is a vehicle equipped with an engine. Further, the own vehicle is a vehicle capable of switching between automatic driving and manual driving. The driver (driver) can switch between automatic operation and manual operation by a predetermined switch provided on the instrument panel or the like. "Automatic driving" means driving that automatically executes all of engine control, brake control, and steering control without the driver performing driving operations. "Manual operation" means the operation for engine control (depressing the accelerator pedal), the operation for brake control (depressing the brake pedal), and the operation for steering control (rotation of the steering wheel). Means the driving performed by.

The driving support device 10 includes a vehicle speed sensor 21, an acceleration sensor 22, a GNSS (Global Navigation Satellite System) sensor 23, a yaw rate sensor 24, a steering angle sensor 25, an image pickup camera 26, a millimeter wave radar 27a, and LiDAR (Light Detection And Ranging or Laser). Imaging Detection And Ranging) 27b and communication unit 28 are electrically connected to each other, and the measured values and communication contents obtained by each of these sensors are acquired, and the operation control device 200 and the transmission unit are based on the measured values and communication contents. Instruct 300 to control.

The vehicle speed sensor 21 detects the speed of the own vehicle. The acceleration sensor 22 detects the acceleration of the own vehicle. The GNSS sensor 23 is configured by, for example, a GPS (Global Positioning System) sensor, and detects the current position of the own vehicle based on radio waves received from artificial satellites constituting the GPS. The yaw rate sensor 24 detects the yaw rate (rotational angular velocity) of the own vehicle. The steering angle sensor 25 detects the steering wheel steering angle of the own vehicle.

The image pickup camera 26 is directed to the front of the own vehicle and acquires a captured image. The image pickup camera 26 includes a camera that is directed to the rear and left and right of the own vehicle in addition to the front of the own vehicle. A monocular camera may be used as the image pickup camera 26. Further, a stereo camera or a multi-camera composed of two or more cameras may be used.

The millimeter-wave radar 27a uses radio waves in the millimeter-wave band to detect the presence or absence of an object in the front circumference of the own vehicle, the distance between the object and the own vehicle, the position of the object, and the relative speed of the object with respect to the own vehicle. The "object" detected by the millimeter wave radar 27a is, more accurately, a set of a plurality of detection points (targets). The LiDAR27b uses a laser to detect the presence or absence of an object around the front of the own vehicle. The millimeter-wave radar 27a and LiDAR27b include those directed to the rear and left and right of the own vehicle in addition to the front of the own vehicle.

The communication unit 28 executes vehicle-to-vehicle communication with other vehicles. The own vehicle can exchange the situation information about the situation of the own vehicle and the surrounding situation with another vehicle or the like by executing the inter-vehicle communication. The communication unit 28 is at least one of wireless communication with an intelligent transport system, vehicle-to-vehicle communication with other vehicles, and road-to-vehicle communication with a roadside radio installed in road equipment. It may be the one that executes communication.

The motion control device 200 is a functional unit that controls the motion of the own vehicle. In the present embodiment, the operation control device 200 includes an engine ECU 201, a brake ECU 202, and a steering ECU 203. The engine ECU 201 controls the operation of the engine 211. Specifically, by controlling various actuators (not shown), the throttle valve opening / closing operation, the igniter ignition operation, the intake valve opening / closing operation, and the like are controlled. The brake ECU 202 controls the brake mechanism 212. The brake mechanism 212 includes a group of devices (actuators) related to brake control such as sensors, motors, valves and pumps. The brake ECU 202 determines the timing at which the brake is applied and the brake amount (braking amount), and controls each device constituting the brake mechanism 212 so that the determined brake amount can be obtained at the determined timing. The steering ECU 203 controls the steering mechanism 213. The steering mechanism 213 includes a group of devices (actuators) related to steering such as a power steering motor. The steering ECU 203 determines the steering amount (steering angle) based on the measured values obtained from the yaw rate sensor 24 and the steering angle sensor 25, and controls each device constituting the steering mechanism 213 so that the determined steering amount is obtained.

The driving support device 10 includes an information acquisition unit 11 and a control unit 12. The control unit 12 is realized by a microcomputer (not shown) of the driving support device 10 executing a control program stored in advance in a storage unit (not shown) of the driving support device 10.

The information acquisition unit 11 acquires prediction information for predicting a first situation in which the traveling direction of the own vehicle and the traveling direction of the oncoming vehicle overlap. In the present embodiment, the information acquisition unit 11 also acquires prediction information for predicting a stop state in which the own vehicle is stopped for a preset time or longer. In the present embodiment, the preset time is 5 seconds. In other embodiments, the preset time may be less than 5 seconds or longer than 5 seconds. Details of the first situation and the stop situation will be described with reference to FIG.

The prediction information includes the speed of the own vehicle detected by the vehicle speed sensor 21, the acceleration of the own vehicle detected by the acceleration sensor 22, the current position of the own vehicle detected by the GNSS sensor 23, and the yaw rate of the own vehicle detected by the yaw rate sensor 24. The steering wheel steering angle of the own vehicle detected by the steering angle sensor 25, the front information of the own vehicle detected by the image pickup camera 26, the millimeter wave radar 27a and the LiDAR27b, and the situation of the own vehicle and other vehicles acquired by the communication unit 28. And includes status information about the surrounding situation. The prediction information may include turn signal operations such as right turn, left turn, and lane change detected by a turn signal sensor (not shown).

The control unit 12 instructs the operation control device 200 to control. Further, when the predetermined travel transfer condition including the condition that the first situation is predicted in the acquired prediction information is satisfied, the control unit 12 preferentially travels to the oncoming vehicle over the own vehicle. A transfer signal indicating what should be done is transmitted to the transmission unit 300. The details of the traveling transfer condition will be described with reference to FIG.

The transmission unit 300 transmits a transfer signal when the travel transfer condition is satisfied. In the present embodiment, the transmitting unit 300 is a headlight of the own vehicle.

The driving support device 10 executes the signal transmission process described with reference to FIG. The signal transmission process is repeatedly executed when the own vehicle exists between the position of entering the intersection and the position separated by a preset distance from the position of entering the intersection. In the present embodiment, the signal transmission process is executed when the own vehicle is in the state of automatic driving, but in other embodiments, when the own vehicle is in the state of manual driving, or in the state of automatic driving and It may be performed in any of the conditions of manual operation. In the present embodiment, the preset distance is 100 m, but this distance may be arbitrarily set. When the signal transmission process is started, the information acquisition unit 11 acquires the prediction information in step S110. In step S120, the control unit 12 determines whether or not the travel transfer condition is satisfied. If the travel transfer condition is not satisfied, the signal transmission process is terminated. If the travel transfer condition is satisfied, the process proceeds to step S130.

The traveling transfer condition in the first embodiment will be described with reference to FIG. FIG. 3 shows the traffic conditions around the intersection. One road intersecting the intersection is composed of lanes FL1 and FL2 and oncoming lanes BL1 and BL2. Since the vehicles FV1 and FV2 are stopped due to traffic congestion at the end of the lane FL1 that has passed the intersection, the own vehicle SV1 that is going to travel in the straight direction is in the position of entering the intersection in the lane FL1. It is stopped at. The vehicle FV3 is stopped behind the own vehicle SV1 in the lane FL1. Further, an oncoming vehicle BV1 trying to turn right from the oncoming lane BL1 is stopped near the center of the intersection. In the traffic conditions shown in FIG. 3, since the own vehicle SV1 is stopped at a position where it enters the intersection, the signal transmission process is executed.

In the first embodiment, the traveling transfer condition includes the following conditions.
1) The first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) It is predicted that the own vehicle SV1 will stop for a preset time or longer.

In the traffic situation shown in FIG. 3, the first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted from the prediction information acquired by the information acquisition unit 11. In other words, it is predicted that the direction in which the own vehicle SV1 goes straight and the direction in which the oncoming vehicle BV1 turns right overlap. The fact that the first situation is predicted is included in the condition that the traveling transfer condition in the first embodiment is satisfied.

Further, the establishment of the travel transfer condition in the first embodiment includes predicting a stop situation in which the own vehicle SV1 is stopped for a preset time or longer. In the traffic conditions shown in FIG. 3, the vehicles FV1 and FV2 are stopped due to traffic congestion at the point where the own vehicle SV1 has stopped at the lane FL1 that has passed the intersection. Therefore, from the prediction information acquired by the information acquisition unit 11, it is predicted that the own vehicle SV1 will stop until the vehicles FV1 and FV2 move forward. Therefore, in the traffic situation shown in FIG. 3, since the information acquisition unit 11 predicts the first situation and the stop state from the prediction information, the control unit 12 determines that the travel transfer condition is satisfied.

When the travel transfer condition is satisfied, the process proceeds to step S130, and the control unit 12 causes the oncoming vehicle BV1 to transmit a transfer signal indicating that the vehicle should travel with priority over the own vehicle SV1 to the transmission unit 300. At this time, the headlight of the transmitting unit 300 blinks the headlight in a predetermined pattern as a transfer signal. The predetermined pattern referred to here is a blinking pattern of the headlight whose transmission content is predetermined. For example, as a blinking pattern that conveys to an oncoming vehicle that the vehicle should be driven with priority over the own vehicle, a blinking pattern in which the headlights blink at a predetermined cycle (for example, 1s cycle) or a predetermined number of times (for example, for example). It means that the blinking pattern for continuously blinking (5 times) is predetermined. Such predetermined patterns are preferably standardized.

The transmission of the transfer signal by the transmission unit 300 is automatically performed when the travel transfer condition is satisfied. After that, the signal transmission process is terminated. In another embodiment, the transmission of the transfer signal by the transmission unit 300 is set to the standby state when the travel transfer condition is satisfied, and is manually performed by the occupant of the own vehicle SV1 operating a switch or the like. You may be broken. In such a case, the signal transmission process may be terminated after the transfer signal is manually transmitted or after the set time elapses after the standby state is set.

FIG. 4 shows the traffic conditions around the intersection, which is different from that of FIG. The own vehicle SV1 existing at a position of entering the intersection in the lane FL1 is traveling in the straight direction. A traffic light SG is installed at the end of the lane FL1 that has passed the intersection. In the traffic conditions shown in FIG. 4, the light color of the traffic light SG is yellow. Further, an oncoming vehicle BV1 trying to turn right from the oncoming lane BL1 is stopped near the center of the intersection. Even in the traffic conditions shown in FIG. 4, since the own vehicle SV1 is present at a position where the vehicle enters the intersection, the signal transmission process is executed.

In the traffic situation shown in FIG. 4, the first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted from the prediction information acquired by the information acquisition unit 11. Further, since the light color of the traffic light SG is yellow, the stop state in which the own vehicle SV1 is stopped is predicted from the prediction information acquired by the information acquisition unit 11. Therefore, even in the traffic situation shown in FIG. 4, since the information acquisition unit 11 predicts the first situation and the stop state from the prediction information, the control unit 12 determines that the travel transfer condition is satisfied.

FIG. 5 shows traffic conditions around an intersection different from those in FIGS. 3 and 4. The own vehicle SV1 existing at the position of entering the intersection in the lane FL1 is about to turn left. A traffic light SG is installed at the end of the lane FL1 that has passed the intersection. In the traffic conditions shown in FIG. 5, the light color of the traffic light SG is blue. An oncoming vehicle BV1 that is about to turn right from the oncoming lane BL1 is stopped near the center of the intersection. Further, vehicles FV4, FV5 and FV6 are stopped in the lanes TL1 and TL2 in the direction of turning left from the lane FL1 due to traffic congestion. Even in the traffic condition shown in FIG. 5, since the own vehicle SV1 is present at the position of entering the intersection, the signal transmission process is executed.

In the traffic situation shown in FIG. 5, the first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted from the prediction information acquired by the information acquisition unit 11. The light color of the traffic light SG is blue, but when the own vehicle SV1 turns left, there is no space for the oncoming vehicle BV1 until the vehicles FV4, FV5 and FV6 go straight in the lanes TL1 and TL2, so the oncoming vehicle BV1 Will stop inside the intersection. Therefore, from the prediction information acquired by the information acquisition unit 11, it is predicted that the own vehicle SV1 will stop before entering the intersection. Therefore, even in the traffic situation shown in FIG. 4, since the information acquisition unit 11 predicts the first situation and the stop state from the prediction information, the control unit 12 determines that the travel transfer condition is satisfied.

According to the first embodiment described above, since the transfer signal indicating that the vehicle should be driven with priority over the own vehicle SV1 is transmitted to the oncoming vehicle BV1, a misunderstanding occurs in the exchange of information between the vehicles. Can be prevented. Therefore, it is possible to prevent a collision accident such as a thank-you accident that occurs when an oncoming vehicle occupant misunderstands the intention of passing.

B. Second embodiment:
The driving support device of the second embodiment is different from the driving support device 10 of the first embodiment in the prediction information acquired by the information acquisition unit 11, and the conditions included in the establishment of the travel transfer condition in the signal transmission processing are. Except for the difference, the device configuration is the same as that of the operation support device 10 of the first embodiment. The same reference numerals as those in the first embodiment indicate the same configuration, and the preceding description is referred to.

In the information acquisition unit 11 of the driving support device of the second embodiment, in addition to the prediction information for predicting the first situation, the oncoming vehicle has an overlapping position where the traveling direction of the own vehicle and the traveling direction of the oncoming vehicle overlap. The time until the own vehicle passes the overlapping position is shorter than the time until the own vehicle passes the overlapping position. Prediction information for predicting the preceding situation is acquired.

The traffic condition shown in FIG. 6 is a preset distance from the point where the light color of the traffic light SG is blue and the position of the own vehicle SV1 entering the intersection, as compared with the traffic condition shown in FIG. The traffic conditions are the same as those shown in FIG. 4, except that they are located at a distance of 100 m.

In the second embodiment, the traveling transfer condition includes the following conditions.
1) The first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) Regarding the overlapping position LP in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap, the time until the oncoming vehicle BV1 passes through the overlapping position LP is until the own vehicle SV1 passes through the overlapping position LP. Expected advance situation shorter than time.

In the traffic situation shown in FIG. 6, the first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted from the prediction information acquired by the information acquisition unit 11. Although the light color of the traffic light SG is blue, in the traffic condition shown in FIG. 6, the overlapping position where the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap from the predicted information acquired by the information acquisition unit 11. With respect to the LP, it is predicted that the time required for the oncoming vehicle BV1 to pass through the overlapping position LP is shorter than the time required for the own vehicle SV1 to pass through the overlapping position LP. The time until the oncoming vehicle BV1 passes through the overlapping position LP is obtained from the turning time calculated using the lane widths of the lanes FL1 and FL2, the turning radius of the oncoming vehicle BV1, and the assumed vehicle speed. The time until the own vehicle SV1 passes through the overlapping position LP is obtained by using the distance from the current position of the own vehicle SV1 to the overlapping position LP and the assumed vehicle speed of the own vehicle SV1. Therefore, in the traffic situation shown in FIG. 6, since the information acquisition unit 11 predicts the first situation and the preceding situation from the prediction information, the control unit 12 determines that the travel transfer condition is satisfied.

According to the second embodiment described above, as in the first embodiment, a transfer signal indicating that the vehicle should be driven with priority over the own vehicle SV1 is transmitted to the oncoming vehicle BV1. It is possible to prevent misunderstandings in the exchange of information. Therefore, it is possible to prevent a collision accident such as a thank-you accident that occurs when an oncoming vehicle occupant misunderstands the intention of passing.

C. Third embodiment:
The operation support device of the third embodiment is different from the operation support device 10 of the first embodiment, except that the prediction information acquired by the information acquisition unit 11 is different and the processing content of the signal transmission process is different. It is the same as the device configuration of the driving support device 10 of the embodiment. The same reference numerals as those in the first embodiment indicate the same configuration, and the preceding description is referred to.

The information acquisition unit 11 of the third embodiment predicts a second situation in which another vehicle advances from the blind spot direction of the own vehicle toward the front, in addition to the prediction information for predicting the first situation and the stop situation. Get forecast information for. In the present embodiment, the information acquisition unit 11 acquires prediction information for predicting a situation in which another vehicle is traveling from the rear side to the front of the own vehicle. In another embodiment, prediction information for predicting a situation in which another vehicle travels forward from a direction different from the rear side in the blind spot direction of the own vehicle may be acquired. The direction different from the rear side direction of the blind spot direction of the own vehicle includes the direction hidden by the pillars constituting the vehicle body of the own vehicle when viewed from the position of the driver's seat of the own vehicle.

In the third embodiment, the traveling transfer condition includes the following conditions.
1) The first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) It is predicted that the own vehicle SV1 will stop for a preset time or longer.
3) The second situation in which another vehicle MB advances from the rear side to the front of the own vehicle SV1 is not predicted.
The details of the second situation will be described with reference to FIG.

The control unit 12 of the third embodiment travels to the oncoming vehicle when a predetermined driving warning condition including the condition that the first situation and the second situation are predicted in the acquired prediction information is satisfied. Is transmitted to the transmitting unit 300 to indicate that a warning should be issued. The details of the traveling warning condition will be described with reference to FIG.

The driving support device of the third embodiment executes the signal transmission process described with reference to FIG. 7. The execution timing of the signal transmission processing of the third embodiment is the same as that of the first embodiment and the second embodiment. When the signal transmission process is started, the information acquisition unit 11 acquires the prediction information in step S110. This prediction information includes information for predicting a first situation, a stop situation, and a second situation. In step S120, the control unit 12 determines whether or not the travel transfer condition is satisfied. As described above, the establishment of the travel transfer condition in the third embodiment includes the fact that the first situation and the stop situation are predicted and the second situation is not predicted.

The second situation will be described with reference to FIG. The traffic conditions shown in FIG. 8 are shown in FIG. 3 except that there are other vehicle MBs traveling from the rear side to the front of the own vehicle SV1 as compared with the traffic conditions shown in FIG. Same as the traffic conditions shown. The other vehicle MB is a two-wheeled vehicle. In the traffic situation shown in FIG. 8, the first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap from the prediction information acquired by the information acquisition unit 11 and the time or more set in advance for the own vehicle. The stop situation is predicted. Further, in the traffic situation shown in FIG. 8, the second situation in which the other vehicle MB advances from the rear side to the front of the own vehicle SV1 is predicted from the prediction information acquired by the information acquisition unit 11.

Returning to the explanation of FIG. 7, when the travel transfer condition is satisfied in the signal transmission process, that is, when the first situation and the stop situation are predicted and the second situation is not predicted, the process proceeds to step S130 and then the signal transmission process. Is terminated.

If the travel transfer condition is not satisfied in the signal transmission process, in step S125, the control unit 12 determines whether or not the travel warning condition is satisfied.

The driving warning conditions include the following conditions.
1) The first situation in which the traveling direction of the own vehicle SV1 and the traveling direction of the oncoming vehicle BV1 overlap is predicted.
2) It is predicted that the own vehicle SV1 will stop for a preset time or longer.
3) The second situation in which another vehicle MB advances from the rear side to the front of the own vehicle SV1 is predicted.

If the driving warning condition is not satisfied, the signal transmission process is terminated. When the travel warning condition is satisfied, the process proceeds to step S140, and the control unit 12 causes the transmission unit 300 to transmit a warning signal indicating that the oncoming vehicle BV1 should be warned of travel. At this time, the headlight of the transmitting unit 300 blinks the headlight in a predetermined pattern as a warning signal. The blinking pattern of the headlight in the warning signal is different from the blinking pattern of the headlight in the transfer signal. For example, as a blinking pattern for informing the oncoming vehicle BV1 that driving should be warned, a blinking pattern in which the headlights blink at a predetermined cycle (for example, 0.5 s cycle) or a predetermined number of times (for example, 3 times). ) It means that the blinking pattern for continuous blinking is predetermined. In the exchange of information between vehicles, if signals having different intentions are distinguished only by the difference in the number of blinks, the judgment of the oncoming vehicle BV1 may be delayed. Therefore, as a parameter used for distinguishing signals having different intentions, a blinking cycle or a combination of a blinking cycle and the number of blinks is desirable. After that, the signal transmission process is terminated.

According to the third embodiment described above, as in the first embodiment, a transfer signal indicating that the vehicle should be driven with priority over the own vehicle SV1 is transmitted to the oncoming vehicle BV1. It is possible to prevent misunderstandings in the exchange of information. Therefore, it is possible to prevent a collision accident such as a thank-you accident that occurs when an oncoming vehicle occupant misunderstands the intention of passing. Further, in the third embodiment, when the traveling warning condition is satisfied without satisfying the traveling transfer condition, a warning signal indicating that the traveling should be warned is transmitted to the oncoming vehicle BV1. It is possible to further prevent misunderstandings in the exchange of information between them.

D. Other embodiments:
In each of the above-described embodiments, the transmitting unit 300 is a headlight of the own vehicle, but the present invention is not limited to this. For example, the transmitting unit 300 may transmit using any of road surface depiction, radio wave output, and sound wave output. Road surface depiction is to draw figures and text information that convey the movement of the own vehicle on the road surface with light by the drawing light provided on the own vehicle. Millimeter waves or the like are used for radio wave output.

In each of the above-described embodiments, the means for transmitting the transfer signal and the warning signal by using, for example, the blinking pattern of the headlight has been described, but the present invention is not limited thereto. For example, if the own vehicle and the center can communicate with each other, the transfer signal and the warning signal may be transmitted to the oncoming vehicle via the center.

The present invention is not limited to the above-described embodiments and modifications, and can be realized with various configurations within a range not deviating from the gist thereof. For example, the embodiments corresponding to the technical features in each of the embodiments described in the column of the outline of the invention, the technical features in the modifications are for solving a part or all of the above-mentioned problems, or the above-mentioned above. It is possible to replace or combine them as appropriate to achieve some or all of the effects. Further, if the technical feature is not described as essential in the present specification, it can be appropriately deleted.

10 ... Driving support device, 11 ... Information acquisition unit, 12 ... Control unit

Claims (4)

It is a vehicle driving support device (10).
An information acquisition unit (11) that acquires prediction information for predicting a first situation in which the traveling direction of the own vehicle and the traveling direction of the oncoming vehicle overlap with each other.
When a predetermined travel transfer condition including the condition that the first situation is predicted is satisfied in the acquired prediction information, the vehicle should be driven with priority over the own vehicle with respect to the oncoming vehicle. A control unit (12) for transmitting a transfer signal indicating the above to the own vehicle is provided .
The prediction information further includes information for predicting a second situation in which another vehicle travels forward from the blind spot direction of the own vehicle.
The travel transfer condition further includes the condition that the second situation is not predicted.
The control unit further warns the oncoming vehicle of driving when a predetermined driving warning condition including the condition that the first situation and the second situation are predicted is satisfied. The warning signal shown is transmitted to the own vehicle ,
The warning signal is a signal different from the transfer signal, and is a blinking of a headlight to be transmitted in a predetermined blinking pattern, which is a driving support device. The driving support device according to claim 1 .
The second situation is a driving support device in which the other vehicle advances from the rear side to the front of the own vehicle. The driving support device according to claim 1 or 2 .
A driving support device in which the transfer signal and the warning signal are transmitted using any of road surface depiction, radio wave output, and sound wave output. The driving support device according to claim 1 or 2 .
The transfer signal is a driving support device that blinks a headlight that is transmitted in a predetermined blinking pattern.

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