JP4257643B2 - Driving support system and in-vehicle terminal - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle driving support technology using information communication.
[0002]
[Prior art]
In order to improve driving safety of vehicles such as automobiles, a vehicle driving support system using information communication has been proposed. Typically, AHS (Advanced Cruise-Assist Highway System), which provides various traffic information from the roadside communication device to the in-vehicle terminal of the vehicle or assists automatic driving of the vehicle by the roadside communication device, is proposed. (Patent Document 1).
[0003]
However, this AHS has a problem that a large-scale infrastructure is required on the road side. In view of this, there has also been proposed a vehicle running support that more easily performs vehicle-to-vehicle communication in which vehicle-to-vehicle information is communicated between vehicles (Patent Document 1). In this inter-vehicle communication, for example, when there is a possibility that a collision may occur between vehicles by exchanging position information between vehicles, it is possible to perform driving support such as notifying an occupant of this.
[0004]
[Patent Document 1]
Japanese Patent Laid-Open No. 2001-101599
[Problems to be solved by the invention]
Here, when there is a large amount of traffic and a large number of vehicles are crowded in a certain area, the number of other vehicles that are close to the host vehicle is also considerable. For this reason, when notifying a collision as mentioned above by vehicle-to-vehicle communication, the case where the notification of the collision with respect to an occupant is frequently performed may occur. Such a collision notification may include a case where the possibility of a collision in practice is extremely low in consideration of safety, so that a passenger feels annoyed if a collision notification is frequently performed. There is a case. In addition, it is desirable to provide the occupant with information for determining whether the actual collision occurs.
[0007]
The purpose of the present invention is to provide a practice such the determination of whether the material such a degree that a collision occurs in the occupant.
[0015]
[Means for Solving the Problems]
According to the present invention, a vehicle driving support system that performs information communication between vehicle-mounted terminals mounted on a plurality of vehicles, each of the vehicle-mounted terminals detecting a position of the host vehicle. And the position information indicating the position of the host vehicle detected by the position detection means is transmitted to the in-vehicle terminal of the other vehicle, and the position information of the other vehicle is received from the in-vehicle terminal of the other vehicle. Based on the communication means, the position of the own vehicle detected by the position detection means, and the position information of the other vehicle received by the communication means, the possibility of collision between the own vehicle and the other vehicle is determined. A collision determination means, a notification means for notifying a collision according to a determination result of the collision determination means, and a notification that the communication means has been notified in the other vehicle from the in-vehicle terminal of the other vehicle. When receiving the to already broadcast information, the driving support system is provided which is characterized in that a notifying means for notifying the occupant, this.
[0016]
In this driving support system, the notification means is provided, so that a passenger of the host vehicle is notified that a collision has been notified in another vehicle. For this reason, since the occupant of the own vehicle has been notified of the collision of the own vehicle in the other vehicle and can predict that the occupant of the other vehicle recognizes the possibility of the collision, the extent that the collision actually occurs Can be obtained.
[0017]
According to the present invention, there is also a vehicle-mounted terminal device mounted on a vehicle, the position detecting means for detecting the position of the vehicle, and the communication for receiving the position information indicating the position of the other vehicle from the other vehicle. And a collision determination unit that determines the possibility of collision between the vehicle and the other vehicle based on the position of the vehicle detected by the position detection unit and the position information received by the communication unit. In accordance with the determination result of the collision determination unit, a notification unit that reports a collision, and the notification unit that indicates that the communication unit has performed a notification of a collision between the vehicle and the other vehicle from the other vehicle. There is provided an in-vehicle terminal characterized by comprising notification means for notifying an occupant of information when it is received.
[0018]
In this vehicle-mounted terminal device, the notification means is provided, so that a passenger in the own vehicle is notified that a collision has been notified in another vehicle. For this reason, since the occupant of the own vehicle has been notified of the collision of the own vehicle in the other vehicle and can predict that the occupant of the other vehicle recognizes the possibility of the collision, the extent that the collision actually occurs Can be obtained.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram of a driving support system according to an embodiment of the present invention. In this driving support system, a vehicle-mounted terminal A is mounted on each of a plurality of vehicles, and a portable terminal B is carried by a pedestrian. In FIG. 1, only two vehicles are illustrated and only one pedestrian is illustrated. And while performing in-vehicle communication between each in-vehicle terminal device A by vehicle-to-vehicle communication, wireless information communication is also performed between each in-vehicle terminal device A and each portable terminal device B, thereby assisting in running the vehicle. To do. As the portable terminal device B, for example, a portable phone can be used.
[0020]
As the communication method, for example, a broadcast method can be adopted. As the communication range, in the case of the in-vehicle terminal A, the range of about 200 m forward and left and right in the traveling direction, and about 50 m rearward, the portable terminal B In the case, the range of about 150 m can be mentioned in front, rear, left and right. As the number of communication targets, about 200 vehicles and about 25 pedestrians are assumed.
[0021]
In this driving support system, information on the vehicle or pedestrian is periodically transmitted from each terminal A and B, and necessary information is selected in the in-vehicle terminal A on the receiving side to alert the driver of an accident. It can be provided. As a period of information transmission, for example, in the case of the in-vehicle terminal A, a variable period of about 0.1 seconds to 1 second depending on the vehicle speed, and in the case of the portable terminal B, according to the walking speed. A variable period of about 0.5 seconds to 1 second can be given.
[0022]
The transmitted information includes an identifier for identifying itself, in addition to position information indicating the current position of the vehicle or pedestrian. In the case of the in-vehicle terminal A, various vehicle information, for example, vehicle speed, traveling direction, yaw rate, acceleration, etc., and various operation information, for example, steering angle (handle operation amount), throttle opening (accelerator operation amount). Brake pressure, turn signal operation, door opening / closing, etc.
[0023]
In such a driving support system, for example, the collision prevention between straight vehicles at the intersection, the front collision between the oncoming vehicles, the collision between the right turn car and the vehicle at the intersection, or the collision between the vehicle and the pedestrian, Driving support can be performed.
[0024]
Next, the configuration of the in-vehicle terminal A will be described. FIG. 2 is a block diagram showing a configuration example of the in-vehicle terminal A. The CPU 101 is a processor that controls the entire in-vehicle terminal A, and particularly performs processing to be described later. A ROM (Read Only Memory) 102 is a memory for storing fixed data in addition to programs for each processing described later. A RAM (Random Access Memory) 103 has a work area for programs processed by the CPU 101 and stores variable data and the like. Needless to say, other storage means may be employed as the ROM 102 and the RAM 103.
[0025]
The map information DB (database) 104 is a database that includes road information for specifying a travel route of the host vehicle or another vehicle, or determining whether the travel route is a priority road. It is possible to adopt the same level as that used in the above. The map information DB 104 is constructed using storage means such as a hard disk, CDROM, or DVD.
[0026]
The display 106 is a display that displays various types of information. The display 106 is connected to the CPU 101 via the display controller 105 and displays various types of information according to instructions from the CPU 101. The audio output circuit 107 provides various kinds of information to the vehicle occupant through the speaker 108 by means of voice such as synthesized voice. In the present embodiment, as will be described later, the voice is notified of a collision with another vehicle. Used for.
[0027]
The clock IC 109 is a circuit that measures the date and the current time. A GPS (global positioning system) sensor 111 is a position detection sensor that receives a radio wave transmitted from an artificial satellite and detects the current position of the host vehicle, and provides the current position to the CPU 101 via the interface 110. The vehicle speed sensor 112 is one of speed detection means for detecting the traveling speed of the host vehicle, and provides the traveling speed of the host vehicle to the CPU 101 via the interface 110. In this embodiment, a GPS sensor and a vehicle speed sensor are cited as sensors for detecting the state of the vehicle. However, it is possible to provide various sensors for acquiring other vehicle information and operation information. Needless to say. The communication device 113 is a device that performs wireless bidirectional communication with the in-vehicle terminal A and the portable terminal B of another vehicle.
[0028]
Next, processing of the CPU 101 of the in-vehicle terminal A having such a configuration will be described. FIG. 3 is a flowchart showing an example of information communication processing in the present embodiment. In this example, information communication between vehicles will be mainly described. In S1, the current position information and the vehicle traveling speed information are acquired from the GPS sensor 111 and the vehicle speed sensor 112. In S2, based on the information acquired in S1, the information on the host vehicle is transmitted from the communication device 113 to the in-vehicle terminal A of another vehicle. FIG. 4A is a diagram illustrating an example of information to be transmitted.
[0029]
In FIG. 4A, “terminal ID” is an identifier assigned to the in-vehicle terminal A. “Terminal type” is information indicating whether the terminal is an in-vehicle terminal or a portable terminal, and is used to distinguish a vehicle from a pedestrian. “Own vehicle information” is information indicating the state of the own vehicle that is the transmission source, and includes “current position” indicating the position information (latitude and longitude) of the own vehicle measured by the GPS sensor 111, and the vehicle speed sensor 112. The “traveling speed” indicating the traveling speed of the host vehicle detected in the above and “collision notification” are included.
[0030]
“Collision notification” is information indicating to other vehicles as already-reported information that it is determined that there is a possibility of collision with another vehicle, as described later, and that the notification has been given to the passenger of the host vehicle. The terminal ID of the other vehicle that is the target of the possibility of the collision is recorded. If no notification is given, “none” is recorded. For example, when it is determined that there is a possibility of collision with the other vehicle Y in the own vehicle X, and the passenger in the own vehicle X is notified of a collision related to the other vehicle Y, the in-vehicle terminal of the other vehicle Y A terminal ID of A is recorded. By transmitting this information, the in-vehicle terminal A of the other vehicle Y that has received the information can recognize that the vehicle X has already been notified of the collision.
[0031]
Returning to FIG. 3, in S <b> 3, the communication device 113 performs processing for receiving information from the in-vehicle terminal A of another vehicle. In S4, if information is received from the vehicle-mounted terminal A of the other vehicle in S3, the process proceeds to S5, and if nothing is received, the process returns to S1 and the same process is repeated. In S5, the table which accumulated the information (other mobile body information) of other vehicles is updated with the received information. FIG. 4B is a diagram showing an example of a table of other mobile information. The other mobile information is stored in the RAM 103.
[0032]
In FIG.4 (b), "terminal ID" is an identifier of the vehicle-mounted terminal device A of the other vehicle which received information. “Time” indicates the time when information is received, and is measured by the clock IC 109. “Current position” is position information (corresponding to “current position” in FIG. 4A) transmitted from the vehicle-mounted terminal A of another vehicle. The “traveling speed” is speed information transmitted from the in-vehicle terminal A of the other vehicle (corresponding to “traveling speed” in FIG. 4A). “Collision notification” is already-reported information (corresponding to “collision notification” in FIG. 4A) transmitted from the in-vehicle terminal A of the other vehicle. Indicates whether or not it has already been performed. If yes, “Yes” is indicated. If not, “No” is indicated.
[0033]
In S5, if the in-vehicle terminal A that is the transmission source of the information received in S4 is already recorded in the table of FIG. 4B, this is updated, and if it is not recorded, it is newly added. To do. Moreover, this is deleted about the information of the other vehicle which has not received information for a fixed time. In the example of FIG. 4B, only the latest information is recorded, but it can be stored for a certain time instead.
[0034]
Returning to FIG. 3, in S6, the possibility of collision between the host vehicle and another vehicle is determined. Here, there is a possibility of collision based on at least the position information of the own vehicle acquired by the GPS sensor 111 in S1 and the position information (current position) of each other vehicle in the other moving body information shown in FIG. Determine. In this determination, it is possible to more accurately determine the possibility of a collision by using the traveling speed of each vehicle, the traveling direction, and information on the traveling path on which each vehicle is traveling based on the map information DB 104 and the like. If it is determined that there is a possibility of a collision, the process proceeds to S8 in S7, and if not, the process returns to S1 and the same process is repeated.
[0035]
In the present embodiment, a processing loop of one unit is configured by S1 to S8 in the processing flow of FIG. 3, but for example, the processing of S1, the processing of S2, and the processing of S3 to S8 are independent processes. Then, the acquisition result is stored in the process of S1, the information of the acquired acquisition result is transmitted by periodically performing the process of S2, and S3 to S8 may be interrupted.
[0036]
Next, the notification process in S8 will be described. FIG. 5A is a flowchart illustrating an example of notification processing. In this embodiment, when it is determined in S7 that there is a possibility of collision with a pedestrian, this is notified to the occupant of the host vehicle. However, in areas where there is a lot of traffic, there are a large number of other vehicles that communicate information, and if the possibility of a collision with these other vehicles is affirmed, a collision notification will always be made. An annoying case for the passenger occurs. On the other hand, if a collision is reported in at least one of the vehicles between which the possibility of collision is affirmed, the occupant who received the notification pays attention, so even if the notification is not made to the occupant of the other vehicle, The risk of crashing is drastically reduced. Therefore, in the present embodiment, when the other vehicle that has been confirmed to have a collision possibility has already been notified of the collision, the notification in the own vehicle is restricted.
[0037]
5A, in S11, with reference to the other mobile body information shown in FIG. 4B, whether or not the already-reported information is received from the vehicle-mounted terminal A of the opponent vehicle whose collision possibility is affirmed is determined. Determine whether. In the table of FIG. 4 (b), when the “collision notification” of the terminal ID of the in-vehicle terminal A of the opponent vehicle is “none”, it is determined that the already notified information is not received, and the process proceeds to S12. If “Yes”, it is determined that the already-reported information has not been received, and the process proceeds to S14.
[0038]
In S12, a collision notification is given to the passenger of the vehicle in a normal manner. Here, the CPU 101 instructs the sound output circuit 107 to output sound, and the sound output circuit 107 that has received the instruction outputs from the speaker 108 that there is a possibility of collision. In S13, the already-reported information is set in order to transmit that the collision has been reported at the next information transmission. Here, the terminal ID of the other party whose collision possibility is affirmed is set in the “collision notification” of the transmission information in FIG. Thereafter, the notification process is terminated and the process returns to S1.
[0039]
On the other hand, in S14, notification is restricted to the passenger of the own vehicle. In this embodiment, no notification is performed. Accordingly, it is possible to suppress the notification of the collision more frequently than necessary, and it is possible to eliminate the inconvenience of the occupant and perform the notification of the necessary collision for the occupant. However, in this regulation notification, notification may be performed to the extent that the passenger does not feel bothered. For example, in the normal notification in S12, the notification is made by voice, but in the restriction notification in S14, the collision may be notified on the display 106 only by displaying characters, figures, and the like. Also, the passenger may be able to set several modes of regulation notification.
[0040]
FIG. 8A shows an example of this collision notification. In the figure, it is assumed that the host vehicle and another vehicle are approaching an intersection and the possibility of collision is affirmed on both sides. Since the other vehicle was previously notified of the collision ((1) in the figure), nothing was reported in the own vehicle ((2) in the figure).
[0041]
Next, another example of the notification process will be described. FIG. 5B is a flowchart illustrating another example of the notification process. In the example of FIG. 5 (a), the transmission information includes “collision notification” as already-reported information, and based on this, it is determined whether or not the notification is restricted. A is inquired as to whether or not notification has been made. Therefore, the information of “collision notification” is not necessary for the transmission information.
[0042]
Only the process different from that in FIG. 5A will be described with respect to the process in FIG. 5B. In S21, the communication device 113 is used for the in-vehicle terminal A of the other vehicle that is determined to have a collision possibility in S7. An inquiry is made as to whether or not notification of a collision with the host vehicle has already been performed. In response to this inquiry, when already-reported information indicating that notification has been performed in another vehicle is received from another vehicle, it is determined in S11 that the already-reported information has been received, and the process proceeds to S14. On the other hand, if it is information indicating that the other vehicle is not notified in response to the inquiry or if there is no response, the process proceeds to S12 because the already notified information is not received in S12. When the process proceeds to S12, there is no process of S13 in this example.
[0043]
<Other notification forms: priority road>
Next, another example of notification processing will be described with reference to FIGS. In this example, the presence / absence of the notification is corrected depending on whether or not each vehicle whose collision possibility is affirmed is traveling on the priority road. Vehicles traveling on priority roads such as national roads are usually given priority over vehicles traveling on non-priority roads such as general roads. Is easy to work. This example focuses on this point.
[0044]
First, only the processing different from that in FIG. 5A will be described with respect to the example in FIG. 6A. When it is determined in S11 that the already-reported information has been received, the possibility of collision of the host vehicle is affirmed in S31. It is determined whether or not the other vehicle is traveling on a priority road. Here, first, a road on which both vehicles are traveling is specified. The road on which the host vehicle is traveling is identified by matching the position information obtained by the GPS sensor 111 acquired in S1 with the road information in the map information DB 104. On the other hand, the road on which the other vehicle is traveling is identified by matching the position information (current position) of the other moving body information in FIG. 4B with the road information in the map information DB 104. In addition, when the identification of these roads has already been performed in the collision possibility determination of S6, the result may be used.
[0045]
Next, the priority relationship of the identified road is determined based on the information in the map information DB 104. Whether it is a priority road or not can be determined by whether it is a national road or a general road, or a road width or the like. Returning to FIG. 6A, based on the result of S31, in S32, if the host vehicle is traveling on the priority road, the process proceeds to S14 and the notification is restricted. Otherwise, the process proceeds to S12 and the normal notification is performed.
[0046]
FIG. 8B is a diagram illustrating an example of the collision notification. In the figure, it is assumed that the host vehicle and another vehicle are approaching an intersection and the possibility of collision is affirmed on both sides. The other vehicle was previously notified of the collision ((1) in the figure), but the other vehicle is traveling on the priority road and the own vehicle is traveling on the non-priority road. A collision is reported ((2) in the figure). In this way, in this example, even if a notification of a collision is made in another vehicle, by not restricting the notification of the own vehicle, the occupant of the own vehicle is alerted and the safety is improved.
[0047]
Next, only the processing different from that in FIG. 5A will be described for the example of FIG. 6B. If it is not determined in S11 that the already-reported information has been received, priority road determination processing is performed in S41, and in S42. It is determined whether the host vehicle is traveling on a priority road. These processes are the same processes as S31 and S32 described above. If it is determined in S42 that the host vehicle is not traveling on the priority road, the process proceeds to S12, and normal notification is performed. If it is determined that the vehicle is traveling, the process proceeds to S43.
[0048]
In S43, a process of waiting for reception of already-reported information from the in-vehicle terminal A of the counterpart vehicle is performed. That is, in the case of proceeding to S43, since the already-reported information has not been received from the vehicle terminal A of the opponent vehicle in S11, but the own vehicle is traveling on the priority road, The notification of the collision in the host vehicle is not performed until a predetermined timing so that the above notification is made.
[0049]
As the process of S43, after a certain period of time has elapsed, the transmission information reception process (the same process as S3) of the opponent vehicle may be performed to measure the timing, or the reception process may be repeated a predetermined number of times. The timing may be measured as described above. In S44, it is determined whether or not the previously notified information is received in S43. If received, the process proceeds to S14 to restrict the notification, and if not received, the process proceeds to S12 to perform normal notification.
[0050]
FIG. 9A is a diagram showing an example of this collision notification. In the figure, it is assumed that the host vehicle and another vehicle are approaching an intersection and the possibility of collision is affirmed on both sides. Then, the vehicle is in a situation where the collision is notified first, but since it is traveling on the priority road, this is awaited by the processing of S43 ((1) in the figure), and other vehicles traveling on the non-priority road The collision is notified at (2) in the figure, and the collision is not reported in the own vehicle (1) in the figure. By performing such processing, for example, due to a difference in timing of information communication between vehicles, a vehicle traveling on a priority road is notified of a collision before a vehicle traveling on a non-priority road. Even if it arrives, by not reporting the collision until a predetermined timing, it is possible to secure a time for the collision warning in the other vehicle and to give the collision warning preferentially in the other vehicle. it can.
[0051]
<Other notification forms: traveling speed>
Next, another example of notification processing will be described with reference to FIG. In this example, when the traveling speed of the other vehicle for which the possibility of collision is affirmed is equal to or higher than a certain level, normal notification is performed even if the previous notification information is received. When the traveling speed of the other vehicle is high, there is a possibility that the damage caused by the actual collision may increase. Therefore, even if the other vehicle is notified of the collision, the notification of the own vehicle is not restricted. Attracting the attention of the passenger of the vehicle, safety can be improved.
[0052]
In the example of FIG. 7 (a), only processing different from FIG. 5 (a) will be described. When it is determined in S11 that the already-reported information has been received, the other vehicle that is the counterpart vehicle in which the possibility of collision is affirmed in S51. It is determined whether the traveling speed of the vehicle is equal to or higher than a predetermined value. The traveling speed of the other vehicle is determined based on the “traveling speed” of the other moving body information shown in FIG. If the travel speed of the other vehicle is equal to or greater than the predetermined value in S51, the process proceeds to S12 with an emphasis on safety, and normal notification is performed. Otherwise, the process proceeds to S14, and the regulation is notified.
[0053]
FIG. 9B is a diagram showing an example of this collision notification. In the figure, it is assumed that the host vehicle and another vehicle are approaching an intersection and the possibility of collision is affirmed on both sides. The other vehicle was first notified of the collision ((1) in the figure). However, since the traveling speed of the other vehicle is equal to or higher than the predetermined value, the collision notification is also performed in the own vehicle (▲ in the same figure). 2 ▼).
[0054]
<Notification of previous notification in other vehicles>
In this example, the passenger of the own vehicle is notified that the other vehicle has been notified of the collision. FIG. 7B is a flowchart illustrating an example of notification processing when this notification is performed. Since the occupant of the own vehicle is informed of the collision of the own vehicle in the other vehicle and can predict that the occupant of the other vehicle is aware of the possibility of the collision, the occupant of the own vehicle is of a level that actually causes a collision. It is possible to obtain information for determining whether or not.
[0055]
Only the processing different from that in FIG. 5A will be described with respect to the example of FIG. 7B. When the notification is restricted in S14, the process proceeds to S61, and the collision notification is made in the partner vehicle in which the possibility of collision is affirmed. The occupant will be notified that This notification may be performed by voice from the voice output circuit 107 and the speaker 108 or may be notified by display on the display 106.
[0056]
FIG. 10 is a diagram showing an example of this notification. In the figure, it is assumed that the host vehicle and another vehicle are approaching an intersection and the possibility of collision is affirmed on both sides. Since the other vehicle was notified of the collision ((1) in the figure), the notification was restricted in the own vehicle, but the occupant was notified that there was a notification in the other vehicle ((2) in the figure). ▼). In this example, the notification of the previous notification in the other vehicle is performed when the notification is restricted, but the notification of the previous notification may be performed even when the normal notification is performed (for example, FIG. 6). (A) or when the already-reported information is received in the notification process of FIG. 7 (a) but normal notification is performed), and when the normal notification is performed, notification is not performed in the counterpart vehicle. The passenger may be notified of this.
[0057]
The preferred embodiment of the present invention has been described above, but the present invention is not limited to this, and various embodiments can be adopted. Further, the above-described processing examples can be combined with each other without departing from the spirit of the present invention.
[0058]
【The invention's effect】
As described above, according to the present invention, it is possible to provide the occupant with a material for determining whether a collision actually occurs.
[Brief description of the drawings]
FIG. 1 is a schematic diagram of a driving support system according to an embodiment of the present invention.
FIG. 2 is a block diagram showing a configuration example of an in-vehicle terminal device A.
FIG. 3 is a flowchart illustrating an example of information communication processing.
4A is a diagram illustrating an example of information transmitted from the in-vehicle terminal A, and FIG. 4B is a diagram illustrating an example of a table of other mobile information.
FIGS. 5A and 5B are flowcharts illustrating an example of notification processing.
6A and 6B are flowcharts showing an example of notification processing.
FIGS. 7A and 7B are flowcharts showing an example of notification processing.
FIGS. 8A and 8B are diagrams illustrating an example of a collision notification.
FIGS. 9A and 9B are diagrams showing examples of collision notification.
FIG. 10 is a diagram illustrating an example of a collision notification.
[Explanation of symbols]
A In-vehicle terminal 104 Map information DB
111 GPS sensor 112 Vehicle speed sensor 113 Communication device

Claims (2)

A vehicle driving support system for performing information communication between in-vehicle terminals mounted on a plurality of vehicles,
Each of the on-board terminals is
Position detecting means for detecting the position of the host vehicle;
Communication means for transmitting position information indicating the position of the host vehicle detected by the position detection means to the in-vehicle terminal of another vehicle, and receiving the position information of the other vehicle from the in-vehicle terminal of the other vehicle; ,
A collision determination unit that determines the possibility of collision between the host vehicle and the other vehicle based on the position of the host vehicle detected by the position detection unit and the position information of the other vehicle received by the communication unit; ,
Informing means for informing the collision according to the judgment result of the collision judging means,
A notification means for notifying an occupant of this when the communication means receives already-notified information indicating that the notification of the collision has been performed in the other vehicle from the in-vehicle terminal of the other vehicle;
A driving support system characterized by comprising: An in-vehicle terminal mounted on a vehicle,
Position detecting means for detecting the position of the vehicle;
Communication means for receiving position information indicating the position of the other vehicle from another vehicle;
A collision determination means for determining a collision possibility between the vehicle and the other vehicle based on the position of the vehicle detected by the position detection means and the position information received by the communication means;
Informing means for informing the collision according to the judgment result of the collision judging means,
A notification means for notifying an occupant of this when the communication means has received already-notified information indicating that a collision between the vehicle and the other vehicle has been notified from the other vehicle;
A vehicle-mounted terminal device comprising:

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