JP5152525B2 - Driving support device, driving support method, and driving support program - Google Patents

Description

  The present invention relates to a driving support device, a driving support method, and a driving support program.

  2. Description of the Related Art Conventionally, there is known an operation management system that records an operation state of a vehicle and manages the operation of the vehicle using the record. This operation management system records, for example, the traveling speed of the vehicle, the rotational speed of the wheels, and the like as the operation state, and determines whether or not the vehicle is in a dangerous situation based on these operation states. When it is determined that the vehicle is in a dangerous situation, for example, when the vehicle traveling speed exceeds the legal speed or when a wheel lock is detected, the vehicle communicates with the control center. Operation management such as alerting the driver and changing the travel route has been performed (see, for example, Patent Document 1).

JP 2002-042288 A (paragraphs 0032 to 0034, 0054 to 0056)

  By the way, the behavior of a vehicle when traveling on a curve is, for example, a behavior in which the vehicle is directed to the outside of the curve (understeer) when the curve turns due to a change in the load balance before and after the vehicle according to the gradient of the curve, It changes between the inward behavior (oversteer). It is considered that the situation of the curve that should alert the driver differs depending on the behavior of the vehicle on this curve and the turning direction of the curve.

  However, the conventional system as described above merely determines whether or not the vehicle is in a dangerous state based on the operation state of the vehicle, and does not take into consideration the gradient of the curve, the turning direction, or the like. It was. Therefore, the behavior of the vehicle that changes according to the gradient of the curve cannot be taken into consideration, and there is a possibility that appropriate support according to the behavior of the vehicle or the situation of the curve cannot be performed.

  The present invention has been made in view of the above, and is a driving support device and a driving support method capable of performing appropriate driving support in consideration of the behavior of the vehicle that changes according to the slope of the curve and the situation of the curve. And to provide a driving support program.

  In order to solve the above-described problems and achieve the object, the driving support device according to claim 1 specifies a slope and a turning direction of a curve existing in the traveling direction of the vehicle, and the specified slope and the turning direction are specified. Based on the above, the departure direction specifying means for specifying the departure direction where the vehicle traveling on the curve is likely to deviate from the traveling lane of the curve, and the situation of the curve in the departure direction specified by the departure direction specifying means are specified. And support means for determining the support content based on the specified situation and supporting the determined content.

  Further, the driving support device according to claim 2 is the driving support device according to claim 1, wherein the support means is configured such that the situation is a situation in which traveling of an oncoming vehicle of the vehicle is predicted, and the vehicle is in parallel. A situation in which the traveling of the traveling vehicle is predicted or a situation in which the vehicle cannot travel is identified, and the support content is determined based on the identified situation.

  The driving support device according to claim 3 is the driving support device according to claim 1 or 2, wherein the departure direction specifying unit determines whether or not the vehicle passes an oncoming vehicle around the curve. And when it determines with passing the said oncoming vehicle, the said departure direction is specified.

The driving support method according to claim 4 is a driving support method to be executed by a driving support device for performing driving support, wherein the driving support device has a curve slope and a turn existing in a traveling direction of the vehicle. A deviation direction identifying step that identifies a direction and identifies a departure direction in which the vehicle traveling on the curve is likely to deviate from the traveling lane of the curve based on the identified gradient and turning direction; and the driving support device but to identify the status of the curve in the departing direction specified in the deviation direction specifying step, to determine the support contents based on the specified conditions, including a support step of supporting the contents of the determined, the.

The driving support program according to claim 5 is a driving support program for causing a computer to execute driving support, wherein the computer specifies a slope of a curve and a turning direction existing in a traveling direction of the vehicle, A departure direction specifying step for specifying a departure direction in which the vehicle traveling on the curve is likely to deviate from the traveling lane of the curve based on the slope and the turning direction, and the computer is specified in the departure direction specifying step. The state of the curve in the deviating direction is specified, the support content is determined based on the specified status, and the support step of supporting the determined content is executed by the computer.

  According to the driving support device according to claim 1, the driving support method according to claim 4, and the driving support program according to claim 5, the vehicle deviates from the curve lane based on the curve gradient and the turning direction. The direction of assistance is determined based on the situation of the curve in the direction of departure, and the details of assistance are determined based on the behavior of the vehicle that changes according to the slope of the curve and the direction of turning of the curve. Appropriate support can be provided based on the situation of the power curve.

  According to the driving support device of claim 2, the situation of the curve in the departure direction is a situation in which the traveling of the oncoming vehicle of the vehicle is predicted, a situation in which the traveling of the parallel running vehicle of the vehicle is predicted, or the vehicle Since it determines which of the situations in which the vehicle cannot travel, and determines the support content based on the specified situation, it is possible to provide appropriate support according to the situation that can occur on the curve in the departure direction of the vehicle it can.

  Further, according to the driving support device of the third aspect, since it is determined whether or not the vehicle passes the oncoming vehicle around the curve, and the departure direction is specified when it is determined that the vehicle passes the oncoming vehicle, the necessity Support can be provided only when there is high, and excessive support can be prevented.

It is a block diagram which illustrates a driving support system. It is the table | surface which illustrated the information stored in the departure direction table. It is the table | surface which illustrated the information stored in the support content table. It is a flowchart of the driving assistance process performed by a driving assistance system. It is a flowchart of a support content determination process. It is the figure which showed roughly the relationship between a vehicle, an oncoming vehicle, and a passing point.

  Hereinafter, embodiments of a driving support apparatus according to the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to the embodiments.

(Constitution)
First, the configuration of the driving support system will be described. FIG. 1 is a block diagram illustrating a driving support system. As shown in FIG. 1, the driving support system 1 includes a vehicle speed sensor 10, a steering sensor 20, a current position detection processing unit 30, a communication unit 40, and a driving support device 50.

(Configuration-vehicle speed sensor)
The vehicle speed sensor 10 outputs a vehicle speed pulse signal or the like proportional to the rotational speed of the axle to the driving support device 50, and a known vehicle speed sensor can be used.

(Configuration-steering sensor)
The steering sensor 20 detects the steering angle of the steering wheel of the vehicle and outputs the detected value to the driving support device 50. A known steering sensor can be used.

(Configuration-Current position detection processing unit)
The current position detection processing unit 30 is current position detection means for detecting the current position of the vehicle on which the driving support system 1 is mounted. Specifically, the current position detection processing unit 30 has at least one of a GPS, a geomagnetic sensor, a distance sensor, and a gyro sensor (all of which are not shown), and determines the current vehicle position (coordinates), direction, and the like. Detection is performed by a known method.

(Configuration-Communication Department)
The communication unit 40 is a transmission unit that receives information transmitted from another vehicle, a control center, or the like and transmits information input from the driving support device 50, and a known wireless communication device can be used.

(Configuration-Driving support device)
The driving support device 50 includes a display 51, a speaker 52, a control unit 53, and a data recording unit 54.

(Configuration-Driving support device-Display and speaker)
The display 51 is a display unit that displays an image based on the control of the control unit 53. The specific configuration of the display 51 is arbitrary, and a flat panel display such as a known liquid crystal display or organic EL display can be used. The speaker 52 is output means for outputting various sounds based on the control of the control unit 53. In addition, the specific aspect of the audio | voice output from the speaker 52 is arbitrary, The synthetic | combination audio | voice produced | generated as needed and the audio | voice recorded beforehand can be output.

(Configuration-Driving support device-Control unit)
The control unit 53 is a control unit that controls the driving support device 50. Specifically, the CPU, various programs that are interpreted and executed on the CPU (a basic control program such as an OS, and an OS that is started and specified) And an internal memory such as a RAM for storing the program and various data. In particular, the driving support program according to the present embodiment is installed in the driving support device 50 via an arbitrary recording medium or network, thereby substantially configuring each unit of the control unit 53.

  The control unit 53 includes a departure direction specifying unit 53a and a support unit 53b in terms of functional concept. The departure direction specifying unit 53a is a departure direction specifying unit that specifies a departure direction in which a vehicle traveling on a curve is likely to depart from the traveling lane of the curve. Here, “traveling lane” means a lane in which the vehicle is traveling. The support unit 53b is a support unit that determines support content related to driving and supports the determined content. Details of processing executed by each component of the control unit 53 will be described later.

(Configuration-Driving support device-Data recording unit)
The data recording unit 54 is a recording unit that records a program and various data necessary for the operation of the driving support device 50, and is configured using, for example, a hard disk (not shown) as an external storage device. However, any other recording medium including a magnetic recording medium such as a magnetic disk or an optical recording medium such as a DVD or a Blu-ray disk can be used instead of or together with the hard disk.

  The data recording unit 54 includes a map information database (hereinafter referred to as “DB”) 54a, a departure direction table 54b, and a support content table 54c. The map information DB 54a is map information storage means for storing map information. “Map information” includes, for example, road data (node number, link number, road coordinates, road type, road shape, gradient, bank, number of lanes, speed limit, road number, etc.), feature data (signals, road signs, guardrails, etc.) , Buildings, etc.), terrain data (situations outside the road, such as walls, cliffs, mountain surfaces, etc.), map display data for displaying a map on the display 51, and the like. The feature data and the terrain data are configured as information in which a feature or terrain type (for example, “traffic light”, “wall”, etc.) and a coordinate indicating the position of the feature or terrain are associated with each other. Yes.

  The departure direction table 54b is a table that correlates the turning direction and gradient of the curve with the departure direction in which the vehicle traveling on the curve is likely to deviate from the traveling lane of the curve. This is for reference when specifying the direction of departure. FIG. 2 is a table illustrating information stored in the departure direction table 54b. As shown in FIG. 2, the departure direction table 54b includes “turning direction” and “gradient” as table items, and the contents of these “turning direction” and “gradient” (in FIG. The information ("left direction" and "right direction" in FIG. 2) for specifying the departure direction corresponding to the "curve", "right curve", and "gradient" corresponding to "uphill" and "downhill") is stored.

  The support content table 54c is a table for reference when the support unit 53b determines support content. FIG. 3 is a table illustrating information stored in the support content table 54c. As shown in FIG. 3, the support content table 54 c includes “deviation direction status”, “condition”, and “support content” as table items, and information corresponding to these is stored in association with each other. The information stored corresponding to the item “departure direction situation” is information for specifying the situation of the curve in the deviation direction from the travel lane of the vehicle (in FIG. 3, “opposite lane”, “parallel lane”, “ Unable to drive "). The information stored corresponding to the item “condition” is information indicating the condition for specifying the support content (in FIG. 3, “time until passing t ≦ 3 seconds”, “with parallel running vehicle”, etc.) . Details of the information stored in the support content table 54c will be described later.

(processing)
Next, driving support processing executed by the driving support system 1 configured as described above will be described. FIG. 4 is a flowchart of a driving support process executed by the driving support system 1 (steps are abbreviated as “S” in the following description of each process). This process is repeatedly started at a predetermined cycle after the power supply to the driving support system 1 is turned on, for example.

  After starting the driving support process, the support unit 53b acquires information about the vehicle (SA1). For example, vehicle speed information based on a vehicle speed pulse signal input from the vehicle speed sensor 10, steering angle information based on a detection value input from the steering sensor 20, current position information input from the current position detection processing unit 30, or the like is acquired. .

  Next, the support unit 53b specifies the road shape in the traveling direction of the vehicle based on the current position information of the vehicle acquired in SA1 and the road data stored in the map information DB 54a (SA2).

Subsequently, based on the information regarding the vehicle acquired in SA1 and the road shape in the traveling direction of the vehicle specified in SA2, it is determined whether there is a curve within a predetermined distance in the traveling direction of the vehicle (SA3). For example, if the vehicle speed is specified based on the obtained vehicle speed information SA1 was V _0, it determines the road shape in the traveling distance when the vehicle travels at a vehicle speed V ₀ 10 seconds whether including curve. The criterion for determining whether or not a curve is included is arbitrary. For example, when a part of the road has a curvature of a certain level or more, it is determined that the curve is included. Here, the “curve” is a section in which a curved path having a constant curvature is continuous, and is a section connecting the start point and the end point of the curved path having the constant curvature.

  As a result, when it is determined that there is no curve within a predetermined distance in the traveling direction of the vehicle (SA3, No), it is assumed that the necessity of providing support is low, and the support unit 53b ends the driving support process.

  On the other hand, when it is determined that there is a curve within the predetermined distance (SA3, Yes), the support unit 53b assumes that it is necessary to perform support, and executes support content determination processing for determining support content (SA4).

  Here, the support content determination process will be described. FIG. 5 is a flowchart of the support content determination process. As shown in FIG. 5, when the assistance content determination process is started, the departure direction specifying unit 53a acquires other vehicle information related to other vehicles traveling on the same road as the vehicle (SB1). “Other vehicle information” includes, for example, information specifying the current position, vehicle speed, travel lane, and the like of the other vehicle. This other vehicle information can be received from another vehicle by vehicle-to-vehicle communication via the communication unit 40, for example, or can be received from a communication device installed in a traffic light or the like by road-to-vehicle communication.

  Subsequently, the departure direction specifying unit 53a determines whether there is an oncoming vehicle in the traveling direction of the vehicle based on the other vehicle information acquired in SB1 (SB2). For example, when other vehicle information is received from an oncoming vehicle by inter-vehicle communication, or when other vehicle information about the oncoming vehicle is received from a communication device installed in a traffic light or the like by road-to-vehicle communication, it is determined that an oncoming vehicle exists. To do. Further, when it is determined that the road on which the vehicle is traveling is a one-way road based on the road data stored in the map information DB 54a, it is determined that there is no oncoming vehicle.

  As a result, when it is determined that there is no oncoming vehicle (SB2, No), the support unit 53b determines that the support content is “standby” on the assumption that the need for support is low (SB3), and performs the support content determination process. End and return to the main routine.

On the other hand, when it is determined that there is an oncoming vehicle (SB2, Yes), the departure direction specifying unit 53a estimates a point where the oncoming vehicle and the vehicle pass (hereinafter, referred to as “passing point”) (SB4). FIG. 6 is a diagram schematically showing the relationship between the vehicle, the oncoming vehicle, and the passing point. For example, as shown in FIG. 6, when the vehicle speed of the vehicle 2 is V ₀ , the vehicle speed of the oncoming vehicle 3 is Vt, and the travel distance between the vehicle 2 and the oncoming vehicle 3 is S, the vehicle 2 and the oncoming vehicle 3 Is calculated as T = S / (V ₀ + Vt). Further, the distance Sp from the vehicle 2 to the passing point is calculated as Sp = T × V ₀ . The passing point can be estimated based on the Sp thus calculated and the current position of the vehicle 2.

  Returning to FIG. 5, the departure direction specifying unit 53a determines whether or not the vehicle 2 passes the oncoming vehicle 3 by a curve (SB5). For example, when the passing point estimated in SB4 is located between the starting point and the ending point of a curved road having a constant curvature that forms a curve existing in the traveling direction of the vehicle 2, the vehicle 2 is on the opposite vehicle on the curve. Judged to pass 3 The curve where the passing point is located is referred to as “passing curve” in the following description.

  As a result, when it is determined that the vehicle 2 does not pass the oncoming vehicle 3 on the curve (No in SB5), the support unit 53b determines that the support content is “standby” on the assumption that the need for support is low (SB3). ), The support content determination process ends, and the process returns to the main routine.

  On the other hand, when it is determined in SB5 that the vehicle 2 passes the oncoming vehicle 3 by the curve (SB5, Yes), the departure direction specifying unit 53a specifies the gradient of the passing curve existing in the traveling direction of the vehicle 2 and the turning direction. (SB6). For example, the departure direction specifying unit 53a specifies the turning direction of the passing curve based on the road data (road shape) in the traveling direction of the vehicle 2 specified in SA2 of FIG. Further, the slope of the passing curve is specified based on the current position information of the vehicle 2 acquired in SA1 and the road data (gradient) stored in the map information DB 54a.

Subsequently, the departure direction specifying unit 53a calculates the lateral acceleration G of the vehicle 2 when traveling on a passing curve existing in the traveling direction of the vehicle 2 (SB7). For example, the vehicle speed V _{0 of the} vehicle 2 specified based on the vehicle speed information acquired in SA1 and the curvature radius R of the passing curve specified based on the road shape in the traveling direction of the vehicle 2 specified in SA2 of FIG. Based on this, the lateral acceleration G is calculated as G = V ₀ ² / R.

  Next, the support unit 53b determines whether or not the lateral acceleration G calculated by the departure direction specifying unit 53a in SB7 is equal to or greater than a threshold (for example, 0.2 [G]) (SB8). As a result, when the lateral acceleration G is not equal to or greater than the threshold (SB8, No), it is assumed that the possibility that the vehicle 2 deviates from the driving lane of the passing curve is low, and the support unit 53b determines the support content as “standby”. (SB3), the support content determination process ends, and the process returns to the main routine.

  On the other hand, when the lateral acceleration G is equal to or greater than the threshold (SB8, Yes), the departure direction specifying unit 53a refers to the departure direction table 54b, and the slope of the passing curve existing in the traveling direction of the vehicle 2 specified in SB4 and Based on the turning direction, the departure direction in which the vehicle 2 is likely to deviate from the traveling lane of the passing curve is specified (SB9).

  For example, when the slope of the passing curve existing in the traveling direction of the vehicle 2 is “uphill”, the load applied to the rear wheel of the vehicle 2 traveling on the road with the uphill gradient is larger than that of the front wheel. Motor characteristics tend to be understeered. Therefore, the direction toward the outside of the turning circle of the passing curve is specified as the departure direction from the traveling lane. That is, for the passing curve with the left turning direction ("left curve" in FIG. 2), the right side of the driving lane ("right direction" in FIG. 2) is specified as the departure direction, and the passing curve with the right turning direction (in FIG. 2) For the “right curve”), the left side of the travel lane (“left direction” in FIG. 2) is specified as the departure direction.

  On the other hand, when the slope of the passing curve existing in the traveling direction of the vehicle 2 is “downhill”, the load applied to the front wheels of the vehicle 2 traveling on the downhill road is larger than that of the rear wheels. The movement characteristics tend to be oversteer. Therefore, the direction of departure from the driving lane is the direction toward the inside of the turning circle of the passing curve, that is, the left-hand side of the driving lane (the “left direction” in FIG. ") Is specified as the departure direction, and the right side of the traveling lane (" right direction "in FIG. 2) is specified as the departure direction for the passing curve with the right turning direction (" right curve "in FIG. 2).

  Subsequently, the support unit 53b specifies the situation of the passing curve in the departure direction specified by the departure direction specifying unit 53a in SB9 (SB10). Here, the “situation of the passing curve in the departure direction” is a passing curve outside the traveling lane in which the vehicle 2 is traveling and a situation around the passing curve. For example, the traveling of the oncoming vehicle 3 of the vehicle 2 is predicted. This is a concept including a situation where the vehicle 2 is predicted to travel and a situation where the vehicle 2 cannot travel. The “situation in which the traveling of the oncoming vehicle 3 of the vehicle 2 is predicted” includes, for example, a situation in which an oncoming lane exists in the departure direction. Moreover, the “situation where the traveling of the parallel vehicle of the vehicle 2 is predicted” includes, for example, a situation where a parallel lane exists in the departure direction. The “situation in which the vehicle 2 cannot travel” includes, for example, a situation in which a cliff or a mountain surface exists in the departure direction. The support unit 53b specifies the situation of the passing curve in these deviation directions based on, for example, road data and terrain data included in the map information.

  Then, the support unit 53b refers to the support content table 54c, based on the situation of the passing curve specified in SB10, other vehicle information acquired in SB1, the passing point estimated in SB3, road data corresponding to the passing curve, and the like. The contents of support are determined (SB11).

  For example, in the example of FIG. 3, when there is an oncoming lane in a direction in which the vehicle 2 deviates from the travel lane (in FIG. 3, “deviation direction status” is “oncoming lane”), the support content is determined as follows. When the time T until passing calculated when estimating the passing point in SB3 is less than 3 seconds ("condition" in FIG. 3 is "time to pass T <3 seconds"), the vehicle 2 is in the driving lane Since there is a possibility of deviating from the oncoming lane and coming into contact with the oncoming vehicle 3 and the time for avoidance is short, the automatic deceleration control of the vehicle 2 is determined as the support content (in FIG. 3, “support content” is "Automatic deceleration control"). If the time T until passing each other is 3 seconds or more (in FIG. 3, “condition” is “time T ≧ 3 seconds until passing”), the vehicle 2 deviates from the driving lane to the oncoming lane, and the oncoming vehicle 3 However, since there is a time for avoidance, for example, a warning output for prompting deceleration so as not to deviate to the oncoming lane is determined as support content (in FIG. 3, “support content” is "Warning output").

  Further, when there is a parallel lane in a direction in which the vehicle 2 deviates from the travel lane (in FIG. 3, “deviation direction status” is “parallel lane”), the support content is determined as follows. When it is specified based on the other vehicle information acquired in SB1 that there is a parallel vehicle that is parallel to the vehicle 2 in the parallel lane ("condition" is "with parallel vehicle" in FIG. 3), the vehicle 2 May deviate from the traveling lane to the parallel lane and come into contact with the parallel vehicle, for example, a warning output for prompting deceleration so as not to deviate from the parallel lane is determined as the support content (FIG. 3). "Support contents" is "warning output"). On the other hand, when it is specified based on the other vehicle information acquired in SB1 that there is no parallel vehicle running in parallel with the vehicle 2 in the parallel lane (“condition” in FIG. 3 is “no parallel vehicle”). The support content is determined as “standby” because it is less necessary to provide support.

  Further, when the vehicle 2 has a cliff, a mountain face, or the like in a direction deviating from the travel lane and cannot travel (the “departure direction status” in FIG. 3 is “impossible to travel”), the vehicle 2 travels in the travel lane. Therefore, the vehicle 2 may deviate from the region where it cannot travel and may contact the mountain surface, and the avoidance operation is difficult. Therefore, the automatic deceleration control of the vehicle 2 is determined as the support content.

  Returning to FIG. 5, after determining the support content as described above in SB11, the support unit 53b ends the support content determination process and returns to the main routine.

  Returning to FIG. 4, after the support content determination process is executed in SA4, the support unit 53b supports the content determined in the support content determination process (SA5). For example, when the assistance content is automatic deceleration control of the vehicle 2, a known brake actuator (not shown) is controlled to operate the brake to decelerate the vehicle 2. Further, when the support content is a warning output, a warning of the content determined in the support content determination process is output via the display 51 or the speaker 52. Further, a warning signal may be transmitted to another vehicle via the communication unit 40. After executing the support, the support unit 53b ends the driving support process.

(effect)
As described above, according to the embodiment, the departure direction in which the vehicle 2 is likely to deviate from the driving lane of the curve is specified based on the slope of the curve and the turning direction, and the support content is determined based on the situation of the curve in the departure direction. Therefore, appropriate support can be performed based on the situation of the curve to be noted that differs depending on the behavior of the vehicle 2 that changes according to the slope of the curve and the turning direction of the curve.

  Further, the situation of the curve in the departure direction is any of a situation in which the traveling of the oncoming vehicle 3 of the vehicle 2 is predicted, a situation in which the traveling of the parallel vehicle of the vehicle 2 is predicted, or a situation in which the vehicle 2 cannot travel. Since it determines whether it corresponds, and determines the support content based on the specified situation, it is possible to perform appropriate support according to the situation that can occur in the curve in the departure direction of the vehicle 2. For example, appropriate support according to the presence or absence of an oncoming vehicle 3, a parallel running vehicle, or a cliff or mountain surface in the departure direction of the vehicle 2 can be performed.

  Further, it is determined whether or not the vehicle 2 passes the oncoming vehicle 3 around the curve, and the departure direction is specified when it is determined that the vehicle 2 passes the oncoming vehicle 3, so that support can be provided only when necessity is high. And can prevent excessive support.

[Modifications to Embodiment]
Although the embodiments of the present invention have been described above, the specific configuration and means of the present invention can be arbitrarily modified and improved within the scope of the technical idea of each invention described in the claims. Can do. Hereinafter, such a modification will be described.

(About problems to be solved and effects of the invention)
First, the problems to be solved by the invention and the effects of the invention are not limited to the above contents, and may vary depending on the implementation environment and details of the configuration of the invention. May be solved, or only some of the effects described above may be achieved.

(About support content decision processing)
In the above-described embodiment, it has been described that the direction of departure from the traveling lane of the vehicle 2 is specified and the support content is determined on the assumption that the vehicle 2 passes the oncoming vehicle 3 on the curve. If there is a branch path between passing points, the support content may be determined as “standby” and specific support may not be performed. Accordingly, it is possible to prevent excessive support when the oncoming vehicle 3 does not pass the oncoming vehicle 3 because the oncoming vehicle 3 has entered the branch road.

  In the above-described embodiment, the case where automatic deceleration control of the vehicle 2 is performed as a support or the case where warning output is performed via the display 51 or the speaker 52 has been described. However, the communication cycle in inter-vehicle communication with other vehicles is described. It is good also as content of support to shorten. For example, when the departure direction specifying unit 53a determines that the vehicle 2 passes the oncoming vehicle 3 around the curve, the assistance unit 53b performs support for shortening the communication cycle with other vehicles including the oncoming vehicle 3. You may do it. Furthermore, only when there is an oncoming lane in a direction in which the vehicle 2 deviates from the traveling lane on the passing curve, support for shortening the communication cycle with other vehicles including the oncoming vehicle 3 may be performed. Thereby, when there is a possibility that the vehicle 2 deviates from the driving lane and protrudes to the oncoming lane in the passing curve, information such as the position and speed of the oncoming vehicle 3 can be acquired in real time. Since information such as the speed and position of the vehicle 2 can be transmitted in real time, it is possible to improve the certainty of transmitting information necessary for collision avoidance and the like. In addition, when it is determined that the vehicle is passing the oncoming vehicle 3 around the curve and the oncoming lane is in a direction deviating from the traveling lane, the communication cycle is shortened only when the need for assistance is high. Since assistance is performed, unnecessary interference with other vehicles having a low possibility of collision or contact can be avoided.

  Further, in the above-described embodiment, it has been described that when it is determined that the oncoming vehicle 3 does not exist in the traveling direction of the vehicle 2, the support content is determined as “standby”, but the oncoming vehicle 3 exists in the traveling direction of the vehicle 2. Even if not, the departure direction of the vehicle 2 from the travel lane may be specified, and automatic deceleration control of the vehicle 2, warning output, etc. may be supported based on the state of the curve in the departure direction. Thereby, for example, since the oncoming vehicle 3 traveling in the oncoming lane cannot perform inter-vehicle communication, other vehicle information about the oncoming vehicle 3 cannot be acquired, and it is determined that the oncoming vehicle 3 does not exist. Even if it is a case, it is possible to provide support so that the vehicle 2 does not deviate from the traveling lane.

DESCRIPTION OF SYMBOLS 1 Driving assistance system 2 Vehicle 3 Oncoming vehicle 10 Vehicle speed sensor 20 Steering sensor 30 Current position detection processing part 40 Communication part 50 Driving assistance apparatus 51 Display 52 Speaker 53 Control part 53a Deviation direction specific part 53b Support part 54 Data recording part 54a Map information DB
54b Departure direction table 54c Support content table

Claims (5)

A slope and a turning direction of a curve existing in the traveling direction of the vehicle are identified, and a departure direction in which the vehicle traveling on the curve is likely to deviate from the traveling lane of the curve based on the identified slope and turning direction. A deviation direction identifying means to identify;
A support means for specifying the situation of the curve in the departure direction specified by the departure direction specifying means, determining the support content based on the specified situation, and supporting the determined content;
A driving support apparatus comprising: The support means includes
Specify whether the situation corresponds to a situation where the oncoming vehicle of the vehicle is predicted to run, a situation where the parallel running vehicle of the vehicle is predicted to run, or a situation where the vehicle cannot travel, Determine support content based on the identified situation,
The driving support device according to claim 1. The departure direction specifying means includes
It is determined whether the vehicle passes the oncoming vehicle around the curve, and when it is determined that the vehicle passes the oncoming vehicle, the departure direction is specified.
The driving support device according to claim 1 or 2. A driving support method to be executed by a driving support device for performing driving support,
The driving support device identifies a slope and a turning direction of a curve existing in the traveling direction of the vehicle, and the vehicle traveling on the curve can deviate from the traveling lane of the curve based on the specified slope and the turning direction. A deviation direction identifying step for identifying a high deviation direction;
The driving support device specifies the situation of the curve in the departure direction identified in the departure direction identification step, determines the assistance content based on the identified situation, and supports the determined content,
Driving support method including. A driving support program for causing a computer to execute driving support,
The computer identifies a slope and a turning direction of a curve existing in the traveling direction of the vehicle, and the vehicle traveling on the curve may deviate from the traveling lane of the curve based on the identified slope and the turning direction. A deviation direction identifying step for identifying a high deviation direction;
The computer specifies the situation of the curve in the departure direction specified in the departure direction specifying step, determines the support content based on the specified situation, and supports the determined content,
A driving support program for causing the computer to execute.

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