Driving support devices

Abstract

A driving support device comprises: a signal determination unit for determining whether the signal in front of a vehicle is in a no-passage state, a pass-allowed state, or a signal transition state; a driving support unit for performing driving support corresponding to the signal when it is determined that the signal is in a no-passage state; and a left-turn or right-turn action determination unit for determining whether the vehicle is performing a left-turn or right-turn action, wherein the driving support unit does not perform driving support corresponding to the signal when it is determined that the vehicle is performing a left-turn or right-turn action even when it is determined that the signal in front of the vehicle is in a no-passage state.

Description

Technical Field

[0001] The present invention relates to a driving support device. Background Art

[0002] Japanese Patent Application Publication No. 2021-047565 is a known technical document on driving support devices. This publication discloses a driving support device that displays a message "the traffic light is red" at a position visible to the driver when the traffic light in front of the vehicle is red. Summary of the Invention

[0003] However, when a vehicle enters an intersection with a green traffic light and turns left or right, the traffic light in the lane ahead of the vehicle often turns red. If the driver is notified or displayed that the traffic light is red in such a situation, there is a problem of unnecessary attention being drawn to the driver.

[0004] A driving support device according to one embodiment of the present invention provides driving support to a driver of a vehicle when a traffic signal ahead of the vehicle is in a no-pass state. The driving support device comprises: a traffic signal determination unit for determining, based on an image captured by a front camera of the vehicle, whether the traffic signal ahead of the vehicle is in a no-pass state, a pass-allowed state, or a signal transition state; a driving support unit for providing driving support corresponding to the traffic signal if the traffic signal determination unit determines that the traffic signal ahead of the vehicle is in a no-pass state; and a left-turn or right-turn maneuver determination unit for determining whether the vehicle is performing a left or right turn maneuver based on the lighting status of the vehicle's direction indicator, or based on the vehicle's position information on a map and map information, or based on an image captured by the front camera of the vehicle and a pre-stored image pattern of a left-turn or right-turn lane; and a driving support unit for not providing driving support corresponding to the traffic signal if the left-turn or right-turn maneuver determination unit determines that the vehicle is performing a left or right turn maneuver, even if the traffic signal determination unit determines that the traffic signal ahead of the vehicle is in a no-pass state.

[0005] According to the above configuration, even when it is determined that the traffic light in front of the vehicle is in a no-passing state, when the left-turn-right-turn action determination unit determines that the vehicle is performing a left-turn-right-turn action, no driving assistance is provided to the driver, thereby suppressing unnecessary execution of driving assistance corresponding to the left-turn-right-turn traffic light in front of the intersection.

[0006] In the above technical solution, the left-turn or right-turn action determination unit may start determining whether the vehicle is performing a left-turn or right-turn action when the traffic signal determination unit determines that the traffic signal in front of the vehicle is in a passing state or a signal transition state.

[0007] According to the above configuration, when the vehicle enters an intersection with a traffic light, it is considered that the traffic light in front of the vehicle is in a state of allowing passage or a signal transition state. Therefore, by starting to determine whether the vehicle is performing a left turn or a right turn when it is determined that the traffic light in front of the vehicle is in a state of allowing passage or a signal transition state, it is possible to avoid determining the left turn or right turn of the vehicle when it is not necessary.

[0008] In the above technical solution, the driving support unit may not provide driving support corresponding to the signal during a certain period of time from the time when the left turn or right turn action determination unit determines that the vehicle is performing a left turn or right turn action, regardless of the determination result of the signal determination unit.

[0009] According to the above configuration, the timing of determining that the vehicle is performing a left turn or right turn action and the timing of the traffic light in the lane ahead of the vehicle turning left or right by turning left or right at the intersection sometimes staggered. Therefore, by not performing driving assistance corresponding to the traffic light during a certain period of time from the time when the vehicle is determined to be performing a left turn or right turn action, regardless of the determination result of the traffic light determination unit, the situation of "unnecessarily performing driving assistance corresponding to the traffic light ahead of the left turn or right turn at the intersection" can be appropriately suppressed.

[0010] According to each aspect of the present invention, it is possible to suppress unnecessary driving support for traffic signals ahead of left and right turns at an intersection. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Hereinafter, features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

[0012] Figure 1 This is a block diagram showing a driving support device according to an embodiment.

[0013] Figure 2 This is a diagram for explaining a situation in which a vehicle turns right at an intersection.

[0014] Figure 3 This is a flowchart showing an example of driving support prohibition determination processing.

[0015] Figure 4 This is a flowchart showing an example of driving support execution processing. DETAILED DESCRIPTION

[0016] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0017] Figure 1 The illustrated driving support device 100 is mounted on a vehicle such as a passenger car (the vehicle itself) and assists the driver in driving the vehicle. Driving support device 100 provides driving support to the driver based on the lighting status of the traffic light in front of the vehicle. Traffic light lighting status includes a pass-through state (e.g., a green light) that allows vehicles to pass, a no-pass state (e.g., a red light) that prohibits vehicles from passing, and a signal transition state (e.g., a yellow light) that changes from a pass-through state to a no-pass state. The signal transition state is not necessarily included in the traffic light lighting status.

[0018] [Configuration of driving support system]

[0019] Hereinafter, the configuration of the driving support device 100 will be described with reference to the accompanying drawings. Figure 1 As shown, the driving support device 100 includes a driving support ECU (Electronic Control Unit) 10 that centrally manages the device. The driving support ECU 10 is an electronic control unit that includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and other components. In the driving support ECU 10, various functions are implemented by, for example, the CPU executing programs stored in the ROM. The driving support ECU 10 may also be composed of multiple electronic control units.

[0020] The driving support ECU 10 is connected to a GNSS (Global Navigation Satellite System) receiving unit 1 , a front camera 2 , an interior sensor 3 , a driving operation detection unit 4 , a map database 5 , an actuator 6 , and an HMI (Human Machine Interface) 7 .

[0021] The GNSS receiving unit 1 receives signals from three or more positioning satellites to measure the position of the vehicle (for example, the latitude and longitude of the vehicle). The GNSS receiving unit 1 transmits the measured position information of the vehicle to the driving support ECU 10 .

[0022] The front camera 2 is a camera for capturing images of the front of the vehicle. For example, the front camera 2 is located behind the front windshield of the vehicle. The front camera 2 transmits images of the front of the vehicle to the driving support ECU 10. The front camera 2 can be a single-lens camera or a stereo camera.

[0023] Internal sensors 3 are devices that detect the driving state of the vehicle. They include a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor detects the speed of the vehicle. Examples of such sensors include wheel speed sensors installed on the vehicle's wheels or on drive shafts that rotate integrally with the wheels, and which detect the rotational speed of the wheels. The vehicle speed sensors transmit the detected vehicle speed information (wheel speed information) to the driving support ECU 10.

[0024] An acceleration sensor detects the acceleration of the vehicle. Examples of acceleration sensors include a longitudinal acceleration sensor that detects the vehicle's acceleration in the longitudinal direction and a lateral acceleration sensor that detects the vehicle's lateral acceleration. The acceleration sensor transmits information about the vehicle's acceleration to the driving support ECU 10. A yaw rate sensor detects the yaw rate (rotational angular velocity) about a vertical axis relative to the vehicle's center of gravity. For example, a gyroscope sensor can be used as the yaw rate sensor. The yaw rate sensor transmits the detected yaw rate information of the vehicle to the driving support ECU 10.

[0025] The driving operation detection unit 4 is a detection device that detects the driver's driving operation of the vehicle. The driving operation detection unit 4 includes an accelerator pedal sensor or a turn signal sensor. Alternatively, the driving operation detection unit 4 may include both an accelerator pedal sensor and a turn signal sensor, a steering sensor, a brake pedal sensor, or a shift lever sensor.

[0026] The accelerator pedal sensor is, for example, located on the shaft of the accelerator pedal and detects the driver's pedal force or pedaling amount (the position of the accelerator pedal). The turn signal sensor detects the driver's operation (on or off) of the turn signal (turn signal). The turn signal sensor can be, for example, located on the turn signal lever.

[0027] The brake pedal sensor, for example, is located on the shaft of the brake pedal and detects the driver's pedal force or pedaling amount (brake pedal position). The steering sensor, for example, is located on the vehicle's steering shaft and detects the driver's steering torque applied to the steering wheel. The shift lever sensor detects the transmission's gear position.

[0028] The map database 5 stores map information. For example, the map database 5 is stored in a storage device such as a hard disk drive (HDD) installed in the vehicle. Map information may also include road location information, road shape information (e.g., types of curves and straight sections, curvature of curves, etc.), location information of intersections and branch points, and location information of structures. Map information may also include traffic control information such as legal speed limits, which is linked to the location information. Alternatively, the map database 5 may be stored in a server capable of communicating with the vehicle.

[0029] The actuator 6 is a device used to control this vehicle. The actuator 6 includes at least a drive actuator and a brake actuator. The actuator 6 may also include a steering actuator. The drive actuator controls the air supply to the engine (throttle opening) based on the control signal from the driving support ECU 10, thereby controlling the driving force of this vehicle. In addition, when this vehicle is a hybrid vehicle, in addition to the air supply to the engine, a control signal from the driving support ECU 10 is input to the motor serving as the power source to control its driving force. When this vehicle is an electric vehicle, a control signal from the driving support ECU 10 is input to the motor serving as the power source to control its driving force. In these cases, the motor serving as the power source constitutes the actuator 6.

[0030] The brake actuator controls the braking system based on control signals from the driving support ECU 10, controlling the braking force applied to the wheels of the vehicle. For example, a hydraulic brake system can be used as the braking system. The steering actuator controls the driving of the assist motor in the electric power steering system, which controls the steering torque, based on control signals from the driving support ECU 10. Thus, the steering actuator controls the steering torque of the vehicle.

[0031] The HMI (Human Machine Interface) 7 is an interface for inputting and outputting information between the driving support device 100 and the driver. For example, the HMI 7 includes a display and a speaker. Based on control signals from the driving support ECU 10, the HMI 7 outputs images to the display and sounds to the speaker. The display can be a HUD (Head Up Display) or a multi-information display installed on the instrument panel.

[0032] Next, the functional structure of the driving support ECU 10 will be described. Figure 1As shown, the driving support ECU 10 includes a traffic signal determination unit 11, a vehicle position estimation unit 12, a left-turn or right-turn determination unit 13, and a driving support unit 14. Furthermore, some of the functions of the driving support ECU 10 described below may be executed in a server capable of communicating with the vehicle.

[0033] The signal determination unit 11 determines the lighting status of the signal ahead of the vehicle based on images captured by the front camera 2. The signal determination unit 11 determines whether the signal ahead of the vehicle is in a no-go state, a go-ahead state, or a signal transition state. The signal determination unit 11 performs signal determination using well-known image processing methods such as pattern matching and / or deep learning.

[0034] Even for signals with arrow lights, the signal determination unit 11 determines whether the signal is in a no-go state, a pass-through state, or a signal transition state based on the lighting status of the arrow lights. The signal determination unit 11 identifies whether the vehicle's driving lane is a right-turn lane or a left-turn lane, as needed, and determines that the vehicle is in a pass-through state if the corresponding arrow light is illuminated. Well-known methods can be used for determining whether the signal is in a no-go state or a pass-through state for signals with arrow lights.

[0035] The vehicle position estimation unit 12 estimates the vehicle's position on the map based on the position information of the GNSS receiving unit 1 and the map information in the map database 5. Furthermore, the vehicle position estimation unit 12 may also estimate the vehicle's position using SLAM (Simultaneous Localization and Mapping) technology, using the position information of fixed obstacles such as utility poles included in the map information in the map database 5 and the image captured by the front camera 2. In the SLAM-based vehicle position estimation, the detection results of millimeter-wave radars and laser radars (LIDAR: Light Detection and Ranging) installed in the vehicle may also be used. Furthermore, the vehicle position estimation unit 12 may estimate the vehicle's position on the map using well-known methods such as dead reckoning.

[0036] The left-turn-right-turn action determination unit 13 determines whether the vehicle is performing a left-turn or right-turn action. The left-turn-right-turn action determination unit 13 determines whether the vehicle is performing a left-turn or right-turn action based on the lighting status of the direction indicator of the vehicle, or based on the position information of the vehicle on the map and the map information, or based on the image captured by the front camera of the vehicle and the image pattern of the pre-stored left-turn and right-turn lane. The left-turn-right-turn action determination unit 13 may also start the determination of the left-turn or right-turn action of the vehicle when the traffic signal determination unit 11 determines that the traffic signal in front of the vehicle is in the pass-through state or the signal transition state. The left-turn-right-turn action determination unit 13 may also always determine the left-turn or right-turn action when the driving support function is on, or may start the determination of the left-turn or right-turn action based on other conditions.

[0037] The left-turn or right-turn motion determination unit 13 identifies the lighting status (presence and lighting direction) of the vehicle's direction indicator (turn signal) based on, for example, the driver's operation of the direction indicator detected by the driving operation detection unit 4. The left-turn or right-turn motion determination unit 13 can determine that the vehicle is performing a left-turn or right-turn motion when either of the vehicle's left or right direction indicators is lit.

[0038] The left-turn or right-turn determination unit 13 may also determine that the vehicle is performing a left-turn or right-turn maneuver if, based on the vehicle's position information on the map and the map information, the vehicle is identified as traveling in a right-turn lane or a left-turn lane. The map information may include position information for the right-turn lane and the left-turn lane. The left-turn or right-turn determination unit 13 may also determine that the vehicle is performing a left-turn or right-turn maneuver if, based on the vehicle's position information on the map and the map information, the vehicle is identified as deviating from its driving lane within the intersection and moving toward a lane intersecting with the vehicle's driving lane.

[0039] The left-turn or right-turn maneuver determination unit 13 may also determine that the vehicle is performing a left-turn or right-turn maneuver if the vehicle is recognized as traveling in a right-turn lane or a left-turn lane based on an image captured by a camera in front of the vehicle and a pre-stored image pattern of a left-turn or right-turn lane. The image pattern of a left-turn or right-turn lane refers to, for example, an image pattern of a road surface display such as an arrow indicating a right-turn lane or a left-turn lane.

[0040] The left-turn-right-turn action determination unit 13 may also determine the left-turn-right-turn action of the vehicle in addition to the lighting condition of the direction indicator of the vehicle, by also considering the lighting direction (right direction or left direction) of the direction indicator of the preceding vehicle. In this case, if only the direction indicator of the vehicle is lit, the left-turn-right-turn action determination unit 13 does not determine that the vehicle is performing a left-turn-right-turn action. The left-turn-right-turn action determination unit 13 identifies the lighting direction of the direction indicator of the vehicle in accordance with the detection result of the driving operation detection unit 4, for example, and identifies the lighting direction of the direction indicator of the preceding vehicle based on the image captured by the front camera of the vehicle. The left-turn-right-turn action determination unit 13 determines that the vehicle is performing a left-turn-right-turn action when the lighting direction of the direction indicator of the vehicle in accordance with the lighting direction of the direction indicator of the preceding vehicle is the same direction.

[0041] The left-turn or right-turn determination unit 13 may also determine whether the vehicle is performing a left-turn or right-turn maneuver based on the lighting status of the vehicle's direction indicator and the image captured by the vehicle's front camera. The left-turn or right-turn determination unit 13 may identify the lane boundary of the driving lane (including the lane boundary that extends across the intersection) based on the image captured by the vehicle's front camera when the vehicle's direction indicator begins to light up, and determine that the vehicle is performing a left-turn or right-turn maneuver based on changes in the angle of the lane boundary of the driving lane within the image captured by the front camera.

[0042] Figure 2 This is a diagram for explaining the situation where the vehicle turns right at an intersection. Figure 2 The figure shows an intersection C, a vehicle M, the lane RA in which the vehicle M is traveling, and the lane RB ahead of the vehicle M's right turn. Furthermore, the vehicle M performing a left or right turn is indicated by dashed lines. The traffic light TL1 corresponding to the lane RA and the traffic light TL2 corresponding to the lane RB ahead of the vehicle M's right turn are also shown. Traffic light TL1 is in the "allow through" state, while traffic light TL2 is in the "no through" state. The left or right turn determination unit 13 determines that the vehicle M is performing a left or right turn based on, for example, the lighting status of the direction indicator of the vehicle M.

[0043] The driving support unit 14 performs driving support corresponding to the traffic signal when the traffic signal determination unit 11 determines that the traffic signal in front of the vehicle is in the no-passing state. The content of the driving support is not particularly limited.

[0044] Driving support can include a warning to notify the driver that a traffic light is in a no-pass state, deceleration support to assist the driver in decelerating, or deceleration support that automatically decelerates. Warning is performed via HMI 7 through audio output and / or visual display. Deceleration support and deceleration support are performed by controlling actuator 6.

[0045] Even when the signal determination unit 11 determines that the signal ahead of the vehicle is in a no-passing state, the driving support unit 14 does not provide driving support corresponding to the signal when the left-turn or right-turn action determination unit 13 determines that the vehicle is making a left or right turn. Figure 2 In the situation shown, the driving assistance unit 14 determines that the vehicle is performing a left turn or a right turn through the left turn and right turn action determination unit 13. Therefore, even if the signal TL2 in front of the vehicle M (the signal in front of the right turn) is in a no-passing state when turning right, unnecessary driving assistance corresponding to the signal TL2 can be avoided.

[0046] The driving support unit 14 may also operate in such a manner that, during a predetermined period of time after the left-turn or right-turn maneuver determination unit 13 determines that the vehicle is performing a left or right turn, the driving support unit 14 does not provide driving support corresponding to a traffic signal, regardless of the determination result of the traffic signal determination unit 11. The "predetermined period of time" is not particularly limited and may be 30 seconds, 1 minute, or more than 3 minutes.

[0047] The driving support unit 14 may also operate in the following manner: if the left-turn / right-turn maneuver determination unit 13 determines that the vehicle is performing a left-turn / right-turn maneuver, the driving support unit 14 may not provide driving support corresponding to the signal, regardless of the determination result of the signal determination unit 11, from the time the left-turn / right-turn maneuver determination unit 13 determines that the vehicle is performing a left-turn / right-turn maneuver until a predetermined time has passed after the vehicle is determined to have completed the left-turn / right-turn maneuver. For example, the driving support unit 14 may determine that the vehicle's left-turn / right-turn maneuver is complete when the vehicle's steering angle exceeds a first threshold in either left or right directions and then becomes less than a second threshold that is smaller than the first threshold. The first and second thresholds are predetermined values. The "predetermined time" is not particularly limited and may be 10 seconds, 15 seconds, 20 seconds, or longer than 1 minute. Furthermore, the yaw rate may be used instead of the steering angle. Furthermore, well-known methods may be used to determine the completion of the left-turn / right-turn maneuver.

[0048] Handling of driving support devices

[0049] Next, the processing of the driving support device 100 according to the present embodiment will be described with reference to the drawings. Figure 3 1 is a flowchart showing an example of a driving support prohibition determination process. The driving support prohibition determination process is executed when the driving support corresponding to the traffic signal is turned on by the user setting.

[0050] like Figure 3As shown, as S10, the driving support ECU 10 of the driving support device 100 determines, via the signal determination unit 11, whether the traffic signal ahead of the vehicle is in a prohibited state, a permitted state, or a signal transition state. The signal determination unit 11 performs this determination based on an image captured by the front camera 2. If the driving support ECU 10 determines that the traffic signal ahead of the vehicle is in a permitted state or a signal transition state (S10: Yes), the driving support ECU 10 proceeds to S11. If the driving support ECU 10 does not determine that the traffic signal ahead of the vehicle is in a permitted state or a signal transition state (S10: No), the driving support prohibition determination process ends.

[0051] As S11, the driving support ECU 10 determines whether the vehicle is performing a left turn or a right turn through the left turn or right turn action determination unit 13. The left turn or right turn action determination unit 13 makes the above determination based on the lighting status of the direction indicator of the vehicle, or based on the position information of the vehicle on the map and the map information, or based on the image captured by the front camera of the vehicle and the image pattern of the left turn or right turn lane stored in advance. When the driving support ECU 10 determines that the vehicle is performing a left turn or a right turn action (S11: Yes), the driving support ECU 10 proceeds to S12. When the driving support ECU 10 does not determine that the vehicle is performing a left turn or a right turn action (S11: No), the driving support prohibition determination processing ends this time.

[0052] As S12, the driving support ECU 10 prohibits the driving support unit 14 from providing driving support for signals for a predetermined period of time. In this case, the driving support prohibited is not limited to the signal determined in S10, but applies to all signals (corresponding to all signals). The driving support ECU 10 then terminates the current driving support prohibition determination process.

[0053] Figure 4 1 is a flowchart showing an example of a driving support execution process. The driving support execution process is executed when the driving support corresponding to the signal (for the signal) is turned on by the user setting.

[0054] like Figure 4 As shown, as S20, the driving support ECU 10 uses the traffic signal determination unit 11 to determine whether the traffic signal ahead of the vehicle is in a no-pass state, a pass-allowed state, or a signal transition state. If the driving support ECU 10 determines that the traffic signal ahead of the vehicle is in a no-pass state (S20: Yes), the process proceeds to S21. If the driving support ECU 10 does not determine that the traffic signal ahead of the vehicle is in a no-pass state (S20: No), the driving support execution process ends.

[0055] In S21, the driving support ECU 10 determines whether the driving support unit 14 is permitted to provide driving support in accordance with traffic signals. If the driving support ECU 10 permits driving support in accordance with traffic signals (S21: Yes), the process proceeds to S22. If the driving support ECU 10 does not permit driving support in accordance with traffic signals (S21: No), the process proceeds to S23.

[0056] In S22, the driving support ECU 10 executes driving support in accordance with the traffic signal through the driving support unit 14. The driving support unit 14, for example, calls the driver's attention to the "no-passing" signal via the HMI 7. The driving support unit 14 may also send a control signal to the actuator 6 to automatically decelerate the vehicle via the brake actuator. The driving support ECU 10 then terminates this driving support execution process. In S22, the driving support ECU 10 determines that driving support in accordance with the traffic signal will not be executed, and terminates this driving support execution process.

[0057] According to the driving assistance device 100 involved in the present embodiment described above, even when it is determined that the traffic light in front of the vehicle is in a no-passing state, when the left-turn or right-turn action determination unit 13 determines that the vehicle is performing a left-turn or right-turn action, no driving assistance is provided to the driver, thereby suppressing the situation of "unnecessarily performing driving assistance corresponding to the left-turn or right-turn traffic light in front of the intersection."

[0058] In addition, according to the driving support device 100, when the vehicle enters an intersection with a traffic light, it is considered that the traffic light in front of the vehicle is in a state of allowing passage or a signal transition state. Therefore, by starting to determine whether the vehicle is performing a left turn or a right turn when it is determined that the traffic light in front of the vehicle is in a state of allowing passage or a signal transition state, the situation of "determining whether the vehicle is performing a left turn or a right turn when it is unnecessary" can be avoided.

[0059] Furthermore, according to the driving assistance device, the timing of determining that the vehicle is performing a left turn or right turn action and the timing of the traffic light in the lane ahead of the left turn or right turn at the intersection coming in front of the vehicle may sometimes be staggered. Therefore, by not performing driving assistance corresponding to the traffic light during a certain period of time from the time when the vehicle is determined to be performing a left turn or right turn action, regardless of the determination result of the traffic light determination unit, it is possible to appropriately suppress the situation of "unnecessarily performing driving assistance corresponding to the traffic light ahead of the left turn or right turn at the intersection."

[0060] While the embodiments of the present invention have been described above, the present invention is not limited to the aforementioned embodiments. The present invention can be implemented in various forms, with modifications and improvements based on the knowledge of those skilled in the art, using the aforementioned embodiments as a representative example. Furthermore, the present invention is also applicable to autonomous driving.

[0061] For example, the left-turn / right-turn determination unit 13 may initiate left-turn / right-turn determination regardless of the determination result of the traffic signal determination unit 11. The driving support ECU 10 does not necessarily need to include the vehicle position estimation unit 12. If the driving support device 100 does not include the vehicle position estimation unit 12, the GNSS receiving unit 1 and the map database 5 are also not essential. If the driving support device 100 does not use the lighting status of the direction indicator during left-turn / right-turn maneuvers, the driving operation detection unit 4 is not essential.

Claims

1. A driving support device for providing driving support to a driver of a vehicle when a traffic light ahead of the vehicle at an intersection is in a no-passing state. The driving support device includes: a traffic light determination unit for determining whether the traffic light in front of the host vehicle is in a no-pass state, a pass-allow state, or a signal transition state based on an image captured by a camera in front of the host vehicle; a driving support unit configured to perform the driving support corresponding to the traffic signal when the traffic signal determination unit determines that the traffic signal in front of the host vehicle is in a no-passing state; and a left-turn or right-turn action determination unit that determines whether the vehicle is performing a left-turn or right-turn action based on a lighting condition of a direction indicator of the vehicle, or based on position information of the vehicle on a map and map information, or based on an image captured by a front camera of the vehicle and a pre-stored image pattern of a left-turn or right-turn lane, The left-turn or right-turn action determination unit starts determining whether the vehicle is performing a left-turn or right-turn action when the traffic light determination unit determines that the traffic light in front of the vehicle when the vehicle enters the intersection is in a passing state or a signal transition state. The driving support unit does not provide driving support corresponding to the traffic signal when the left-turn or right-turn action determination unit determines that the vehicle is performing a left or right turn action, even when the traffic signal determination unit determines that the traffic signal in front of the vehicle is in a no-passing state.

2. The driving support device according to claim 1, The driving support unit does not provide driving support corresponding to the traffic signal during a certain period of time after the left-turn-right-turn maneuver determination unit determines that the host vehicle is performing a left-turn or right-turn maneuver, regardless of a determination result of the traffic signal determination unit.

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