Driving assistance device

Abstract

The present application provides a kind of driving assistance device (100), with: approach detection part, it does not pass through road vehicle communication detection along the approach of railway vehicle (201) from the oblique rear direction of vehicle (110) vehicle (110);Direction estimation part (22), it estimates the driving direction of vehicle (110) at intersection (103);And report part, when the approach of railway vehicle (201) to vehicle (110) is detected by approach detection part when being estimated by direction estimation part (22) across driving road (200) like driving, report the approach of railway vehicle (201) to driver.

Description

Technical Field

[0001] This invention relates to a driving assistance device that assists the driver in driving. Background Technology

[0002] As such devices, there are conventionally known devices that notify the driver of the approach of a tram. Such a device is described, for example, in Patent Document 1. In the device described in Patent Document 1, when a vehicle crosses the tram track and turns right, the approach of the tram is detected via inter-track communication, and the driver is notified of the approach of the tram.

[0003] However, the device described in Patent Document 1 requires the installation of communication beacons on roads and tram tracks, which increases costs. Therefore, there is a need for a device that can mitigate cost increases and improve traffic safety without affecting surrounding traffic flow, while also preventing a decrease in traffic flow.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2008-293269 (JP2008-293269A). Summary of the Invention

[0007] One technical solution of the present invention is a driving assistance device for assisting the driver of a vehicle located on the side of the roadway on which railway vehicles travel, comprising: an approach detection unit that detects the approach of a railway vehicle traveling along the roadway from the rear of the vehicle without inter-road communication; a direction estimation unit that estimates the direction of travel of the vehicle at an intersection; and a notification unit that notifies the driver of the approach of a railway vehicle when the direction estimation unit estimates that the vehicle is about to cross the roadway and the approach detection unit detects that the railway vehicle is approaching the vehicle. Attached Figure Description

[0008] The objectives, features, and advantages of the present invention are further illustrated by the following description of embodiments in conjunction with the accompanying drawings.

[0009] Figure 1 This is a diagram illustrating an example of a driving scenario using a driving assistance device according to an embodiment of the present invention.

[0010] Figure 2 This is a block diagram illustrating the main components of a driving assistance device according to an embodiment of the present invention.

[0011] Figure 3 It is shown that... Figure 1 Images illustrating different driving scenarios.

[0012] Figure 4 is a flowchart showing an example of processing performed by a controller of Figure 2

[0013] Figure 5 is a block diagram showing a modification of Figure 2

[0014] Figure 6 is a block diagram showing another modification of Figure 2 DETAILED DESCRIPTION

[0015] Embodiments of the present application will be described below with reference to the drawings. The driving assist device of the embodiments of the present application is configured to assist driving of a driver of a vehicle on a road on which a railway vehicle, i.e., a tramcar, travels along a track laid on the road. On such a road on which a tramcar travels, driving assist corresponding to the situation is required. Figures 1-6

[0016] Figure 1 is a diagram showing an example of a driving scenario in which the driving assist device of the embodiments of the present application is applied. Figure 1 A crossroad 103 at which the road 101 crosses the road 102 is shown in FIG. 1. A track 200 is laid on a central portion in the width direction of the road 101 (for convenience, referred to as a central lane) LN0, and a tramcar 201 travels along the track 200. The road 101 includes a first lane LN1 and a second lane LN2 adjacent to each other. The first lane LN1 is a straight-ahead lane and a left-turn lane at the crossroad 103, and the second lane LN2 is a right-turn lane. The second lane LN2 is adjacent to and extends from the central lane LN0.

[0017] The host vehicle 110 is located in the second lane LN2. Another vehicle 111 is present behind the host vehicle 110 in the first lane LN1. Note that the configuration of the roads 101, 102 is not limited to that described above. For example, the road 101 can also not be a single-lane two-lane road, but a one-lane or a three-lane or more road. The second lane LN2 can also not be a right-turn exclusive lane, but a right-turn permissible lane.

[0018] A traffic signal (abbreviated as a signal) 120 is provided at the crossroad 103. Note that a plurality of signals 120 are provided in correspondence with vehicles entering the crossroad 103 from each direction at the crossroad 103, but for convenience, Figure 1 A single signal 120 is shown in FIG. 1. The signal 120 has a main signal 121 configured to be able to switch a light color to a red color showing a stop command, a green color showing that it is possible to proceed, and a yellow color showing that it is possible to proceed when it is difficult to safely stop, and an auxiliary signal 122 provided subordinate to the main signal 121.​​​​

[0019] The auxiliary signal 122 is an arrow signal that shows the direction in which the vehicle can travel with an arrow. More specifically, the auxiliary signal 122 includes arrows showing the straight direction, the left turn direction, and the right turn direction, and the direction in which the vehicle can travel is notified by the lighting of the arrows. In Figure 1 In the case shown in FIG. 6, the main signal 121 is red, the arrow of the straight direction and the arrow of the left turn direction are lit, and the arrow of the right turn direction is extinguished. Therefore, the host vehicle 110 located in the second lane LN2 stops at the stop line 104 in front of the intersection 103 while the turn signal is blinking. The other vehicle 111 located in the first lane LN1 passes by the side of the host vehicle 110 and passes through the intersection 103 or turns left.

[0020] The signal 120 includes not only the signals 121 and 122 for vehicles but also a signal 123 for a tram. The signal 123 is an arrow signal that shows the direction in which the tram 201 can travel with an arrow. In contrast to the auxiliary signal 122 for vehicles that is lit with a green arrow, the signal 123 is lit with, for example, a yellow arrow. In Figure 1 In the case shown in FIG. 7, the arrow of the signal 123 is lit, and the tram 201 can travel through the intersection 103 without stopping.

[0021] In such a travel scenario, when the tram 201 approaches and passes by the side of the host vehicle 110 that is stopped in the second lane LN2 from the obliquely rear side of the host vehicle 110, the driver of the host vehicle 110 can feel surprised. In particular, the driver who is not accustomed to driving on a road on which the tram 201 travels does not expect the tram 201 to pass by the side of the host vehicle 110, particularly the right side, and thus is greatly surprised. In such a situation, when configured to notify the driver of the approach of the tram 201 by, for example, inter-vehicle communication, a communication device such as an optical beacon, an electric wave beacon, or the like needs to be provided on the road, resulting in an increase in cost. Therefore, in order to suppress the increase in cost and to properly notify the driver of the approach of the tram 201, the present embodiment is configured as a driving assist device as follows.

[0022] Figure 2 is a block diagram showing the main part configuration of the driving assist device 100 of the present embodiment. As Figure 2 shown in FIG. 1, the driving assist device 100 has a controller 20 and a radar sensor 1, a vehicle speed sensor 2, a positioning sensor 3, a turn signal switch 4, and a display section 5 that are connected to the controller 20, respectively.

[0023] The radar sensor 1 is installed in the right and left rear end portions of the host vehicle (for example, in the inner side of the rear bumper), and detects the position of an object around the host vehicle (particularly, in the rear diagonal direction) by a reflected wave from the object. Specifically, the radar sensor 1 is configured by a radar that detects the presence or absence of an object and the distance to the object by emitting an electromagnetic wave and detecting a reflected wave, and a laser radar that detects the position of an object and the distance to the object by emitting laser light as a kind of electromagnetic wave and detecting reflected light.

[0024] The vehicle speed sensor 2 detects the vehicle speed of the host vehicle. The positioning sensor 3 receives a positioning signal transmitted from a positioning satellite such as a GPS satellite or a quasi-zenith satellite. The current position of the host vehicle can be calculated using the positioning information received by the positioning sensor 3. The turn signal switch 4 detects the operation of the driver on the direction indicator. The direction indicator is a device for indicating the direction to the surroundings when the host vehicle is turned to the right or left or the travel road is changed, and is configured by a turn signal lever or the like.

[0025] The display portion 5 is configured by an indicator lamp provided to the left and right door mirrors. More specifically, the display portion 5 is provided around or on the mirror surface portion of the left and right door mirrors, and when an object is detected in the right rear of the host vehicle, the display portion 5 of the right door mirror is lit or blinked, and when an object is detected in the left rear, the display portion 5 of the left door mirror is lit or blinked. Thus, when the driver cannot recognize the presence of another vehicle through the door mirror due to poor visibility or the like, the driver can recognize the presence of another vehicle through the display portion 5, and can safely perform a lane change or the like. Note that the display portion 5 can be located at a position that is visible at the same time as when the driver confirms the presence or absence of an object in the right and left rear of the host vehicle, and can also be provided at a position other than the door mirror. For example, the display portion 5 can be provided in the vicinity of the door mirror in the vehicle cabin (A-pillar or the like on the right and left of the host vehicle).

[0026] The controller 20 is configured by a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and an I / O (Input / Output) interface and other peripheral circuits. The controller 20 has a proximity recognition portion 21, a direction estimation portion 22, and a display control portion 23 as functional structures. The memory of the controller 20 stores information of a road map in advance. The road map information includes information of a lane in which the tram 201 ( Figure 1 ) travels.

[0027] The proximity recognition portion 21 determines, based on a signal from the radar sensor 1, whether an object such as another vehicle or a tram is present within a predetermined distance from the host vehicle around the host vehicle. That is, the proximity recognition portion 21 recognizes the approaching action of an object approaching the host vehicle from the rear diagonal direction of the host vehicle.

[0028] The direction estimation unit 22 estimates the direction in which the host vehicle is to travel based on a signal from the steering signal switch 4. For example, it is estimated that the host vehicle is to make a lane change or turn to the left or right.

[0029] The display control unit 23 first determines whether the host vehicle is located on the side of the central lane LN0 in which the tram 201 is traveling, based on road map information stored in the memory and a signal from the positioning sensor 3. It is also possible to determine whether the host vehicle is located on the side of the central lane LN0 by an image captured by the on-vehicle camera. It is also possible to make the determination of whether the host vehicle is located on the side of the central lane LN0 when the position of the host vehicle detected by the positioning sensor 3 is within a prescribed distance from the central lane LN0. Figure 1 ) of the central lane LN0 in which the tram 201 is traveling. It is also possible to determine whether the host vehicle is located on the side of the central lane LN0 by an image captured by the on-vehicle camera. It is also possible to make the determination of whether the host vehicle is located on the side of the central lane LN0 when the position of the host vehicle detected by the positioning sensor 3 is within a prescribed distance from the central lane LN0.

[0030] Figure 3 A drawing showing an example of a driving scene in the case where the side of the driving lane (the second lane LN2) in which the host vehicle 110 is traveling is free of a lane for trams, i.e., in the case where the host vehicle is not located on the side of the central lane LN0 in which the tram 201 is traveling. In this case, the display control unit 23 controls the display units 5 as follows. When the vehicle speed v of the host vehicle 110 detected by the vehicle speed sensor 2 is a prescribed value v1 or higher, as shown in Figure 3 the display control unit 23 causes the display unit 5 on the side (the left side) on which the other vehicle 111 is detected among the left and right display units 5 to be lit up when the other vehicle 111 is recognized by the approach recognition unit 21 to be approaching from the obliquely rear side of the host vehicle 110. The prescribed value v1 is set to a value (for example, 20 km / h) greater than 0, and the lighting of the display units 5 is premised on the host vehicle 110 being in the middle of driving. Thereby, the driver can recognize the presence of the other vehicle 111 even when the other vehicle 111 is not reflected in the door mirror obliquely behind the host vehicle 110.

[0031] Thereafter, when the host vehicle 110 is recognized by the direction estimation unit 22 to be moving to the side (the left side) on which the other vehicle 111 is detected, the display control unit 23 causes the display units 5 to blink. Thereby, the driver can make a lane change or the like in a safe state after recognizing the presence of the other vehicle 111 behind. It is also possible to emit a warning sound from a speaker in the passenger compartment at the same time as the blinking of the display units 5. Note that in the case where the vehicle speed detected by the vehicle speed sensor 2 is lower than the prescribed value v1 (for example, when stopped), even when the other vehicle 111 is detected obliquely behind, none of the display units 5 is lit up and blinked.

[0032] On the other hand, as shown in Figure 1As shown, when the tram 201 is recognized by the approach recognition section 21 to be approaching from the obliquely rear side of the host vehicle 110, the display control section 23 controls the display section 5 as follows when the host vehicle 110 is located on the side of the central lane LN0. In this case, when the vehicle speed v detected by the vehicle speed sensor 2 is below a prescribed value v2 (for example, 3 km / h) and the host vehicle 110 is moving across the track 200 after the signal turned green is presumed by the direction presumption section 22, the display control section 23 causes the display section 5 to light up or blink. Thereby, the driver who is waiting for the signal to stop in front of the intersection 103 can easily recognize that the tram 201 is approaching from the obliquely rear side. Note that a warning sound can also be emitted from the speaker in the vehicle cabin simultaneously with the display of the display section 5. The prescribed value v2 can be 0 km / h.

[0033] Even if the approach of the tram 201 is recognized by the approach recognition section 21, the display control section 23 does not cause the display section 5 to light up and blink in traveling where the vehicle speed v detected by the vehicle speed sensor 2 is greater than the prescribed value v2. Even if the vehicle speed v is below the prescribed value v2, the display control section 23 does not cause the display section 5 to light up and blink when the host vehicle 110 is not presumed by the direction presumption section 22 to be moving across the track 200 (for example, right turn) but is presumed to be going straight or turning left at the intersection 103. Figure 1 ) of the host vehicle 110.

[0034] Figure 4 is a flowchart showing an example of the processing executed by the controller 20 of the present embodiment. The processing shown in the flowchart starts, for example, with the turning on of the power button switch, and is repeatedly performed at a prescribed period. Figure 2

[0035] First, in S1, the road map information stored in the memory is referred to, and it is determined based on the signal from the positioning sensor 3 whether the host vehicle 110 is located on the side of the track 200 for trams. When S1 is negative (S1: No), it proceeds to S2, and it is determined whether the vehicle speed v of the host vehicle 110 detected by the vehicle speed sensor 2 is a prescribed value v1 or more, that is, whether the host vehicle 110 is traveling at a prescribed vehicle speed V1 or more. When S2 is negative (S2: No), it proceeds to S3, and a control signal is output to the display section 5 to turn off the display section 5.

[0036] ​When S2 is affirmative (S2: YES), S4 is entered, and it is determined from the signal from the radar sensor 1 whether or not another vehicle 111 is recognized in the obliquely rear side of the host vehicle 110. When S4 is affirmative (S4: YES), S5 is entered, and when it is negative (S4: NO), S3 is entered. In S5, it is determined whether or not the turn signal switch 4 on the left side is on. When S5 is negative (S5: NO), S6 is entered, and the display portion 5 of the door mirror on the side where another vehicle 111 is recognized is caused to light up. On the other hand, when S5 is affirmative (S5: YES), S7 is entered, and the display portion 5 of the door mirror on the side where another vehicle 111 is recognized is caused to blink. It is also possible to output a warning sound simultaneously with the blinking of the display portion 5.

[0037] In S1, when it is determined that the host vehicle 110 is positioned on the side of the track 200 for a tramcar, S8 is entered. In S8, it is determined whether or not the vehicle speed v of the host vehicle 110 detected by the vehicle speed sensor 2 is the prescribed value v2 or less, that is, whether or not the host vehicle 110 is in a stop. When S8 is affirmative (S8: YES), S9 is entered, and when it is negative (S8: NO), S3 is entered. In S9, it is determined from the signal from the radar sensor 1 whether or not a tramcar 201 is recognized in the right obliquely rear side (track side) of the host vehicle 110. When S9 is affirmative (S9: YES), S10 is entered, and when it is negative (S9: NO), S3 is entered.

[0038] In S10, it is determined whether or not the turn signal switch 4 on the right side, that is, the track side, is on. When S10 is affirmative (S10: YES), S11 is entered, and when it is negative (S10: NO), S3 is entered. In S11, the display portion 5 of the door mirror on the right side is caused to light up. It is also possible to cause the display portion 5 on the right side to blink. It is also possible to output a warning sound simultaneously with the lighting up or blinking of the display portion 5.

[0039] The operation of the driving assist device 100 of the present embodiment is summarized as follows. As shown in Figure 3 the display portion 5 of the door mirror on the left side is caused to light up (S6). Thereafter, when the turn signal switch 4 on the left side is on and the host vehicle 110 intends to make a lane change from the second lane LN2 to the first lane LN1, the display portion 5 is caused to blink (S7). Thereby, even in the case where another vehicle 111 is not reflected in the rearview mirror at the time of the lane change, the driver is able to recognize the presence of another vehicle 111, and is able to make the lane change safely.

[0040] In the case where the host vehicle 110 crosses the track 200 for a tramcar 201, as shown in Figure 1The host vehicle 110 shown is parked with the right turn signal light turned on at the side of the track 200. At this time, when the tram 201 approaches from the right oblique rear of the host vehicle 110, the display portion 5 of the right side door mirror is turned on or blinked (S11). Thereby, the driver who is parked waiting for the signal can recognize that the tram 201 is approaching from the rear. Therefore, because the passage of the tram 201 is expected, the tram 201 does not surprise when passing by the side of the host vehicle 110, and the comfort of the driver is improved.

[0041] Also, the display portion 5 is originally a means for notifying the approach of other vehicles 111 in driving, and the driver is accustomed to visually recognizing the display portion 5, so the driver can easily recognize the approach of the tram 201 by the turning on or blinking of the display portion 5. By using the display portion 5 for notifying the approach of other vehicles 111 in driving for notifying the approach of the tram 201, a separate notification portion does not need to be provided, and the increase in cost can be suppressed. A beacon for communication is not needed, and the increase in cost can also be suppressed in this respect.

[0042] With the present embodiment, the following effects can be achieved.

[0043] (1) The driving assist device 100 is configured to assist the driving of the driver of the host vehicle 110 located at the side of the track 200 along which the tram 201 is driven. The driving assist device 100 has: an approach recognition portion 21 that recognizes the approach of the tram 201 from the oblique rear of the host vehicle 110 toward the host vehicle 110 based on a signal from the radar sensor 1, without inter-vehicle communication; a direction estimation portion 22 that estimates the direction of driving of the host vehicle 110 at the intersection 103; and a display control portion 23 that controls the display portion 5 to notify the driver of the approach of the tram 201 when the approach of the tram 201 toward the host vehicle 110 is detected (recognized) by the approach recognition portion 21 and the driving across the track 200 is estimated by the direction estimation portion 22. Figure 2 ).

[0044] With this configuration, the approach of the tram 201 can be notified to the driver of the host vehicle 110 parked for crossing the track 200, that is, the driver waiting for the passage of the tram 201, without inter-vehicle communication using a beacon for communication, at a low cost.

[0045] (2) The approach recognition portion 21 also recognizes the approach of other vehicles 111 from the oblique rear of the host vehicle 110 toward the host vehicle 110 when the other vehicles 111 are driven along the lane LN1 adjacent to the lane LN2 in which the host vehicle 110 is driven Figure 3 , Figure 4When the proximity recognition unit 21 detects the approach of another vehicle 111 to the vehicle 110 while the vehicle 110 is in motion, the control display unit 5 also notifies the driver of the approach of the other vehicle 111. Figure 4 Therefore, the display unit 5, which is used to notify other vehicles 111 of their approach from the rear, can also be used to notify the tram 201 of its approach. As a result, there is no need to install a separate device for notifying the tram 201 of its approach, thus reducing costs.

[0046] (3) The display control unit 23 controls the display unit 5 so that when the vehicle 110 is parked and the proximity recognition unit 21 detects the approach of another vehicle 111, it does not notify the driver of the approach of the other vehicle 111. On the other hand, when the vehicle 110 is parked and the proximity of the tram 201 is detected, it notifies the driver of the approach of the tram 201. Figure 4 Since lane changes are not performed as long as the vehicle 110 is stationary, there is no need to notify the approach of other vehicles 111. On the other hand, the driver may be surprised when the tram 201 unexpectedly passes to the side of the vehicle 110, so it is preferable to notify the driver of the approach of the tram 201 even when the vehicle 110 is stationary. Because this is taken into consideration in the driving assistance device 100 configured in this embodiment, the driver's comfort is improved.

[0047] (4) The driving assistance device 100 has a radar sensor 1, which is located at the rear of the vehicle 110 to detect the position of an object located diagonally behind the vehicle 110. The proximity recognition unit 21 detects the approach of the tram 201 based on the signal from the radar sensor 1. Figure 2 Thus, by using radar sensor 1, the approach of tram 201 can be detected cheaply.

[0048] It should be noted that in the above embodiment, radar sensor 1 is used to detect the approach of tram 201 (railway vehicle) along track 200 (driving road) to the vehicle 110, but the configuration of the approach detection unit is not limited to this. Figure 5 It is shown Figure 2 A diagram of a variation. In Figure 5 In this configuration, a communication unit 6 is provided to replace the radar sensor 1. The communication unit 6 is connected to communication networks such as wireless communication networks, the Internet, and telephone networks, and is configured to communicate wirelessly with an external server device 202 via the communication network.

[0049] The server device 202 is a management server that manages the operation of the tram 201. The controller 20 acquires, from the server device 202 via the communication unit 6, the operation information of the tram 201 corresponding to the position of the host vehicle 110 obtained by the positioning sensor 3. The approach recognition section 21 recognizes the approach of the tram 201 to the host vehicle 110 on the basis of the operation information of the tram 201. Thus, it is possible to configure the entire device more inexpensively without using the radar sensor 1 to detect the approach of the tram 201.

[0050] The driving assistance device 100 can also be provided with a situation recognition section that detects the situation of the surroundings of the host vehicle 110. In this case, the direction estimation section 22 can estimate the traveling direction of the host vehicle 110 when the situation recognition section recognizes the railway vehicle traffic signal 123 in front of the host vehicle 110. Figure 6 is a block diagram showing an example of the main part configuration of the driving assistance device 100 in this case. As shown in Figure 6 The situation recognition section can be configured by the camera 7 provided to, for example, the host vehicle 110 to capture the front of the host vehicle 110. The appearance of the tram signal 123 is different from the appearances of the vehicle signals 121 and 122, and thus the signal 123 can be easily recognized by the camera image. Furthermore, by configuring the direction estimation section 22 to estimate the traveling direction of the host vehicle 110 when the signal 123 is recognized, the processing load on the controller 20 is reduced.

[0051] The above-described embodiment can be modified in various ways. Several modifications will be described below. In the above-described embodiment, the tram 201 travels in the center of the vehicle width direction of the road 101 (the center lane LN0), but can also travel at a position other than the center of the road. In the above-described embodiment, the approach recognition section 21 recognizes the approach of the tram 201 on the basis of the signal from the radar sensor 1, thereby detecting the approach of the tram 201, or the controller 20 acquires the operation information of the tram 201 by the communication unit 6 as the information acquisition section, and the approach recognition section 21 recognizes the approach of the tram 201 on the basis of the operation information, thereby detecting the approach of the tram 201, but the configuration of the approach detection section is not limited to the above.

[0052] In the above-described embodiment, the direction estimation section 22 estimates the traveling direction of the host vehicle 110 at the intersection 103 on the basis of the signal from the turn signal switch 4, but can also estimate the traveling direction on the basis of, for example, the route information to the destination set by the navigation device, and the configuration of the direction estimation section is not limited to the above. In the above-described embodiment, the approach of the tram 201 is notified to the driver with the vehicle speed v of the host vehicle 110 as a condition that the prescribed value v2 is equal to or lower than 0 (for example), but the prescribed value v2 can be larger than 0.

[0053] In the above embodiment, the driver is notified of the approach of the tram 201 by illuminating or flashing the display unit 5 of the door mirror, which is a type of rearview mirror provided on the left and right sides of the vehicle. However, the configuration of the notification unit is not limited to this. The tram's approach detection notification unit can also be provided separately from the notification units for other vehicles. In the above embodiment, the position of the vehicle 110 is detected based on a signal from the positioning sensor 3. However, the configuration of the position detection unit is not limited to this. In the above embodiment ( Figure 3 In the example described, the configuration of the driving assistance device 100 is explained with the case that the vehicle 110 is traveling in the right lane LN2 (first driving lane) and other vehicles 111 are traveling in the left lane LN1 (second driving lane) of lane LN2. However, the first driving lane may also be located to the left of the second driving lane.

[0054] This invention can also be used as a driving assistance method for assisting the driver of the vehicle 110 located on the side of the travel path 200 on which the railway vehicle 201 travels. The method includes: a step of detecting the approach of the railway vehicle 201 along the travel path 200 from the rear of the vehicle 110 without inter-road communication; a step of estimating the travel direction of the vehicle 110 at the intersection 103; and a step of notifying the driver of the approach of the railway vehicle 201 when the estimated travel is across the travel path 200 and the approach of the railway vehicle 201 to the vehicle 110 is detected.

[0055] It is possible to combine one or more of the above-described embodiments and variations, and to combine the variations with each other.

[0056] Using this invention, useful information can be provided to drivers of vehicles crossing railway tracks with a low cost.

[0057] The present invention has been described above in conjunction with preferred embodiments, but those skilled in the art should understand that various modifications and alterations can be made without departing from the scope of the following claims.

Claims

1. A driving assistance device for assisting the driver of the vehicle (110) located to the side of the running track (200) on which the railway vehicle (201) travels, characterized in that, Possessing: a proximity detection section that detects approach of a railway vehicle (201) to the host vehicle (110) from a diagonal rear direction of the host vehicle (110) without communication between the host vehicle (110) and the railway vehicle (201); a direction estimation section (22) that estimates a travel direction of the host vehicle (110) at an intersection (103); and a notification section that notifies a driver of approach of the railway vehicle (201) when it is estimated by the direction estimation section (22) that the host vehicle (110) is traveling across the travel road (200) and approach of the railway vehicle (201) to the host vehicle (110) is detected by the proximity detection section, the proximity detection section further detects approach of another vehicle (111) to the host vehicle (110) from a diagonal rear direction of the host vehicle (110) when the host vehicle (110) is traveling in a first travel lane and the other vehicle (111) is traveling along a second travel lane adjacent to the first travel lane, the notification section further notifies the driver of approach of the other vehicle (111) when the host vehicle (110) is traveling and approach of the other vehicle (111) to the host vehicle (110) is detected by the proximity detection section (21), the notification section does not notify the driver of approach of the other vehicle (111) when the host vehicle (110) is stopped and approach of the other vehicle (111) is detected by the proximity detection section (21), and on the other hand, notifies the driver of approach of the railway vehicle (201) when the host vehicle (110) is stopped and approach of the railway vehicle (201) is detected by the proximity detection section (21).

2. The driving assistance device according to claim 1, characterized in that the proximity detection section has a radar sensor (1) provided at a rear portion of the host vehicle (110) that detects a position of an object located diagonally rearward of the host vehicle, 3. The driving assist apparatus according to claim 1, characterized by further possessing: a position detection section (3) that detects a position of the host vehicle (110); and an information acquisition section that acquires operation information of the railway vehicle (201) corresponding to the position of the host vehicle (110) detected by the position detection section (3), the proximity detection section detects approach of the railway vehicle (201) based on the operation information acquired by the information acquisition section.

4. The driving assistance device according to claim 1, characterized in that further possessing a situation recognition section (7) that recognizes a situation of a periphery of the host vehicle (110), the direction estimation section (22) estimates the travel direction of the host vehicle (110) when a traffic signal for railway vehicles (123) is recognized by the situation recognition section (7).

5. The driving assistance device according to claim 1, characterized in that further possessing a turn signal switch (4) that detects operation of a direction indicator, The direction estimation unit estimates the traveling direction of the host vehicle (110) based on a signal from the turn signal switch (4).

6. The driving assist apparatus according to claim 1, characterized in that, the notification unit has: display units (5) provided respectively on left and right side mirrors of the host vehicle (110) or in the vicinity of the left and right side mirrors; and a display control unit (23) that controls the display units (5) so that, when it is estimated by the direction estimation unit (22) that the host vehicle (110) is to make a crossing travel across the travel road (200) and it is detected by the approach detection unit that the railway vehicle (201) on the left or right side of the host vehicle (110) is approaching the host vehicle (110) while the host vehicle (110) is stopped, the display unit (5) on the left or right side of the railway vehicle (201) is lit up or blinked.

7. A driving assist method of assisting a driver of a host vehicle (110) located on a side of a travel road (200) on which a railway vehicle (201) travels, the driving assist method comprising: a detection step of detecting an approach of the railway vehicle (201) along the travel road (200) to the host vehicle (110) from a diagonally rear direction of the host vehicle (110) without a vehicle-to-vehicle communication; an estimation step of estimating a traveling direction of the host vehicle (110) at an intersection (103); and a notification step of notifying the driver of an approach of the railway vehicle (201) when it is estimated that the host vehicle (110) is to make a crossing travel across the travel road (200) and it is detected that the railway vehicle (201) is approaching the host vehicle (110), in the detection step, when the host vehicle (110) is traveling in a first travel lane and another vehicle (111) is traveling along a second travel lane adjacent to the first travel lane, an approach of the other vehicle (111) to the host vehicle (110) from a diagonally rear direction of the host vehicle (110) is also detected, in the notification step, when the host vehicle (110) is traveling and it is detected that the other vehicle (111) is approaching the host vehicle (110), the driver is also notified of the approach of the other vehicle (111), in the notification step, when the host vehicle (110) is stopped and it is detected that the other vehicle (111) is approaching, the driver is not notified of the approach of the other vehicle (111), whereas when the host vehicle (110) is stopped and it is detected that the railway vehicle (201) is approaching, the driver is notified of the approach of the railway vehicle (201). ​

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