Driving support device

Abstract

To provide a technique for appropriately calling attention concerning a light color of a traffic light.SOLUTION: In a driving support device 10, an output section 48 outputs information to call attention for a driver of an own vehicle when the light color of a traffic light is yellow at an intersection in front of the own vehicle. A distance acquisition section 42 acquires a travelable distance of the own vehicle within a predetermined reference time. The output section 48 does not output the information to call attention when the own vehicle is positioned within a range of the travelable distance extending from a reference position on an outlet side of the intersection toward an entrance side, even when the light color of the traffic light is yellow.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a driving assistance device for a vehicle. [Background technology]

[0002] There is known an assistance device that assists in stopping a vehicle according to the color of a traffic light (see, for example, Patent Document 1). When the assistance device recognizes that the traffic light is yellow or red, it identifies an area in which a warning is issued. The end of the area in which the warning is issued closer to the traffic light is set closer to the vehicle than a stopping reference position such as a stop line. If the assistance device determines that the vehicle is traveling within the area in which a warning is issued, it issues a warning, and if it determines that the vehicle is not traveling within the area in which a warning is issued, it does not issue a warning. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-063940 A Summary of the Invention [Problem to be solved by the invention]

[0004] The present inventors have recognized that when specifying an area for issuing a warning regardless of the size of the intersection, there may be situations in which the driver may find the warning annoying depending on the size of the intersection.

[0005] An object of the present invention is to provide a technique that can more appropriately draw attention to the color of traffic lights. [Means for solving the problem]

[0006] In order to solve the above problem, a driving assistance device according to an embodiment of the present invention includes an output unit that outputs information to alert a driver of the vehicle when a traffic light at an intersection ahead of the vehicle is yellow, and a distance acquisition unit that acquires a distance that the vehicle can travel within a predetermined reference time. Even if the traffic light is yellow, the output unit does not output information to alert a driver of the vehicle when the vehicle is located within a range of the travelable distance from a reference position on the exit side of the intersection to the entrance side. Effect of the Invention

[0007] According to the present invention, a technique can be provided that can more appropriately draw attention to the color of traffic lights. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a diagram illustrating a functional configuration of an in-vehicle system according to an embodiment. [Diagram 2] 2(a) and (b) are diagrams for explaining an attention-calling activation operation in a comparative example. [Diagram 3] 3(a) and (b) are diagrams for explaining the attention calling operation according to the embodiment. [Figure 4] FIG. 4 is a diagram showing the relationship between the speed of the host vehicle and the first minimum distance de1 and the second minimum distance de2 at the narrow intersection of FIG. [Diagram 5] 2 is a flowchart showing a process performed by the driving assistance device of FIG. 1. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] 1 shows a functional configuration of an in-vehicle system 1 according to an embodiment. The in-vehicle system 1 is mounted on a vehicle. The in-vehicle system 1 includes a driving assistance device 10, an external sensor 20, a speed acquisition unit 22, a position acquisition unit 24, an HMI (Human Machine Interface) 30, and an actuator 32.

[0010] The external sensor 20 includes a camera that periodically captures an image of the outside of the vehicle. The external sensor 20 supplies the captured image to the driving assistance device 10. In addition to the camera, the external sensor 20 may include, for example, a radar, a LiDAR (Light Detection and Ranging) device, or the like for recognizing the outside world.

[0011] The speed acquisition unit 22 periodically acquires the speed of the vehicle and supplies the acquired speed information to the driving assistance device 10. The position acquisition unit 24 periodically acquires the position of the vehicle using a Global Navigation Satellite System (GNSS) and supplies the acquired position information to the driving assistance device 10.

[0012] The driving support device 10 recognizes the light color of a traffic light present ahead of the vehicle in the traveling direction based on an image captured by the external sensor 20. When the recognized light color is yellow or red and the vehicle is located in an attention-warning section, the driving support device 10 sends an attention-warning signal to the HMI 30 and warns the driver of the vehicle via the HMI 30 as driving support.

[0013] When the HMI 30 receives an attention signal from the driving assistance device 10, it issues an attention alert to the driver. The HMI 30 includes, for example, at least one of an MID (Multi Information Display) provided on a meter panel and a buzzer. The MID displays characters or images for attention alerting the driver and notifies the driver that the light color of the traffic light is yellow or red. The buzzer outputs a sound to inform the driver that the light color of the traffic light is yellow or red.

[0014] When the recognized light color is red and a predetermined deceleration condition is satisfied, the driving assistance device 10 sends a control signal to the actuator 32 to cause the actuator 32 to perform a deceleration operation as driving assistance. Upon receiving the control signal from the driving assistance device 10, the actuator 32 operates the brakes of the host vehicle.

[0015] Various known aspects can be applied to the external sensor 20, the speed acquisition unit 22, the position acquisition unit 24, the HMI 30, and the actuator 32, so further explanation will be omitted.

[0016] Here, the attention-calling activation operation of the comparative example will be described. Figures 2(a) and (b) are diagrams for explaining the attention-calling activation operation of the comparative example. Figure 2(a) shows a situation in which a vehicle 60X enters an intersection 70a where the intersecting roads are relatively narrow. The distance from the entrance to the exit of the intersection 70a in the traveling direction of the vehicle 60X is relatively short, and the distance from the stop line 72a near the entrance of the intersection 70a to the exit of the intersection 70a is also relatively short.

[0017] 2(b) shows a situation where vehicle 60X enters intersection 70b where the intersecting roads are relatively wide. Compared to intersection 70a, the distance from the entrance to the exit of intersection 70b in the traveling direction of vehicle 60X is relatively long, and the distance from stop line 72b near the entrance to intersection 70b to the exit of intersection 70b is also relatively long.

[0018] The position of the stop line 72a at the narrow intersection 70a and the position of the stop line 72b at the wide intersection 70b are each set as a stop reference position rp1.

[0019] 2(a) and (b) show a situation when the light color of traffic lights 74a and 74b that vehicle 60X should obey has changed from green to yellow. Hereinafter, intersections 70a and 70b will be collectively referred to as intersections 70, stop lines 72a and 72b will be collectively referred to as stop lines 72, and traffic lights 74a and 74b will be collectively referred to as traffic lights 74, as appropriate.

[0020] In Figures 2(a) and (b), the distance from the current position of vehicle 60X to the stop reference position rp1 is the same, and the current speed of vehicle 60X when the light color of traffic light 74 changes from green to yellow is also the same.

[0021] When the light color of the traffic light 74 changes to yellow, the first position p1 is determined based on, for example, the current speed of the vehicle 60X, the maximum value of the predetermined deceleration, and the stop reference position rp1. The area between the first position p1 and the stop reference position rp1 is a section where no attention is issued. The area between the first position p1 and the stop reference position rp1 can also be called a dilemma zone. Unlike the situation shown in the figure, if it is assumed that the driver recognizes a yellow signal between the first position p1 and the stop reference position rp1, the driver may press the brake pedal relatively hard so that the vehicle 60X stops near the stop line 72. On the other hand, the driver may determine that it is difficult to safely stop the vehicle 60X at the stop line 72 and perform a driving operation so that the vehicle 60X passes through the intersection 70. Therefore, even if a yellow signal is detected, when the vehicle 60X is located between the first position p1 and the stop reference position rp1, the driver may feel annoyed, so no attention is issued.

[0022] When the light color of the traffic light 74 changes to yellow, the second position p2 is determined based on, for example, the current speed of the vehicle 60X, the minimum value of a predetermined deceleration, and the stop reference position rp1. The area between the first position p1 and the second position p2 is the attention calling section z1. When a yellow light is detected, if the vehicle 60X is located between the first position p1 and the second position p2, an attention calling is issued to the driver. Even when a yellow light is detected, if the vehicle 60X has not reached the second position p2, an attention calling is not issued to the driver. In Figs. 2(a) and (b), the positional relationship between the stop reference position rp1, the first position p1, and the second position p2 is the same.

[0023] 2(a) and (b), when the light color of the traffic light 74 changes from green to yellow when the vehicle 60X is located immediately before the non-attention section between the first position p1 and the stop reference position rp1, i.e., immediately before the first position p1, it is assumed that the driver takes into consideration the size of the intersection 70 as one of the factors for deciding whether to stop or pass. In this case, the following two types of situations are considered for the driver when the traffic light 74 changes to yellow, depending on the size of the intersection 70. In the following, it is assumed that the duration of the yellow light is 3 seconds.

[0024] In the wide intersection 70b of FIG. 2(b), the vehicle 60X is likely to be located in the intersection 70b in three seconds, so the driver is likely to feel unsafe and stop the vehicle 60X. If the vehicle 60X continues traveling at the current speed, it will reach a position p3 in the intersection 70b in three seconds. In this situation, even if the vehicle 60X is accelerated to pass through the intersection 70b, it is likely to be unsafe, so the driver is unlikely to feel annoyed by the warning immediately before the first position p1.

[0025] At the narrow intersection 70a in Fig. 2(a), the driver may determine that the intersection 70a is passable in 3 seconds and may drive through it. If the vehicle 60X continues to drive at the current speed, the position p3 of the vehicle 60X after 3 seconds is the position where the vehicle 60X has left the intersection 70a. In this case, the driver may feel annoyed by the warning immediately before the first position p1.

[0026] Therefore, in the case where the intersection 70a is relatively narrow as shown in Fig. 2(a), the driving support device 10 of the embodiment widens the section between the first position p1 and the stop reference position rp1 where attention is not issued in the direction away from the intersection 70a, compared to the case where the intersection 70b is relatively wide as shown in Fig. 2(b). As a result, in a situation where the light color of the traffic light 74a changes to yellow just before the relatively narrow intersection 70a and the vehicle can pass through the intersection 70a while the light is yellow, attention is not issued, so that the driver is less likely to feel bothered. Hereinafter, the driving support device 10 of the embodiment will be described in detail with reference to Figs. 1 and 3.

[0027] 3(a) and (b) are diagrams for explaining the attention-calling activation operation of the embodiment. FIG. 3(a) shows a situation in which the vehicle 60 enters a relatively narrow intersection 70a. FIG. 3(a) shows the same intersection 70a as in FIG. 2(a). FIG. 3(b) shows a situation in which the vehicle 60 enters a relatively wide intersection 70b. FIG. 3(b) shows the same intersection 70b as in FIG. 2(b). FIG. 3(a) and (b) show a situation in which the light color of the traffic lights 74a, 74b that the vehicle 60 should follow changes from blue to yellow. The in-vehicle system 1 is mounted on the vehicle 60.

[0028] As shown in Fig. 1, the driving support device 10 includes a recognition unit 40, a distance acquisition unit 42, a first determination unit 44, a second determination unit 46, an output unit 48, and a deceleration control unit 50. The configuration of the driving support device 10 can be realized in hardware by the CPU, memory, and other LSI of any computer, and in software by a program loaded into memory, but here, functional blocks realized by cooperation between them are depicted. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various forms by only hardware, only software, or a combination thereof.

[0029] The recognition unit 40 recognizes the traffic lights 74 and the light color of the traffic lights 74 at an intersection 70 ahead of the vehicle 60, and the stop line 72 on the entrance side of the intersection 70, based on images and the like supplied from the external sensor 20, and obtains the distance from the vehicle 60 to the traffic lights 74 and the distance from the vehicle 60 to the stop line 72. As various known techniques can be applied as the recognition process by the recognition unit 40, detailed explanations thereof will be omitted.

[0030] When the recognition unit 40 detects that the light color of the traffic light 74 is yellow or red, the distance acquisition unit 42 acquires the speed of the host vehicle 60 at that time from the speed acquisition unit 22, and derives a distance dp that the host vehicle 60 can travel within a predetermined reference time at the acquired speed. The reference time is predetermined to be equal to or longer than the duration of the yellow light of the traffic light 74. For example, the reference time may be equal to the duration of the yellow light. To enhance the effect of reducing the annoyance of the attention alert, the reference time may be longer than the duration of the yellow light, but is set to a predetermined upper limit value or less. The relationship between the reference time and the duration of the yellow light, and the upper limit value of the reference time can be appropriately determined through experiments.

[0031] The distance acquisition unit 42 may refer to a database that holds the duration of the yellow light of the traffic light 74 for each region, and may acquire the duration of the yellow light based on the current position of the vehicle 60 acquired by the position acquisition unit 24, or may set the reference time based on the acquired duration. In this case, the reference time may differ depending on the region in which the vehicle 60 is traveling. This makes it possible to more accurately acquire the distance dp that the vehicle 60 can travel within the reference time in a situation in which the duration of the yellow light differs from region to region.

[0032] When the recognition unit 40 detects that the light color of the traffic light 74 is yellow or red, the distance acquisition unit 42 further derives a maximum value ds1 and a minimum value de1 of the distance required to stop the host vehicle 60 based on the acquired speed of the host vehicle 60 and a predetermined reference deceleration range. The maximum value ds1 of the distance required to stop is also referred to as the maximum distance. The minimum value de1 of the distance required to stop is also referred to as the first minimum distance. The reference deceleration range is a general range of deceleration when braking a vehicle. A specific explanation will be given with numerical examples. If the speed of the host vehicle 60 is 40 kilometers per hour and the deceleration range is 3 m / s 2 ~8m / s 2 and the driver's reaction speed is 1.5 seconds. In this case, the minimum value de1 of the distance required to stop the vehicle 60 is about 24 meters, and the maximum value ds1 is about 37 meters. Note that the maximum value ds1 and the minimum value de1 of the distance required to stop may be derived using other known methods.

[0033] The first determination unit 44 sets the stop reference position rp1 on the entrance side of the intersection 70 to, for example, the position of the stop line 72 on the entrance side. The first determination unit 44 sets the reference position rp2 on the exit side of the intersection 70 to, for example, the position of the traffic light 74. The reference position rp2 on the exit side may be set to the position of a stop line in the oncoming lane, etc. The first determination unit 44 can identify the positions of the stop line 72 and the traffic light 74 based on the distance from the host vehicle 60 to the stop line 72 and the distance from the host vehicle 60 to the traffic light 74 acquired by the recognition unit 40. The first determination unit 44 may identify the position of the stop line 72, the position of the traffic light 74, etc. from map information.

[0034] When the recognition unit 40 detects that the light color of the traffic light 74 is yellow or red, the first judgment unit 44 identifies the warning section z1 based on the derived maximum value ds1 and minimum value de1 of the distance required for stopping, the stopping reference position rp1, the distance dp that can be traveled within the derived reference time, and the reference position rp2 on the exit side.

[0035] The first determination unit 44 determines the position on the host vehicle 60 side that is farther from the intersection 70 between the minimum value de1 of the distance required for stopping from the stop reference position rp1 and the position on the host vehicle 60 side that is the travelable distance dp from the reference position rp2 on the exit side as the first position p1. The first determination unit 44 determines the position on the host vehicle 60 side that is the maximum value ds1 of the distance required for stopping from the stop reference position rp1 as the second position p2. The first determination unit 44 identifies the attention calling section z1 between the first position p1 and the second position p2.

[0036] The distance acquisition unit 42 may derive a second minimum distance de2, which is the distance between the position of the host vehicle 60 on the side of the vehicle and the stop reference position rp1 by the travelable distance dp from the reference position rp2 on the exit side. When the position of the host vehicle 60 on the side of the vehicle is located closer to the intersection 70 than the stop reference position rp1 by the travelable distance dp from the reference position rp2 on the exit side, the second minimum distance de2 may be set to zero. Then, the first determination unit 44 may set the attention warning section z1 in a range from the longer of the minimum value de1 of the distance required for stopping and the second minimum distance de2 to the maximum value ds1 of the distance required for stopping, using the stop reference position rp1 as a reference.

[0037] As shown in FIGS. 3(a) and 3(b), in the narrow intersection 70a, the reference position rp2 on the exit side is closer to the vehicle 60 than in the wide intersection 70b. Therefore, in the narrow intersection 70a, the first position p1 is located on the vehicle 60 side by the travelable distance dp from the reference position rp2 on the exit side. On the other hand, in the wide intersection 70b, the first position p1 is located on the vehicle 60 side by the minimum distance de1 required for stopping from the stop reference position rp1. Therefore, in the narrow intersection 70a, the first position p1 is farther away from the stop reference position rp1 than in the wide intersection 70b, and thus the attention zone z1 narrows in the direction away from the intersection 70a, and the non-attention zone widens in the direction away from the intersection 70a. Therefore, in the narrow intersection 70a in the situation of FIG. 3(a), the vehicle 60 is located in the non-attention zone. In the wide intersection 70b in the situation of FIG. 3(b), the vehicle 60 is located in the attention zone z1.

[0038] The first determination unit 44 determines whether or not the host vehicle 60 is located within the attention calling section z1 based on the current position of the host vehicle 60 acquired by the position acquisition unit 24, and supplies the determination result to the output unit 48. If it is determined that the host vehicle 60 is located within the attention calling section z1, the output unit 48 outputs attention calling information via the HMI 30. On the other hand, if it is determined that the host vehicle 60 is not located within the attention calling section z1, the output unit 48 does not output attention calling information via the HMI 30.

[0039] In other words, when the light color of the traffic light 74 is yellow, the output unit 48 outputs attention-calling information for the driver of the vehicle 60 when the vehicle 60 is located between the first position p1 and the second position p2, and does not output attention-calling information when the vehicle 60 is not located between the first position p1 and the second position p2 even if the light color of the traffic light 74 is yellow. It can also be said that the output unit 48 does not output attention-calling information when the vehicle 60 is located within a range of the travelable distance dp from the reference position rp2 on the exit side of the intersection 70 to the entrance side, even if the light color of the traffic light 74 is yellow.

[0040] As a result, as shown in FIG. 3(a), when the light color of a traffic light 74a turns yellow just before a narrow intersection 70a and the vehicle 60 is able to pass through the intersection 70a while the light is yellow, warning information is not output, making it less likely to annoy the driver.

[0041] On the other hand, as shown in FIG. 3(b), in a situation where the light of a traffic light 74b turns yellow just before a wide intersection 70b and it is not easy for the vehicle 60 to pass through the intersection 70b while the light is yellow, warning information can be output, thereby providing appropriate assistance to the driver.

[0042] FIG. 4 shows the relationship of the first minimum distance de1 and the second minimum distance de2 to the speed of the host vehicle 60 at the narrow intersection 70a in FIG. 3(a). At the narrow intersection 70a, in the speed range shown in FIG. 4, the second minimum distance de2 is greater than the first minimum distance de1. That is, the position corresponding to the second minimum distance de2 is the first position p1 of the attention zone z1. Therefore, the attention zone z1 is wider than in the comparative example. At the narrow intersection 70a, as shown in FIG. 4, for example, the lower the speed of the host vehicle 60, the closer the attention zone z1 is to the stop reference position rp1, and the higher the speed of the host vehicle 60, the farther it is from the stop reference position rp1.

[0043] The driving assistance device 10 may have a map that defines the relationship between the speed of the vehicle 60 and the first minimum distance de1, as shown in FIG. 4. Although not shown, this map may also define the relationship between the speed and the maximum distance ds1, and the relationship between the speed and the distance dp that can be traveled within a reference time. This map does not depend on the size of the intersection 70. The distance acquisition unit 42 may determine the maximum distance ds1, the first minimum distance de1, and the distance dp that can be traveled within a reference time from this map and the speed of the vehicle 60, instead of deriving the maximum distance ds1 and the minimum distance de1 required for stopping, that is, the maximum distance ds1 and the first minimum distance de1, and the distance dp that can be traveled within a reference time.

[0044] When the recognition unit 40 detects that the light color of the traffic light 74 is red, the second determination unit 46 determines whether or not a predetermined deceleration condition is satisfied, and supplies the determination result to the deceleration control unit 50. A known condition can be used as the deceleration condition. For example, the deceleration condition may be that the light color of the traffic light 74 continues to be detected as red for a predetermined period of time or more, and the speed of the host vehicle 60 is equal to or greater than a threshold value. When it is determined that the deceleration condition is satisfied, the deceleration control unit 50 causes the actuator 32 to perform a deceleration operation. When it is determined that the deceleration condition is not satisfied, the deceleration control unit 50 does not cause the actuator 32 to perform a deceleration operation. The second determination unit 46 and the deceleration control unit 50 are optional.

[0045] Next, a description will be given of the overall operation of the driving support device 10 configured as above. Figure 5 is a flowchart showing the processing of the driving support device 10 of Figure 1. The processing of Figure 5 is periodically repeated at a predetermined cycle.

[0046] The recognition unit 40 recognizes the outside world based on images from the camera included in the outside world sensor 20, and detects the color of the traffic light, etc. (S10). If it is not detected that the traffic light is yellow or red (N in S12), the driving assistance device 10 ends the process. If it is detected that the traffic light is yellow or red (Y in S12), the distance acquisition unit 42 acquires the maximum distance ds1 and the first minimum distance de1 (S14), and acquires the second minimum distance de2 (S16). The order of S14 and S16 may be reversed. As described above, the maximum value ds1 of the distance required to stop the host vehicle 60 is the maximum distance, and the minimum value de1 of the distance required to stop is the first minimum distance.

[0047] If the first minimum distance de1 is greater than the second minimum distance de2 (Y in S18), the first determination unit 44 sets the attention zone z1 in the range from the maximum distance ds1 to the first minimum distance de1 (S20). If the first minimum distance de1 is equal to or less than the second minimum distance de2 (N in S18), the first determination unit 44 sets the attention zone z1 in the range from the maximum distance ds1 to the second minimum distance de2 (S22).

[0048] If the vehicle 60 is not located in the attention calling section z1 (N in S24), the driving support device 10 ends the process. If the vehicle 60 is located in the attention calling section z1 (Y in S24), the output unit 48 outputs the attention calling information via the HMI 30 (S26), and the driving support device 10 ends the process.

[0049] According to the embodiment, even if the light color of the traffic light 74 is yellow, when the vehicle 60 is located within a distance dp that the vehicle 60 can travel at the current speed within the reference time from the reference position rp2 on the exit side of the intersection 70, the attention is not issued. In other words, when the intersection 70 is relatively small, the area where the attention is not issued spreads in a direction away from the intersection 70 compared to when the intersection 70 is large. Therefore, the area where the attention is not issued can be appropriately set according to the size of the intersection 70. Therefore, it is possible to make the driver feel that the attention is not bothersome. Since the reference time is longer than the duration of the yellow light of the traffic light 74, the attention is not issued at a position where the vehicle 60 can generally pass the intersection 70 while the light color of the traffic light 74 is yellow.

[0050] In addition, the first position p1 is determined to be the position farther from the intersection 70 between the position on the vehicle 60 side by the minimum distance de1 required for stopping from the stop reference position rp1 and the position on the vehicle 60 side by the travelable distance dp from the reference position rp2 on the exit side. Therefore, the attention zone z1 and the zone where attention is not issued can be appropriately set according to the size of the intersection 70. Even when the light color of the traffic light 74 is detected to be yellow, if the vehicle 60 is traveling relatively close to the entrance of the intersection 70 and it may be difficult to safely stop the vehicle 60, attention cannot be issued. Therefore, it is possible to make it less likely that the driver in such a situation will feel bothered.

[0051] Furthermore, since the position on the vehicle 60 side is set to the second position p2 by the maximum distance ds1 required for stopping from the stop reference position rp1, even when it is detected that the light color of the traffic light 74 is yellow or red, if the vehicle 60 is traveling at a position relatively far from the intersection 70 and there is a possibility that the driver will not immediately perform a deceleration operation, a warning cannot be issued. This makes it possible to prevent the driver, who plans to perform a deceleration operation after approaching the intersection 70, from feeling annoyed.

[0052] From the above, the driver's attention can be more appropriately drawn to the color of the traffic light 74 ahead of the vehicle 60.

[0053] The present invention has been described above based on the embodiments. The embodiments are merely examples, and it will be understood by those skilled in the art that various modifications are possible in the combination of each component and each processing step, and that such modifications are also within the scope of the present invention. [Explanation of symbols]

[0054] 10...driving assistance device, 40...recognition unit, 42...distance acquisition unit, 44...first judgment unit, 46...second judgment unit, 48...output unit, 50...deceleration control unit, 60...host vehicle, 70, 70a, 70b...intersection, 72, 72a, 72b...stop line, 74, 74a, 74b...traffic light.

Claims

1. an output unit that outputs information to alert a driver of the vehicle when a traffic light color at an intersection ahead of the vehicle is yellow; a distance acquisition unit that acquires a distance that the host vehicle can travel within a predetermined reference time; Equipped with the output unit does not output attention-calling information when the vehicle is located within the range of the travelable distance from a reference position on the exit side of the intersection to the entrance side, even if the light color of the traffic light is yellow. A driving assistance device comprising:

2. The reference time is set to be equal to or longer than the yellow duration of the traffic light.

2. The driving support device according to claim 1 .

3. the distance acquisition unit acquires, when it is detected that the light color of the traffic light is yellow, a distance that can be traveled within the reference time at a speed of the host vehicle.

3. A driving assistance device according to claim 1 or 2.

4. The distance acquisition unit further acquires a distance required to stop the host vehicle based on a speed of the host vehicle, a first position is a position on the vehicle's side that is a distance required for stopping from a stop reference position on an entrance side of the intersection and a position on the vehicle's side that is a distance that can be traveled from a reference position on an exit side of the intersection, the position farther from the intersection; The output unit is When the traffic light is yellow and the vehicle has not reached the first position, outputting information calling for attention; Even if the traffic light is yellow, when the host vehicle is located closer to the intersection than the first position, attention-calling information is not output.

3. A driving assistance device according to claim 1 or 2.

5. The distance acquisition unit further acquires a maximum value and a minimum value of a distance required to stop the host vehicle based on a speed of the host vehicle; a first position is determined as a position farther from the intersection between a position on the host vehicle side that is the minimum value from a stop reference position on an entrance side of the intersection and a position on the host vehicle side that is the travelable distance from a reference position on an exit side of the intersection, A position on the host vehicle side from the stop reference position by the maximum value is set as a second position; The output unit is When the traffic light is yellow and the host vehicle is located between the first position and the second position, attention-calling information is output; Even if the light color of the traffic light is yellow, when the host vehicle is not located between the first position and the second position, attention-calling information is not output.

3. A driving assistance device according to claim 1 or 2.

Images