Driving assistance system

Abstract

This invention provides a driving assistance device that, in addition to the lane the vehicle is traveling in, determines objects that the driver should pay attention to based on the vehicle's movement and provides priority notification to the driver. [Solution] The system acquires the operating status of the turn signals 20 installed on the vehicle, identifies the lane the vehicle is currently traveling in, and then, when it detects an object of interest that the vehicle should pay attention to around the vehicle, it selects the type of object of interest to be prioritized for notification based on the operating status of the turn signals 20 and the lane of travel, and then provides notification to the object of interest according to the selection.

Description

Technical Field

[0001] The present invention relates to a driving support device that performs driving support for a vehicle.

Background Art

[0002] Conventionally, when a vehicle is traveling, a camera image that captures the surrounding environment of the vehicle is displayed, or when a vehicle detects objects that need to be noted, such as people or obstacles, in the surroundings, notification is provided for those objects, or a driving support device that performs driving support by executing part or all of the user's driving operations on the vehicle side has been proposed.

[0003] Here, regarding the driving support when detecting objects that need to be noted by the vehicle, such as people or obstacles (hereinafter referred to as attention objects), a technique for performing driving support considering the driving lane of the host vehicle is known. For example, in Japanese Patent Application Laid-Open No. 2008-143387, when a pedestrian is detected around the host vehicle, after specifying the driving lane of the host vehicle, a level of collision risk with the pedestrian is calculated based on the driving lane of the host vehicle, and a technique for performing notification and vehicle control with content corresponding to the level of collision risk is disclosed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] While Patent Document 1 above changes the content of driving assistance depending on the lane the vehicle is traveling in, it is possible that appropriate driving assistance cannot be provided by only considering the lane the vehicle is traveling in. Providing assistance regarding objects of attention around the vehicle (for example, notification to make the driver aware of the presence of such objects) is particularly important when the vehicle is performing special movements such as changing lanes, turning left or right, or deviating from its lane, as the driver needs to pay attention to objects around it. However, the objects of attention that the driver should pay attention to in these situations change not only depending on the lane the vehicle is traveling in, but also depending on which lane the vehicle is moving from and in which direction. Patent Document 1 above provides the same driving assistance if the vehicle is traveling in the same lane, so it has the problem of not being able to provide driving assistance that corresponds to such movements of the vehicle.

[0006] The present invention was made to solve the aforementioned problems of the conventional invention, and aims to provide a driving assistance device that can determine objects that the driver should pay attention to in accordance with the movement of the vehicle, in addition to the lane in which the vehicle is traveling, and to provide the driver with priority notification of such objects. [Means for solving the problem]

[0007] To achieve the above objective, the driving support device according to the present invention includes a notification means that notifies the vehicle of an object of attention when it detects such an object in the vicinity of the vehicle; an operation status acquisition means that acquires the operation status of the turn signals of the vehicle; and a driving lane identification means that identifies the driving lane in which the vehicle is currently traveling. The notification means selects the type of object of attention to be prioritized for notification based on the operation status of the turn signals and the driving lane. Furthermore, "turn signal operation status" includes not only whether the turn signal is operating or not, but also the direction indicated by the operating turn signal. Furthermore, "prioritizing notification" could mean notifying only the relevant object of attention, emphasizing the notification of the relevant object of attention more than other objects of attention, or notifying the relevant object of attention before other objects of attention. [Effects of the Invention]

[0008] According to the driving support device of the present invention having the above configuration, it is possible to determine objects that the driver should pay attention to in accordance with the movement of the vehicle, in addition to the lane in which the vehicle is traveling, and to notify the driver preferentially. As a result, even if there are many objects that require attention, it becomes possible to notify the appropriate object. [Brief explanation of the drawing]

[0009] [Figure 1] This is a block diagram showing the navigation device according to this embodiment. [Figure 2] This is a flowchart of the driving support processing program according to this embodiment. [Figure 3] This diagram illustrates the method for detecting the vehicle's lane of travel. [Figure 4] This diagram illustrates how to set priorities for notifications regarding objects requiring attention. [Figure 5] This diagram illustrates how to set priorities for notifications regarding objects requiring attention. [Figure 6] This diagram illustrates how to set priorities for notifications regarding objects requiring attention. [Figure 7] This diagram illustrates how to set priorities for notifications regarding objects requiring attention. [Figure 8] This diagram illustrates how to set priorities for notifications regarding objects requiring attention. [Modes for carrying out the invention]

[0010] Hereinafter, embodiments of the driving support device according to the present invention, specifically those implemented as a navigation device, will be described in detail with reference to the drawings. First, the schematic configuration of the navigation device 1 according to this embodiment will be described using Figure 1. Figure 1 is a block diagram showing the navigation device 1 according to this embodiment.

[0011] As shown in Figure 1, the navigation device 1 according to this embodiment includes a current location detection unit 11 that detects the current location of the vehicle on which the navigation device 1 is installed, a data recording unit 12 on which various data are recorded, a navigation ECU 13 that performs various calculation processing based on the input information, an operation unit 14 that accepts operations from the user, a liquid crystal display 15 that displays various support images related to driving assistance to the user, a speaker 16 that outputs voice guidance related to route guidance, a DVD drive 17 that reads a DVD which is a storage medium, and a communication module 18 that communicates with an information center such as a probe center or a VICS (registered trademark: Vehicle Information and Communication System) center. In addition, the navigation device 1 is connected to an external camera 19 and a turn signal 20 installed on the vehicle on which the navigation device 1 is installed via an in-vehicle network such as CAN.

[0012] The following describes each component of the navigation device 1 in order. The current position detection unit 11 consists of a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, etc., and is capable of detecting the current position, direction, vehicle speed, current time, etc. In particular, the vehicle speed sensor 22 is a sensor for detecting the distance traveled and speed of the vehicle, and generates pulses in accordance with the rotation of the vehicle's drive wheels and outputs the pulse signal to the navigation ECU 13. The navigation ECU 13 then calculates the rotation speed of the drive wheels and the distance traveled by counting the generated pulses. It should be noted that the navigation device 1 does not need to be equipped with all four types of sensors mentioned above, and the navigation device 1 may be configured to be equipped with only one or more of these types of sensors.

[0013] Furthermore, the data recording unit 12 includes a hard disk (not shown) as an external storage device and recording medium, and a recording head (not shown) which is a driver for reading map information DB31 and predetermined programs recorded on the hard disk and writing predetermined data to the hard disk. The data recording unit 12 may also be configured using flash memory, a memory card, or an optical disc such as a CD or DVD instead of a hard disk. Alternatively, the map information DB31 may be stored on an external server and acquired by the navigation device 1 via communication.

[0014] Here, the map information DB31 is a storage means that stores, for example, link data 32 related to roads (links), node data 33 related to node points, branching point data 34 related to branching points, point data related to facilities and other locations, map display data for displaying maps, search data for searching for routes, search data for searching for locations, and so on.

[0015] Furthermore, the link data 32 records data for each link that makes up the road, including the width of the road to which the link belongs, the slope, cant, bank, road surface condition, number of lanes, traffic direction classification for each lane, presence or absence of opposing lanes (whether or not it is a two-way traffic section), locations where the number of lanes decreases, locations where the width narrows, level crossings, etc. For corners, data is recorded, including the radius of curvature, intersections, T-junctions, corner entrances and exits, etc. For road attributes, data is recorded, including downhill roads, uphill roads, etc. For road types, data is recorded, including expressways and general roads (national roads, prefectural roads, narrow streets, etc.).

[0016] Furthermore, the node data 33 records data such as the coordinates (positions) of node points set at predetermined distances according to the radius of curvature, etc., for actual road junctions (including intersections, T-junctions, etc.), node attributes indicating whether a node corresponds to an intersection, a list of connection link numbers which is a list of link numbers for links connected to a node, a list of adjacent node numbers which is a list of node numbers for nodes adjacent to a node via links, and data related to the height (altitude) of each node point.

[0017] In addition, as the branch point data 34, the intersection name of the branch point, the corresponding node information for specifying the nodes forming the branch point, the connection link information for specifying the links connected to the branch point, the direction name corresponding to the links connected to the branch point, information for specifying the shape of the branch point, etc. are stored. Also, structures that can serve as landmarks when guiding right and left turns at the branch point are stored.

[0018] On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1, and includes a CPU 41 as an arithmetic unit and a control unit, and a RAM 42 that is used as a working memory when the CPU 41 performs various arithmetic processes and stores route data, etc. when a route is searched, in addition to a control program, a ROM 43 in which a driving support processing program (FIG. 2) described later, etc. are recorded, and an internal storage device such as a flash memory 44 that stores the program read from the ROM 43. Note that the navigation ECU 13 has various means as processing algorithms. For example, the notification means performs notification for an object of attention when an object of attention that is an object of attention for the host vehicle is detected around the host vehicle. The operation status acquisition means acquires the operation status of the direction indicator 20 provided in the host vehicle. The traveling lane specifying means specifies the traveling lane in which the host vehicle is currently traveling. That is, the navigation ECU 13 is an example of the notification means, the operation status acquisition stage, and the traveling lane specifying means.

[0019] The operation unit 14 is operated when inputting a departure point as a travel start point and a destination as a travel end point, etc., and has a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute corresponding various operations based on the switch signals output by pressing each switch, etc. Note that the operation unit 14 may be configured to have a touch panel provided on the front surface of the liquid crystal display 15. Also, it may be configured to have a microphone and a voice recognition device.

[0020] The liquid crystal display 15 also displays map images including roads, traffic information, operation instructions, operation menus, key instructions, guided routes from the starting point to the destination, guidance information along the guided route, news, weather forecasts, time, emails, TV programs, etc. In particular, in this embodiment, when an object of attention that the vehicle needs to pay attention to is detected around the vehicle, a support image that provides notification of the object is also displayed. As a means of displaying the support image, a head-up display may be used instead of the liquid crystal display 15.

[0021] Furthermore, the speaker 16 outputs voice guidance that directs the vehicle along the designated route based on instructions from the navigation ECU 13, as well as traffic information. In this embodiment in particular, when an object of attention is detected around the vehicle, the speaker also outputs voice or warning sounds to notify the vehicle of the object of attention.

[0022] Furthermore, the DVD drive 17 is a drive capable of reading data recorded on recording media such as DVDs and CDs. Based on the read data, it performs functions such as playing music and videos and updating the map information DB31. Alternatively, a card slot for reading and writing memory cards may be provided instead of the DVD drive 17.

[0023] Furthermore, the communication module 18 is a communication device for receiving traffic information consisting of various types of information such as congestion information, regulation information, and traffic accident information transmitted from a traffic information center, such as a VICS center or probe center, and examples of such devices include mobile phones and DCMs.

[0024] On the other hand, the external camera 19 is composed of a camera using a solid-state image sensor such as a CCD, and is mounted on the vehicle's bumper, door mirror, etc., with its optical axis orientation set so that it can capture images of the surrounding environment of the vehicle. The external camera 19 captures images of the area in front of, to the side of, and behind the vehicle in the direction of travel while the vehicle is in motion, and in particular detects objects of attention located around the vehicle. However, it is not necessary to capture images of the entire area in front of, to the side of, and behind the vehicle in the direction of travel. In addition to the camera, sensors such as millimeter-wave radar and laser sensors, as well as vehicle-to-vehicle communication and vehicle-to-infrastructure communication may also be used to detect objects of attention. Furthermore, the images captured by the external camera 19 are also used to identify the lane in which the vehicle is currently traveling, as will be described later.

[0025] Furthermore, the turn signal 20 consists of lamps that are installed, for example, at the front or rear of the vehicle and indicate the direction the vehicle will travel. The occupant can switch which lamp (left or right) to illuminate by operating a switch located around the steering wheel. The navigation ECU 13 can also detect whether the turn signal 20 is illuminated or unilluminated, as well as which lamp (left or right) is being illuminated, based on the signals transmitted from the turn signal 20.

[0026] Furthermore, a vehicle equipped with the above-mentioned navigation device 1 may be a vehicle capable of not only manual driving based on the user's driving operations, but also assisted driving through automated driving assistance, in which the vehicle drives automatically without user driving operations. Alternatively, it may be a vehicle capable of performing only assisted driving through automated driving assistance. On the other hand, the vehicle is not necessarily limited to a vehicle capable of assisted driving through automated driving assistance, and may be a vehicle capable of manual driving only.

[0027] Next, the driving support processing program executed by the navigation ECU 13 in the navigation device 1 having the above configuration will be explained with reference to Figure 2. Figure 2 is a flowchart of the driving support processing program according to this embodiment. Here, the driving support processing program is executed after the vehicle's ACC power supply (accessory power supply) is turned ON, and is a program that notifies the vehicle of an object of attention when it detects an object of attention that is of interest to the vehicle in the vicinity of the vehicle. The program shown in the flowchart in Figure 2 below is stored in the RAM 42 and ROM 43 of the navigation device 1 and executed by the CPU 41.

[0028] First, in step 1 (hereinafter abbreviated as S), the CPU 41 performs image recognition processing on the image captured by the external camera 19 to detect attention objects located around the vehicle. Here, attention objects are objects that the moving vehicle needs to pay attention to, and in this embodiment, attention objects are at least moving objects or objects that could become moving objects (even if they are stationary at the time of detection) that are on the road (including the shoulder and sidewalk) on which the vehicle is traveling. Furthermore, any moving object or object that could become moving may be considered an attention object, and preferably, specific objects may be considered attention objects, for example, pedestrians or vehicles. However, attention objects are not limited to pedestrians or vehicles, and may also include, for example, bicycles or motorcycles. Furthermore, attention objects may be limited to moving objects approaching the vehicle.

[0029] In S1, the process for detecting an object of attention from the captured image can be, for example, to perform brightness correction based on the brightness difference between the road surface and the object of attention, then perform binarization to separate the object of attention from the image, geometric processing to correct distortion, smoothing processing to remove noise from the image, etc., to detect the boundary line between the road surface and the object of attention. Furthermore, detection may also be performed using known template matching processing or feature point detection processing. In addition, the image recognition processing on the captured image is not limited to the above example, and may be performed using machine learning, for example.

[0030] In addition to image recognition processing, detection of objects of attention may also be performed using detection sensors such as ultrasonic sensors and millimeter-wave sensors installed in the vehicle. While these detection sensors can pinpoint the location of objects around the vehicle, they generally cannot identify the category (type) of the detected object, i.e., whether or not the detected object is a target of attention. However, if the object is moving, it can be estimated to be a target of attention. Furthermore, by using a camera in conjunction with the detection sensors, the type of object detected by the detection sensors can be identified.

[0031] Subsequently, in S2, the CPU 41 determines, based on the image recognition results from S1, whether or not an object of attention has been detected around the vehicle. The area around the vehicle is, for example, the detection range of the object of attention by the external camera 19, but it may also be an area within a predetermined distance from the vehicle. Furthermore, the determination of whether or not an object of attention has been detected may be limited to an area in a specific direction relative to the vehicle (for example, in front of the vehicle). Moreover, the area to be determined may be changed depending on the type of object of attention.

[0032] If it is determined that an object of attention has been detected around the vehicle (S2:YES), the process proceeds to S3. Conversely, if it is determined that no object of attention has been detected around the vehicle (S2:NO), the driving support processing program is terminated.

[0033] In S3, the CPU 41 performs image recognition processing on the image captured by the external camera 19 to identify the "vehicle's lane," which is the lane the vehicle is currently traveling in. Specifically, the vehicle's lane is identified through the following process.

[0034] First, the CPU 41 processes the image captured by the external camera 19 to recognize (detect) features located around the vehicle. Specifically, it recognizes (detects) lane markings drawn on the road surface (including the road surface of the lane the vehicle is traveling in, as well as the road surface of other lanes) and the road edge (specifically, the edge of the roadway, and if there is a sidewalk, the boundary between the roadway and the sidewalk). It is desirable to also detect the color and type (solid line, dashed line, etc.) of the lane markings. As for the road edge, it basically detects structures such as blocks, guardrails, and median strips installed at the road edge, but for roads where such structures are not at the road edge, it is also acceptable to detect the break in the asphalt or the outermost lane marking (if the road is divided into opposing lanes and a center line, the center line is also considered the road edge) as the road edge. Then, in addition to the detection results of the lane markings and road edge mentioned above, the system refers to map information to identify the vehicle's lane. For example, as shown in Figure 3, if the total number of lanes (excluding oncoming lanes) on the road that the vehicle 45 is traveling on is 3, and it can be determined that lanes can be seen to the left and right of the vehicle 45, or that the road edge is on the left side of lane 47 to the left of the vehicle 45, or that the road edge is on the right side of lane 48 to the right of the vehicle 45, then the central lane 46 of the 3 lanes can be identified as the vehicle's lane. Even if the map information stored in the map information DB 31 is simplified map information that does not contain specific location information for lanes or lane markings, the identification of the vehicle's lane can still be performed as described above if there is information that identifies the presence or absence of oncoming lanes and the number of lanes for each link.

[0035] However, the method for identifying one's own vehicle's lane is not limited to the above method. For example, it can also be identified by detecting other vehicles traveling on the same road (allowing the existence of lanes to be estimated from other vehicles). Alternatively, it can be identified by detecting features painted on the road surface other than lane markings (for example, lane markings indicating the direction of travel).

[0036] Next, in S4, the CPU 41 acquires the operating status of the vehicle's turn signals 20 via CAN or the like. Specifically, it acquires whether the turn signals 20 are lit or unlit, as well as which lamps (left, right) are being lit.

[0037] Next, in S5, the CPU 41 determines whether the road the vehicle is currently traveling on is a multi-lane road in one direction, that is, whether it has oncoming lanes (regardless of whether it is two-way traffic) and whether the vehicle's direction of travel is on a multi-lane road. Note that even if the road is divided by a median strip or other means, or is a road separated by direction of travel such as a highway, if the vehicle's direction of travel is on a multi-lane road, the CPU 41 determines it as YES. Since information regarding the number of lanes on a road is included in the map information's linked data, the CPU 41 can make the determination in S5 based on the vehicle's current position and the map information. Alternatively, the determination may be made based on the image recognition results from the external camera 19.

[0038] If it is determined that the road the vehicle is currently traveling on is a road with multiple lanes in one direction (S5: YES), the process proceeds to S6. On the other hand, if the road the vehicle is currently traveling on is not a road with multiple lanes in one direction (S5: NO), for example, a single-lane road without opposing traffic (a one-way road), a single-lane road in each direction, or a narrow street without lane divisions (which may be one-way or two-way), the process proceeds to S9.

[0039] Subsequently, in S6, the CPU41 determines whether the turn signal is pointing towards the edge of the road (left if driving on the left, right if driving on the right) if the road the vehicle is currently traveling on is a road with multiple lanes in one direction.

[0040] If the road the vehicle is currently traveling on has multiple lanes in one direction, and it is determined that the turn signal is pointing towards the edge of the road (S6: YES), the process proceeds to S8. Conversely, if it is determined that the turn signal is not activated, or is pointing in the opposite direction (towards the center of the road, towards the oncoming lane) (S6: NO), the process proceeds to S7.

[0041] In S7, CPU41 sets other vehicles as the highest priority for notification. In particular, if the turn signal is activated, it is set to give higher priority to notifying other vehicles located in the direction indicated by the turn signal relative to the own vehicle. The system then proceeds to S10.

[0042] Here, as shown in Figure 4, if the vehicle is traveling on a road with multiple lanes in one direction and the turn signal is not activated, it can be assumed that the vehicle will continue to travel in its current lane. Therefore, even if there are pedestrians on the sidewalk or roadside, the likelihood of them affecting the vehicle is low. On the other hand, other vehicles located in front of or behind the vehicle may approach the vehicle and should be considered objects of attention. In addition to other vehicles in motion, other vehicles parked on the road should also be considered objects of attention. Therefore, when pedestrians and other vehicles are objects of attention, other vehicles should be given higher priority as the target of notification. Furthermore, if the turn signal is not activated, it may be set to give particular priority to notifying other vehicles located in the lane in which the vehicle is traveling (including both moving and parked vehicles).

[0043] On the other hand, as shown in Figure 5, if your vehicle is traveling on a road with multiple lanes in one direction and the turn signal is pointing in the opposite direction to the edge of the road (towards the center of the road, towards the oncoming lane), it can be estimated that the vehicle will then move from its current lane to the lane indicated by the turn signal. Therefore, even if there are pedestrians on the sidewalk or roadside, the likelihood of them affecting your vehicle is low. On the other hand, other vehicles located in front of or behind your vehicle may approach and should be considered objects of attention. Therefore, when pedestrians and other vehicles are objects of attention, other vehicles should be given higher priority as the objects of notification. In particular, other vehicles located in the direction indicated by the turn signal (other vehicles located in the lane to which the vehicle is moving) should be given priority notification because they have a greater impact on your vehicle. For example, if the turn signal indicates right, other vehicles located in the lane adjacent to the right can be given the highest priority, and other vehicles located in other lanes can be given the second highest priority.

[0044] Meanwhile, in S8, the CPU 41 determines whether the lane the vehicle is currently traveling in, as identified in S3, is the first lane (the lane located closest to the edge of the road; the leftmost lane if driving on the left, and the rightmost lane if driving on the right).

[0045] If the turn signal is pointing towards the edge of the road and it is determined that the vehicle is currently traveling in lane 1 (S8: YES), the process proceeds to S9. Conversely, if the turn signal is pointing towards the edge of the road but it is determined that the vehicle is currently traveling in a lane other than lane 1 (S8: NO), the process proceeds to S7.

[0046] Furthermore, if the turn signal indicates the edge of the road, but the vehicle is determined to be in a lane other than Lane 1, it can be estimated that the vehicle will move from its current lane to the lane indicated by the turn signal, as shown in Figure 6. Therefore, even if there are pedestrians on the sidewalk or roadside, the likelihood of them affecting the vehicle is low. On the other hand, other vehicles located in front of or behind the vehicle may approach and should be considered objects of attention. Therefore, when pedestrians and other vehicles are objects of attention, other vehicles should be given higher priority as the notification target. In particular, other vehicles located in the direction indicated by the turn signal (other vehicles located in the destination lane) should be given priority notification because they have a greater impact on the vehicle. For example, if the turn signal indicates left, other vehicles located in the lane adjacent to the left (including both moving vehicles and parked vehicles) can be given the highest priority, and other vehicles in other lanes can be given the second highest priority.

[0047] Meanwhile, in S9, the CPU 41 is configured to prioritize notifying pedestrians located in the direction indicated by the vehicle's turn signal (towards the road edge). After that, the process proceeds to S10.

[0048] Here, as shown in Figure 7, if the vehicle is traveling in the first lane of a multi-lane road and the turn signal is pointing towards the edge of the road, it can be inferred that the vehicle's subsequent behavior will be to turn right or left in the direction indicated by the turn signal at an upcoming intersection, park on the shoulder of the road, or cross the sidewalk to enter a facility. Therefore, if there are pedestrians on the sidewalk or along the roadside, the pedestrians are likely to affect the vehicle and should be considered a target for attention. On the other hand, other vehicles located in front of or behind the vehicle have less impact on the vehicle compared to pedestrians. Therefore, when both pedestrians and other vehicles are targets for attention, pedestrians should be given higher priority as the target for notification. In particular, pedestrians located in the direction indicated by the turn signal should be given higher priority, and pedestrians located in the opposite direction may be given lower priority than vehicles.

[0049] Furthermore, if the vehicle is traveling on a road that does not have multiple lanes in one direction (S5:NO), pedestrians should be given the highest priority as targets for notification (S9). However, it is desirable to give higher priority to pedestrians located in the opposite direction to the direction indicated by the turn signal than to other vehicles.

[0050] Here, as shown in Figure 8, if the vehicle is traveling on a road that does not have multiple lanes in one direction and the turn signal is activated, it can be estimated that the vehicle's subsequent behavior will be to turn right or left in the direction indicated by the turn signal at an upcoming intersection, park on the shoulder of the road, or cross the sidewalk to enter a facility. Therefore, if there are pedestrians on the sidewalk or roadside, the pedestrians are likely to affect the vehicle and should be considered a target for attention. On the other hand, since lane changes are not possible, other vehicles located in front of or behind the vehicle have less impact on the vehicle compared to pedestrians. Therefore, when pedestrians and other vehicles are targets for attention, pedestrians should be given higher priority as the target for notification. In particular, pedestrians located in the direction indicated by the turn signal have a greater impact on the vehicle, so they should be given priority for notification. For example, if the turn signal indicates right, pedestrians located on the roadside or sidewalk to the right of the vehicle can be given the highest priority, and other pedestrians can be given the second highest priority.

[0051] On the other hand, if the vehicle is traveling on a road that does not have multiple lanes in one direction and the turn signal is not activated, it can be presumed that the vehicle will continue to travel in its current lane. However, on single-lane roads or roads without lane markings, the possibility of approaching pedestrians is higher than when traveling on multi-lane roads, and these should be considered objects of attention for the vehicle. On the other hand, since lane changes are not possible, other vehicles located in front of or behind the vehicle have less impact on the vehicle than pedestrians. Therefore, when both pedestrians and other vehicles are objects of attention, pedestrians should be given higher priority than other vehicles as the object of notification, regardless of their position relative to the vehicle.

[0052] Subsequently, in S10, the CPU 41 notifies the attention objects detected in S1 according to the notification priority set in S7 and S9. “According to priority” means, for example, that only attention objects with a priority above a threshold are notified, that high-priority attention objects are highlighted more than low-priority ones, or that high-priority attention objects are notified before low-priority ones. Furthermore, the notification of attention objects may be made using the liquid crystal display 15 or the speaker 16.

[0053] For example, to explain the method of notification using the liquid crystal display 15, first, the image captured by the external camera 19, or a bird's-eye view or overhead view image of the area around the vehicle generated by converting and combining the image captured by the external camera 19, is displayed on the liquid crystal display 15. Alternatively, instead of a bird's-eye view or overhead view image, a CG image that simulates the area around the vehicle may be displayed on the liquid crystal display 15. Then, a warning image indicating the location of the object of attention can be superimposed on these images of the area around the vehicle. Alternatively, a head-up display can be used to display a virtual image of the warning image indicating the presence of the object of attention at the location of the object of attention in the scenery visible to the occupant. Furthermore, the above warning images may be displayed only for objects of attention whose notification priority is set above a threshold, and warning images for objects of attention with a high notification priority may be displayed more prominently (for example, by changing the display color, lowering the transmittance, or making them flash) than warning images for objects of attention with a low notification priority.

[0054] On the other hand, regarding the method of notification using speaker 16, voice guidance or warning sounds are output to make the vehicle occupants aware of the presence of the object requiring attention. For example, voice messages such as "There is a pedestrian to the right front" or "There is another vehicle approaching from the left rear" are output. Furthermore, the above voice guidance or warning sounds may be output only for objects requiring attention whose notification priority is set above a threshold, and warning voices or sounds for objects requiring attention with a high notification priority may be output before warning voices or sounds for objects requiring attention with a low notification priority.

[0055] However, as shown in Figure 7, if the vehicle is in the first lane and the turn signal 20 is pointing towards the edge of the road, as mentioned above, priority should be given to notifying pedestrians located in the direction indicated by the turn signal relative to the vehicle. However, it is also desirable to notify at least other vehicles located in the direction indicated by the turn signal 20 relative to the vehicle. This is because such other vehicles are presumed to be parked vehicles parked on the shoulder of the road, and although they have less impact on the vehicle than pedestrians, they still have an impact. On the other hand, as shown in Figures 5 and 6, if the vehicle is in a lane other than the first lane, or if the vehicle is in the first lane but the turn signal 20 is pointing in the opposite direction to the edge of the road, it is desirable to notify other vehicles located in the direction indicated by the turn signal 20 relative to the vehicle, but not pedestrians located in the direction indicated by the turn signal 20 relative to the vehicle. This is because pedestrians on the sidewalk or roadside are presumed to have basically no impact on the vehicle when it moves to another lane.

[0056] As described in detail above, according to the navigation device 1 and the computer program executed by the navigation device 1 in this embodiment, the operating status of the turn signals 20 equipped with the vehicle is acquired (S4), the driving lane in which the vehicle is currently traveling is identified (S3), and then, when an object of attention that the vehicle should pay attention to is detected around the vehicle, the type of object of attention to be prioritized for notification is selected based on the operating status of the turn signals 20 and the driving lane (S7, S9), and notification is given for the object of attention according to the selection (S10). As a result, in addition to the lane in which the vehicle is traveling, it is possible to determine objects of attention that the driver should pay attention to according to the movement of the vehicle and to notify the driver preferentially. Furthermore, the objects of attention include pedestrians and other vehicles. When the road the vehicle is currently traveling on is a multi-lane road in one direction, and the driving lane is the lane closest to the edge of the road and the turn signal 20 is pointing towards the edge of the road, priority is given to notifying pedestrians located in the direction indicated by the turn signal relative to the vehicle (S9, S10). If the driving lane is a lane other than the lane closest to the edge of the road, or if the driving lane is the lane closest to the edge of the road but the turn signal is pointing in the opposite direction to the edge of the road, priority is given to notifying other vehicles located in the direction indicated by the turn signal relative to the vehicle (S7, S10). Therefore, if it can be estimated that the vehicle's subsequent actions will include turning right or left at an upcoming intersection in the direction indicated by the turn signal, parking on the shoulder, or crossing the sidewalk to enter a facility, priority is given to notifying pedestrians. On the other hand, if it can be estimated that the vehicle's subsequent behavior will involve changing lanes from its current lane to the lane indicated by its turn signal, it becomes possible to prioritize notification to other vehicles. Furthermore, if the driving lane is the lane closest to the edge of the road and the turn signal 20 is pointing towards the edge of the road, priority is given to notifying pedestrians located in the direction indicated by the turn signal 20 relative to the vehicle, while also notifying other vehicles located in the direction indicated by the turn signal 20 relative to the vehicle (S10). If the driving lane is a lane other than the lane closest to the edge of the road, or if the driving lane is the lane closest to the edge of the road but the turn signal 20 is pointing in the opposite direction to the edge of the road, priority is given to notifying other vehicles located in the direction indicated by the turn signal 20 relative to the vehicle, while pedestrians located in the direction indicated by the turn signal 20 relative to the vehicle are not notified. This makes it possible to prioritize notifying attention objects that have a significant impact on the vehicle, as well as notifying attention objects that are presumed to have an impact even if the impact is small, while not notifying attention objects that are clearly presumed to have no impact. Furthermore, the objects of attention include pedestrians and other vehicles, and when the road the vehicle is currently traveling on is either a single-lane road without oncoming traffic, a single-lane road in each direction, or a road without lane markings, the system prioritizes notifying pedestrians located in the direction indicated by the turn signal 20 to the vehicle. Therefore, if it can be estimated that the vehicle's subsequent actions will include turning right or left at an upcoming intersection in the direction indicated by the turn signal, parking on the shoulder of the road, or crossing the sidewalk to enter a facility, the system can prioritize notifying pedestrians.

[0057] It should be noted that the present invention is not limited to the embodiments described above, and various improvements and modifications are possible without departing from the spirit of the invention. For example, in this embodiment, we have described the case where the objects of attention are pedestrians and vehicles, but bicycles and motorcycles may also be included as objects of attention if they are relevant to the vehicle itself. Furthermore, the objects of attention are not limited to moving objects, but may also include stationary objects (for example, utility poles).

[0058] Furthermore, although this embodiment describes the case where notification of an object of attention is given while the vehicle is being driven manually, notification of an object of attention may also be given when the vehicle is being driven with automated driving assistance.

[0059] Furthermore, in this embodiment, the operation status of the turn signal is obtained as whether or not the turn signal is operating and, if operating, the direction it indicates. However, it is also possible to obtain only whether or not the turn signal is operating. In addition, the priority of notification to objects of attention may be set based on the vehicle's lane and whether or not the turn signal is operating.

[0060] Furthermore, in this embodiment, notification is provided to the object of attention as driving support for the object of attention. However, in addition to notification, other vehicle control measures such as deceleration control to prevent approaching the object of attention may also be implemented as driving support for the object of attention.

[0061] Furthermore, in this embodiment, the navigation ECU 13 of the navigation device 1 executes the processing of the driving support processing program (Figure 2), but the execution entity can be changed as appropriate. For example, the control unit of the liquid crystal display 15, the vehicle control ECU, or other in-vehicle devices may be used to execute the processing. [Explanation of Symbols]

[0062] 1...Navigation device, 13...Navigation ECU (an example of notification means, operation status acquisition stage, and driving lane identification means), 15...LCD display, 19...Exterior camera, 20...Turn signal, 41...CPU, 42...RAM, 43...ROM, 45...Own vehicle

Claims

1. A notification means that, when it detects an object of attention that is of interest to the vehicle in the vicinity of the vehicle, notifies the vehicle of the said object of attention, A means for acquiring the operating status of the turn signals equipped on the vehicle, It has a means for identifying the lane in which the vehicle is currently traveling, The notification means is a driving support device that selects the type of object to be given priority notification based on the operating status of the turn signal and the driving lane.

2. The aforementioned objects of attention include pedestrians and other vehicles, When the road your vehicle is currently traveling on is a road with multiple lanes in one direction, The aforementioned notification means is, If the aforementioned driving lane is the lane located closest to the edge of the road, and the turn signal is indicating the edge of the road, the system will prioritize notifying pedestrians located in the direction indicated by the turn signal relative to the vehicle. The driving support device according to claim 1, wherein if the driving lane is a lane other than the lane located closest to the edge of the road, or if the driving lane is the lane located closest to the edge of the road but the turn signal is indicating the opposite direction to the edge of the road, the device prioritizes notifying other vehicles located in the direction indicated by the turn signal relative to the vehicle.

3. The aforementioned notification means is, If the aforementioned driving lane is the lane located closest to the edge of the road, and the turn signal is indicating the edge of the road, the system will prioritize notifying pedestrians located in the direction indicated by the turn signal relative to the vehicle, while also notifying other vehicles located in the direction indicated by the turn signal relative to the vehicle. The driving support device according to claim 2, wherein if the driving lane is a lane other than the lane located closest to the edge of the road, or if the driving lane is the lane located closest to the edge of the road but the turn signal indicates a direction opposite to the edge of the road, the device will notify other vehicles located in the direction indicated by the turn signal relative to the vehicle, but will not notify pedestrians located in the direction indicated by the turn signal relative to the vehicle.

4. The aforementioned objects of attention include pedestrians and other vehicles, The aforementioned notification means is, The driving support device according to claim 1, which, when the road on which the vehicle is currently traveling is a single-lane road without oncoming traffic, a road with one lane in each direction, or a road without lane markings, prioritizes notifying a pedestrian located in the direction indicated by the turn signal to the vehicle.

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