Driving assistance device, driving assistance method, driving assistance program, and vehicle

Abstract

To provide a driving support device with improved practicality.SOLUTION: A driving support device 1 comprises: a first sensor for detecting a position of an own vehicle; a second sensor for detect a lamp light color of a signal apparatus S1 and a lamp light color of a signal apparatus S2 at the nearest intersection J of the own vehicle, wherein the signal apparatus S1 regulates traffic in a first direction along an approach road of the own vehicle to the intersection, and the signal apparatus S2 regulates traffic in a second direction crossing the approach road of the intersection J; and a control device that recognizes behavior of a preceding vehicle, and executes predetermined control based on a result of the recognition, and results of the detection by the first sensor and the second sensor. When the preceding vehicle starts from a state where the own vehicle and the preceding vehicle are stationary inside a predetermined area R including the intersection J, the control device executes the predetermined control according to a position of the one's own vehicle in an area, and either one or both of the lamp light colors of the first signal apparatus and the second signal apparatus.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a driving assistance device that is mounted on a vehicle and assists a driver in driving operations when the vehicle passes through an intersection, a driving assistance method, a driving assistance program, and a vehicle equipped with the driving assistance device. [Background technology]

[0002] Conventionally, there is known a driving assistance device (hereinafter, referred to as a "conventional device") that is mounted on a vehicle and assists the driver in driving the vehicle when the vehicle passes through an intersection (see, for example, Patent Document 1 below). This conventional device executes a predetermined control when the vehicle ahead starts moving from a state in which the vehicle and the preceding vehicle are stopped within a predetermined area including the intersection.

[0003] Specifically, when the preceding vehicle starts moving, if the traffic light is "green," the conventional device notifies the driver of the vehicle that the preceding vehicle has started moving. On the other hand, when the preceding vehicle starts moving, if the traffic light is "yellow" or "red" and the preceding vehicle is at the front of the line within a predetermined area including the intersection, the conventional device does not notify the driver that the preceding vehicle has started moving. In this case, when the vehicle tries to start moving, the conventional device notifies the driver that the traffic light is "red." [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2011-70299 A Summary of the Invention

[0005] Here, assume that the preceding vehicle starts moving from a state where the preceding vehicle and the vehicle itself are stopped in an intersection. In this case, if the traffic light is yellow or red, it is preferable for the vehicle itself to start moving after the preceding vehicle and quickly exit the intersection. However, in this situation, if the preceding vehicle is in the lead, when the vehicle itself tries to start moving, the conventional device notifies the driver that the traffic light is red. Therefore, the driver may hesitate to start the vehicle itself, and the vehicle itself may be left behind in the intersection. In this way, the conventional device may execute a notification that is unnecessary for the driver (a notification that confuses the driver). In other words, the practicality of the conventional device is low.

[0006] An object of the present invention is to provide a driving assistance device with improved practicality.

[0007] In order to solve the above problems, a driving assistance device (1) according to the present invention comprises: It is installed in the vehicle (V). a first sensor (10d, 55) for detecting the position of the vehicle; a second sensor (10d, 53) for detecting the light color of a first traffic light (S1) at a traffic light in the nearest intersection to the vehicle, the first traffic light (S1) regulating traffic in a first direction along an entrance road (R1) of the vehicle to the intersection, and the second traffic light (S2) regulating traffic in a second direction intersecting the entrance road of the intersection; Another vehicle located in front of the vehicle a control device (10a) that recognizes a behavior of a preceding vehicle and executes a predetermined control based on the recognition result and the detection results of the first sensor and the second sensor; Equipped with. The control device includes: The preceding vehicle and the vehicle are at an intersection ( J) When the preceding vehicle starts moving while the preceding vehicle and the own vehicle are stopped, When the light color of the second traffic light is "yellow" or "red," execute either one or both of a first control for notifying a driver of the host vehicle that the preceding vehicle has started moving and a second control for causing the host vehicle to start moving while following the preceding vehicle; When the light color of the second traffic light is "green," a third control is executed to present predetermined attention-calling information to a driver of the vehicle. It is structured as follows.

[0008] As described above, the conventional device determines the notification mode based on the light color of the traffic light corresponding to the first traffic light of the present invention and whether the preceding vehicle is the first. Therefore, a notification that is unnecessary for the driver may be executed. In contrast, the driving assistance control device of the driving assistance device according to the present invention executes a predetermined notification mode according to the "stop position of the vehicle" and the "light color of the first traffic light and / or the second traffic light" when the preceding vehicle starts from a state in which the vehicle and the preceding vehicle are stopped near an intersection. In other words, the driving assistance device of the present invention "notifies that the preceding vehicle has started" only in a scene in which it is considered that the vehicle should start following the start of the preceding vehicle, and does not execute a notification in a scene in which it is considered that the vehicle should not start. Therefore, the practicality of the driving assistance device according to the present invention is higher than that of the conventional device that does not consider the position of the vehicle and the light color of the second traffic light when determining the notification mode.

[0009] In one aspect of the present invention, a driving assistance device includes: The control device includes: When your vehicle has not entered the intersection The above When the preceding vehicle starts moving, If the first traffic light is green, The first control and the second control Execute control of either one or both of the following: When the light color of the first traffic light is "yellow" or "red," the first control and the second control are not executed.

[0010] This reduces the number of cases where a vehicle follows a preceding vehicle and enters an intersection even though the first traffic light is yellow or red.

[0012] According to this, when the vehicle is left behind in an intersection and it is difficult for the driving assistance control device to accurately judge the traffic conditions, the driver can take the lead in driving operations, thereby improving driving safety until the vehicle exits the intersection.

[0013] In addition, in a driving assistance device according to another aspect of the present invention, The control device includes: The above When the vehicle ahead and your vehicle are entering the intersection The When the preceding vehicle starts moving and the second traffic light is green, The above A notification is issued to the effect that it is recommended to disable the function of starting the vehicle by following the preceding vehicle.

[0014] This allows the driver to take the lead in driving operations, and improves driving safety until the vehicle exits the intersection. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a block diagram of a driving assistance device according to an embodiment of the present invention. [Figure 2A] FIG. 2A is a plan view showing the first situation. [Figure 2B] FIG. 2B is a plan view showing the second situation. [Figure 2C] FIG. 2C is a plan view showing the third situation. [Figure 2D] FIG. 2D is a plan view showing the fourth situation. [Diagram 3] FIG. 3 is a flowchart of the notification program. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] (Outline of configuration) As shown in Fig. 1, a driving assistance device 1 according to an embodiment of the present invention is mounted on a vehicle V. As will be described in detail later, the driving assistance device 1 has a cruise control function (ACC function) that controls the engine, brakes, and the like of the vehicle V so that the vehicle V travels at a constant speed or follows a preceding vehicle (a vehicle located immediately before the vehicle V and with a vehicle-to-vehicle distance equal to or less than a predetermined value) based on information acquired from a sensor mounted on the vehicle V and information acquired from other vehicles, a server, and the like via a communication device. Furthermore, the driving assistance device 1 has a function (alert function) that executes a predetermined alert when a preceding vehicle of the vehicle V starts moving near an intersection.

[0017] (Specific configuration) As shown in FIG. 1, the driving assistance device 1 includes a driving assistance ECU 10, a drive device 20, a braking device 30, a shift switching device 40, a surrounding sensor 50, and an operation switch 60.

[0018] The driving assistance ECU 10 includes a microcomputer including a CPU 10a, a RAM 10b, a ROM 10c, etc. In this specification, "ECU" means an electronic control unit, and includes a microcomputer including a CPU, a RAM, a ROM, etc. The CPU realizes various functions by executing instructions stored in the ROM.

[0019] The driving assistance ECU 10 is connected to other ECUs (an engine ECU 21, a brake ECU 31, and a SBW·ECU 41, which will be described later) via a CAN (Controller Area Network) so as to be able to transmit and receive information to and from each other.

[0020] The driving assistance ECU 10 further includes a communication device 10d. The communication device 10d receives data (e.g., the position and speed of a preceding vehicle, the light color of the nearest traffic signal, etc.) from a server computer that distributes traffic information, other vehicles traveling near the vehicle, etc., via a wireless communication line, and supplies the data to the CPU 10a.

[0021] The drive device 20 generates a driving force and applies the driving force to driving wheels among the wheels (left front wheel, right front wheel, left rear wheel, and right rear wheel). The drive device 20 includes an engine ECU 21, an engine actuator 22, an internal combustion engine 23, a transmission 24, a driving force transmission mechanism (not shown) that transmits the driving force to the wheels, and the like. The engine ECU 21 is connected to the engine actuator 22. The engine actuator 22 includes a throttle valve actuator that changes the opening degree of a throttle valve of the internal combustion engine 23. The engine ECU 21 can change the torque generated by the internal combustion engine 23 by driving the engine actuator 22. The torque generated by the internal combustion engine 23 is transmitted to the driving wheels via the transmission 24 and the driving force transmission mechanism (for example, a drive shaft). As described above, the engine ECU 21 controls the driving force of the vehicle V by controlling the engine actuator 22.

[0022] In addition, when the vehicle V to which the driving assistance device 1 is applied is a hybrid vehicle (HEV) or an electric vehicle (BEV), the engine ECU 21 can control the driving force of the vehicle generated by either or both of an "internal combustion engine and an electric motor" as the vehicle driving source.

[0023] The braking device 30 applies a braking force to the wheels. The braking device 30 includes a brake ECU 31, a hydraulic circuit 32, and a brake caliper 33. The hydraulic circuit 32 includes a reservoir, an oil pump, various valve devices, a hydraulic sensor, etc., which are not shown. The brake caliper 33 is a hydraulic actuator equipped with a cylinder and a piston. When oil is supplied to the cylinder, the piston is pushed out of the cylinder. A brake pad is provided at the tip of the piston, and this brake pad is pressed against a brake disc. The hydraulic circuit 32 adjusts the hydraulic pressure in the cylinder of the brake caliper 33 in response to a command from the brake ECU 31. In this way, the braking force of the brake caliper 33 on the wheels (brake disc) is controlled.

[0024] The shift switching device 40 switches the shift position of the transmission 24. The shift switching device 40 includes a Shift-by-Wire (SBW) ECU 41, an SBW actuator 42, and a shift switching mechanism 43. The SBW ECU 41 is connected to the SBW actuator 42. The SBW actuator 42 controls the shift switching mechanism 43 in response to a shift switching command from the SBW ECU 41 to switch the shift position of the transmission 24.

[0025] The surrounding sensor 50 includes a sensor that acquires vehicle surrounding information including information about three-dimensional objects present around the vehicle V and information about road markings around the vehicle V. That is, for example, the surrounding sensor 50 includes a sensor that acquires information about moving objects such as automobiles (other vehicles), pedestrians, and bicycles, as well as fixed objects such as white lines on the road, guardrails, and traffic lights.

[0026] The surrounding sensors 50 include a radar sensor 51 , an ultrasonic sensor 52 , a camera 53 , a vehicle speed sensor 54 and a navigation system 55 .

[0027] The radar sensor 51 includes a radar transmitting / receiving unit and a signal processing unit (not shown). The radar transmitting / receiving unit emits millimeter-wave band radio waves (hereinafter referred to as "millimeter waves") to the surrounding area of ​​the vehicle, and receives millimeter waves reflected by a three-dimensional object present within the emission range (i.e., reflected waves). The signal processing unit acquires information indicating the distance between the vehicle V and the three-dimensional object, the relative speed between the vehicle V and the three-dimensional object, the relative position (direction) of the three-dimensional object with respect to the vehicle V, etc., based on the phase difference between the transmitted millimeter wave and the received reflected wave, the attenuation level of the reflected wave, the time from transmitting the millimeter wave to receiving the reflected wave, etc., and outputs the information to the driving assistance ECU 10.

[0028] The ultrasonic sensor 52 transmits ultrasonic waves in a pulsed manner to a predetermined area around the vehicle and receives the waves reflected by a three-dimensional object. The ultrasonic sensor can detect the "reflection point, which is the point on the three-dimensional object where the transmitted ultrasonic waves are reflected," and the "distance between the ultrasonic sensor and the three-dimensional object," based on the time from transmitting the ultrasonic waves to receiving the reflected waves.

[0029] The camera 53 includes an imaging device 531 and an image analysis device 532. The imaging device 531 is, for example, a digital camera incorporating an imaging element such as a charge coupled device (CCD) or a CMOS image sensor (CIS). The imaging device 531 is disposed on the upper part of the front windshield glass. The imaging device 531 outputs image data obtained by photographing the foreground of the vehicle at a predetermined frame rate to the image analysis device 532. The image analysis device 532 analyzes the acquired image data and acquires information on a target located in front of the vehicle V from the image. The image analysis device 532 recognizes, for example, the light color of a traffic light located in front of the vehicle V in the traveling direction. The image analysis device 532 also recognizes road dividing lines, stop lines, and the like.

[0030] The vehicle speed sensor 54 includes a wheel speed sensor that generates one pulse signal (wheel pulse signal) every time the wheels of the host vehicle rotate a predetermined angle. The vehicle speed sensor 54 measures the number of pulses per unit time of the wheel pulse signal transmitted from the wheel speed sensor, calculates the rotation speed (wheel speed) of each wheel based on the measured number of pulses, and calculates the vehicle speed Vs (actual vehicle speed) of the host vehicle based on the wheel speed of each wheel. The vehicle speed sensor 54 transmits data representing the vehicle speed Vs to the driving assistance ECU 10.

[0031] The navigation system 55 receives GPS signals from multiple artificial satellites, and detects the current location PV (latitude and longitude) of the vehicle V based on the multiple received GPS signals. The navigation system 55 also stores map data representing a map. The map data includes road information representing roads and traffic light position information representing the installation positions of traffic lights. The navigation system 55 transmits vehicle position data representing the detected current location PV to the driving assistance ECU 10. Furthermore, the navigation system 55 has a function of calculating the distance between two points (distance along the road). For example, the navigation system 55 calculates the distance from the current location of the vehicle V to the first traffic light (the nearest traffic light) that the vehicle V will pass if it travels straight along the road on which it is currently traveling, and transmits the distance data to the driving assistance ECU 10.

[0032] The operation switch 60 is an operator (e.g., a push button switch operator) that is operated when the driver requests the start and end of cruise control (enabling and disabling the ACC function). When the driver operates the operation switch 60 (presses the button) during a period when cruise control is not being executed (a period when the ACC function is disabled), the operation switch 60 transmits a cruise control start signal to the driving assistance ECU 10, which indicates that "the driver is requesting the start of cruise control (a request to enable the ACC function)". On the other hand, when the driver operates the operation switch 60 during a period when cruise control is being executed, the operation switch 60 transmits a cruise control end signal to the driving assistance ECU 10, which indicates that "the driver is requesting the end of cruise control (a request to disable the ACC function)".

[0033] The operation switch 60 also includes operators for designating a target value Dd of the inter-vehicle distance in cruise control, which will be described later, and a target value Vd of the vehicle speed during constant speed driving.

[0034] Next, the ACC function and the notification function will be described.

[0035] (ACC function) The driving assistance ECU 10 executes the cruise control (ACC) when it receives a cruise control start signal from the operation switch 60. The ACC includes the following control and constant speed running control.

[0036] <Tracking control> The driving assistance ECU 10 judges whether or not there is another vehicle (preceding vehicle) to be followed based on information acquired from the surrounding sensor 50. When it is judged that there is a preceding vehicle to be followed, the driving assistance ECU 10 detects the distance between the preceding vehicle and the vehicle V (own vehicle) based on information acquired from the surrounding sensor 50 and information acquired from the communication device 10d (another vehicle, server computer, etc.). Next, the driving assistance ECU 10 controls the drive device 20, the braking device 30, and the shift switching device 40 (hereinafter referred to as "drive device, etc.") so that the inter-vehicle distance (actual measurement value) detected as described above matches a preset target value Dd. However, when the light color of the traffic light acquired from the camera 53 is "yellow" or "red," the driving assistance ECU 10 decelerates the vehicle V and stops it in front of the traffic light, even if the preceding vehicle does not start decelerating.

[0037] <Constant speed control> On the other hand, when it is determined that there is no preceding vehicle to be followed, the driving assistance ECU 10 accelerates or decelerates the vehicle V at a predetermined acceleration so that the vehicle speed Vs coincides with a preset target value Vd. Furthermore, the driving assistance ECU 10 accelerates, decelerates, or travels at a constant speed according to the light color of the traffic light. That is, when the light color of the traffic light acquired from the camera 53 while the vehicle V is traveling is "green", the driving assistance ECU 10 causes the vehicle V to travel (accelerate or travel at a constant speed) as it is and pass the traffic light. On the other hand, when the light color of the traffic light acquired from the camera 53 is "yellow" or "red", the driving assistance ECU 10 decelerates the vehicle V and stops it in front of the traffic light. Then, when the light color of the traffic light becomes "green", the driving assistance ECU 10 accelerates the vehicle V and passes the traffic light. Note that "traveling at a constant speed" means that the vehicle V advances at a constant speed.

[0038] (Alert function) Based on information acquired from the navigation system 55, the driving assistance ECU 10 sequentially determines whether the host vehicle has entered a predetermined area A including the nearest intersection J in the traveling direction of the host vehicle. For example, as shown in FIG. 2A, the area A is made up of an area A1 and an area A2. The area A1 is a substantially rectangular area where a road R1 on which the host vehicle is traveling toward the intersection J overlaps with a road R2 intersecting the road R1. The area A2 is a substantially rectangular area of ​​the road R1 just before the host vehicle enters the area A1. The length R1a of the area A2 is, for example, about three times the overall length of the vehicle V.

[0039] The driving assistance ECU 10 also acquires the position of the vehicle from the navigation system 55 within the area A. Furthermore, the driving assistance ECU 10 acquires, from the image analyzer 532, the determination results of the light colors of the traffic lights S1 that regulate traffic along the extension direction of the road R1 and the traffic lights S2 (including arrow signals, pedestrian signals, etc.) that regulate traffic along the extension direction of the road R2 within the area A. The driving assistance ECU 10 may acquire the light colors from another vehicle, a server computer, etc. via the communication device 10d.

[0040] In addition, the driving assistance ECU 10 determines whether or not the preceding vehicle has started moving based on information acquired from the radar sensor 51 while the host vehicle and the preceding vehicle are stopped in the area A. Note that the driving assistance ECU 10 may acquire information indicating that the preceding vehicle has started moving from another vehicle, a server computer, or the like, via the communication device 10d.

[0041] The driving assistance ECU 10 recognizes the situation in the area A based on the above-mentioned determination result, and executes a predetermined notification according to the situation (the first to fourth situations described below).

[0042] (First situation) In the following description, a situation where the following conditions (A1) to (A3) are met will be referred to as a "first situation." (A1) The host vehicle is stopped in area A2. (A2) The light color of traffic light S1 is green. (A3) The vehicle ahead has started moving.

[0043] As the first situation above, for example, the following scene is assumed (see FIG. 2A). The vehicle ahead was stopped at the stop line at intersection J because traffic light S1 was red, but the traffic light S1 changed to green and the vehicle ahead started moving.

[0044] As the first situation above, for example, the following situation is assumed. Traffic light S1 is green, but there is a traffic jam further ahead of the leading vehicle, and the leading vehicle is stopped at intersection J (area A1 or area A2). The traffic jam has eased, and the leading vehicle starts moving forward.

[0045] In the first situation, the driving assistance ECU 10 notifies the user that the preceding vehicle has started moving. Specifically, the driving assistance ECU 10 causes the video display device of the navigation system 55 to display a predetermined image, and causes the audio device of the navigation system 55 to play (emit) a predetermined sound. Note that, when the ACC function is enabled, the driving assistance ECU 10 causes the vehicle to start moving.

[0046] (Second situation) In the following description, a situation in which the following conditions (B1) to (B3) are met is referred to as a "second situation." (B1) The host vehicle is stopped in area A2. (B2) The light color of traffic light S1 is "yellow" or "red." (B3) The vehicle ahead, which had been stopped in area A1, started moving forward.

[0047] As the second situation above, for example, the following scene is assumed (see FIG. 2B). When traffic light S1 was green, the vehicle ahead entered intersection J, but there was a traffic jam ahead of the vehicle ahead, so the vehicle ahead stopped inside intersection J. After that, the light of traffic light S1 changed to red. From that state, the traffic congestion eased and the vehicle ahead was able to move forward.

[0048] In the second situation, the driving assistance ECU 10 does not notify the driver that the preceding vehicle has started. Note that, when the ACC function is enabled, the driving assistance ECU 10 stops the host vehicle before the stop line instead of starting the host vehicle.

[0049] (Third Situation) In the following description, a situation in which the following conditions (C1) to (C3) are met is referred to as a "third situation." (C1) The host vehicle is stopped in area A1. (C2) The light color of traffic light S2 is red. (C3) The leading vehicle has started moving.

[0050] As the third situation above, for example, the following scene is assumed (see FIG. 2C). The preceding vehicle and the vehicle itself entered area A1, but a traffic jam occurred ahead of the preceding vehicle, causing the preceding vehicle to stop within area A1. After that, the light of traffic light S1 changed to red. Traffic light S2 is red (about to change to green). From that state, the traffic congestion eased and the vehicle ahead was able to move forward.

[0051] In the third situation, the driving assistance ECU 10 notifies the driver that the preceding vehicle has started moving. Note that, if the ACC function is enabled, the driving assistance ECU 10 starts the host vehicle.

[0052] (4th situation) In the following description, a situation in which the following conditions (D1) to (D3) are met is referred to as a "fourth situation." (D1) The vehicle is stopped in area A1. (D2) The light color of traffic light S2 is green. (D3) The vehicle ahead has started moving.

[0053] As the fourth situation above, for example, the following scene is assumed (see FIG. 2D). The preceding vehicle and the vehicle itself entered area A1, but there was a traffic jam ahead of the preceding vehicle, and the preceding vehicle stopped within area A1. After that, the light of traffic light S1 changed to red. After that, the light of traffic light S2 changed to green. From that state, the traffic congestion eased and the vehicle ahead was able to move forward.

[0054] In this case, the driving assistance ECU 10 does not notify the driver of the vehicle in question that the preceding vehicle has started, but notifies the driver of the vehicle in question to pay attention to other vehicles, pedestrians, etc. In addition, if the ACC function is enabled, the driving assistance ECU 10 notifies the driver of the vehicle in question that it is recommended to disable the ACC.

[0055] Next, the operation (notification program for realizing the above-mentioned notification function) of the CPU (hereinafter simply referred to as "CPU") of the driving assistance ECU 10 will be specifically described with reference to Fig. 6. While the engine of the vehicle is running, the CPU repeatedly executes the notification program at predetermined time intervals.

[0056] The CPU starts the notification process from step 100 and proceeds to step 101.

[0057] Next, in step 101, the CPU determines whether or not the host vehicle and the preceding vehicle are stopped within area A based on information acquired from the surrounding sensor 50, the communication device 10d, etc. If the host vehicle and the preceding vehicle are stopped within area A (101: Yes), the CPU proceeds to step 102. On the other hand, if either or both of the host vehicle and the preceding vehicle are located outside area A, or either or both of the host vehicle and the preceding vehicle are moving (101: No), the CPU proceeds to step 110 and ends the notification program.

[0058] When the CPU proceeds to step 102, it determines whether or not the preceding vehicle has started moving based on information acquired from the surrounding sensor 50, the communication device 10d, etc. If the preceding vehicle has started moving (step 102: Yes), the CPU proceeds to step 103. On the other hand, if the preceding vehicle is stopped (102: No), the CPU returns to step 102. That is, the CPU waits until the preceding vehicle starts moving (repeatedly executing step 102).

[0059] When the CPU proceeds to step 103, it determines whether or not the host vehicle is located within area A2 based on information acquired from the surrounding sensor 50, the communication device 10d, etc. That is, the CPU determines whether or not the host vehicle is entering intersection J (i.e., area A1). If the host vehicle is located within area A2 (103: Yes), the CPU proceeds to step 104. On the other hand, if the host vehicle is not located within area A2 (if a part or the whole of the host vehicle is located within area A1 (103: No)), the CPU proceeds to step 106, which will be described later.

[0060] When the CPU proceeds to step 104, it determines whether the light color of the traffic light S1 is "yellow" or "red" based on information obtained from the surrounding sensor 50, the communication device 10d, etc. If the light color of the traffic light S1 is "yellow" or "red" (104: Yes), the CPU proceeds to step 110. That is, in this case, the CPU ends the notification program without notifying the driver of the vehicle of anything. On the other hand, if the light color of the traffic light S1 is "green" (including the case where the arrow signal corresponding to the lane in which the vehicle is traveling is lit (104: No)), the process proceeds to step 105.

[0061] When the CPU proceeds to step 105, it controls the video display device, audio device, etc. to notify the driver of the host vehicle that the preceding vehicle has started moving. Then, the CPU proceeds to step 110 and ends the notification program.

[0062] Furthermore, when the CPU proceeds from step 103 to step 106, it determines whether the light color of the traffic light S2 is "yellow" or "red." If the light color of the traffic light S2 is "yellow" or "red" (106: Yes), the CPU proceeds to the above-mentioned step 105. On the other hand, if the light color of the traffic light S2 is "green" (106: No), the CPU proceeds to step 107.

[0063] When the CPU proceeds to step 107, it controls the image display device, the audio device, etc. to present images, sounds, etc. to the driver of the vehicle to urge the driver to pay attention to other vehicles, pedestrians, etc. while driving. Then, the CPU proceeds to step 108.

[0064] When the CPU proceeds to step 108, it determines whether or not ACC is enabled. If ACC is enabled (108: Yes), the CPU proceeds to step 109. On the other hand, if ACC is disabled (108; No), the CPU proceeds to step 110 and ends the notification program.

[0065] When the CPU proceeds to step 109, it controls the video display device, the audio device, etc. to notify the driver of the vehicle that it is recommended to disable the ACC. Then, the CPU proceeds to step 110 and ends the notification program.

[0066] (effect) As described above, the conventional device determines the notification mode depending on the light color of the traffic light corresponding to the traffic light S1 and whether the preceding vehicle is the front. Therefore, a notification that is unnecessary for the driver may be executed. In response to this, the driving assistance ECU 10 of the driving assistance device 1 executes a predetermined notification mode depending on the "stop position of the vehicle" and the "light color of the traffic light S1 or the traffic light S2" when the preceding vehicle starts from a state in which the vehicle and the preceding vehicle are stopped near the intersection J. In other words, the driving assistance device 1 notifies the fact that the preceding vehicle has started only in a scene in which it is considered that the vehicle should also start when the preceding vehicle starts, and does not execute a notification in a scene in which it is considered that the vehicle should not start. Therefore, the practicality of the driving assistance device 1 is higher than that of the conventional device in which the position of the vehicle and the light color of the traffic light S2 are not taken into consideration when determining the notification mode.

[0067] The present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention, as described below.

[0068] <Modification> For example, in the fourth situation, when the ACC is enabled, the driving assistance ECU 10 may notify the driver of the host vehicle that the light color of the traffic light S1 is "red." The ACC may be forcibly disabled. In the second situation, the driving assistance ECU 10 may also detect the position of the host vehicle (for example, that the host vehicle is located in a right-turn lane or a left-turn lane) based on the operating state of the turn signal of the host vehicle in addition to the information acquired from the navigation system 55 and the communication device 10d. [Explanation of symbols]

[0069] 1...driving assistance device, 10...driving assistance ECU, 10d...communication device, 20...driving device, 30...braking device, 50...surrounding sensor, 60...operation switch, A...area, A1...area, A2...area J…intersection, R1…road, R2…road, S1…traffic light, S2…traffic light

Claims

1. A driving assistance device mounted on a vehicle, A first sensor that detects a position of a host vehicle; a second sensor that detects the light color of a first traffic light at an intersection closest to the vehicle, the first traffic light regulating traffic in a first direction along an entrance road for the vehicle to the intersection, and the second traffic light regulating traffic in a second direction intersecting the entrance road to the intersection; a control device that recognizes a behavior of a preceding vehicle that is another vehicle located in front of the host vehicle, and executes a predetermined control based on the recognition result and the detection results of the first sensor and the second sensor; Equipped with The control device includes: When the preceding vehicle starts moving while the preceding vehicle and the own vehicle are entering an intersection and the preceding vehicle and the own vehicle are stopped, When the light color of the second traffic light is “yellow” or “red,” execute either one or both of a first control for notifying a driver of the host vehicle that the preceding vehicle has started moving and a second control for causing the host vehicle to start moving while following the preceding vehicle; When the light color of the second traffic light is “green,” a third control is executed to present predetermined attention-calling information to a driver of the vehicle. A driving assistance device configured as above.

2. The driving assistance device according to claim 1, The control device includes: When the preceding vehicle starts moving while the host vehicle has not entered the intersection, When the light color of the first traffic light is “green”, execute either one or both of the first control and the second control; When the light color of the first traffic light is “yellow” or “red,” the first control and the second control are not executed. A driving assistance device configured as above.

3. The driving support device according to claim 1 or 2, When the preceding vehicle starts moving while the preceding vehicle and the vehicle itself are entering an intersection and the light color of the second traffic light is "green," the control device notifies the driver that it is recommended to disable a function of starting the vehicle by following the preceding vehicle. A driving assistance device configured as above.

4. A driving assistance method applied to a driving assistance device mounted on a vehicle, comprising: a first detection step of detecting a position of a host vehicle; a second detection step of detecting a light color of a first traffic light at an intersection closest to the vehicle, the first traffic light regulating traffic in a first direction along an entrance road of the vehicle to the intersection, and a light color of a second traffic light regulating traffic in a second direction intersecting the entrance road of the intersection; a control step of recognizing a behavior of a preceding vehicle, which is another vehicle located in front of the host vehicle, and executing a predetermined control based on the recognition result and the detection results of the first detection step and the second detection step; Including, The control step includes: When the preceding vehicle starts moving while the preceding vehicle and the own vehicle are entering an intersection and the preceding vehicle and the own vehicle are stopped, a step of executing, when a light color of the second traffic light is "yellow" or "red," one or both of a first control of informing a driver of the host vehicle that the preceding vehicle has started moving and a second control of causing the host vehicle to start moving while following the preceding vehicle; and and executing a third control of presenting predetermined attention-calling information to a driver of the vehicle when the light color of the second traffic light is “green.” The driving assistance method is configured as follows.

5. A computer included in a driving assistance device mounted on the vehicle, a first detection step of detecting a position of a host vehicle; a second detection step of detecting a light color of a first traffic light at an intersection closest to the vehicle, the first traffic light regulating traffic in a first direction along an entrance road of the vehicle to the intersection, and a light color of a second traffic light regulating traffic in a second direction intersecting the entrance road of the intersection; a control step of recognizing a behavior of a preceding vehicle, which is another vehicle located in front of the host vehicle, and executing a predetermined control based on the recognition result and the detection results of the first detection step and the second detection step; A driving assistance program for executing The control step includes: When the preceding vehicle starts moving while the preceding vehicle and the own vehicle are entering an intersection and the preceding vehicle and the own vehicle are stopped, a step of executing, when a light color of the second traffic light is "yellow" or "red," one or both of a first control of informing a driver of the host vehicle that the preceding vehicle has started moving and a second control of causing the host vehicle to start moving while following the preceding vehicle; and and executing a third control of presenting predetermined attention-calling information to a driver of the vehicle when the light color of the second traffic light is “green.” A driving assistance program configured as follows.

6. A vehicle equipped with the driving support device according to claim 1.

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