Driving assistance devices and in-vehicle devices

Abstract

To appropriately perform traffic control of a vehicle at an intersection that is not regulated by a traffic signal.SOLUTION: A driving support device for a vehicle that travels at an intersection that is not regulated by a traffic signal comprises: external environment recognition means 131 that recognizes a surrounding environment of a first vehicle including display means that displays a virtual traffic signal; surrounding vehicle determination means 132 that determines presence or absence of a second vehicle in the surrounding environment; communication means 11 that performs communication with an external device including the first vehicle and the second vehicle; and setting means 133 that sets a display mode of the virtual traffic signal. The setting means 133 sets the display mode of the virtual traffic light for each of the first vehicle and the second vehicle based on a content communicated by the communication means 11 and a determination result by the surrounding vehicle determination means 132, and the communication means 11 transmits information indicating the display mode set by the setting means 133 to the first vehicle and the second vehicle.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a driving assistance device that assists a driver in driving operations. and in-vehicle devices Regarding. [Background technology]

[0002] One such device known in the art is a technology that outputs a virtual traffic light and a virtual stop line indicating a stop at an intersection where there are no traffic lights or stop lines, based on the driving history of multiple vehicles (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-119884 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventional techniques have not been able to provide traffic control for multiple vehicles. [Means for solving the problem]

[0005] According to a first aspect of the invention, a driving assistance device for a vehicle traveling through an intersection not regulated by traffic lights includes an external environment recognition means for recognizing the surrounding environment of a first vehicle having a display means for displaying a virtual traffic light, a surrounding vehicle determination means for determining the presence or absence of a second vehicle in the surrounding environment, a communication means for communicating with external devices including the first vehicle and the second vehicle, a setting means for setting a display mode of the virtual traffic light, and a priority determination means for determining the passage priority of the first vehicle and the second vehicle at the intersection based on the content communicated by the communication means and the determination result of the surrounding vehicle determination means, and the setting means determines the passage priority of the first vehicle over the second vehicle by the priority determination means. A first mode indicating passage is permitted when the first vehicle is determined to have a higher priority, and a second mode indicating a stop when the first vehicle is determined to have a lower passage priority than the second vehicle, are set as the display mode of the virtual traffic light for the first vehicle. The communication means receives from an external device position information, direction of travel, speed information, turn signal operation information, and display information of a pedestrian traffic light for crossing the road on which the first vehicle is traveling when the pedestrian traffic light is located within a predetermined distance from the intersection of the first vehicle and the second vehicle, and when the display mode is set by the setting means, transmits information indicating the display mode to the first vehicle and the second vehicle. According to a second aspect of the invention, an in-vehicle device that provides driving assistance when a vehicle travels through an intersection not regulated by traffic lights includes a detection means for detecting vehicle information including the vehicle's position information, traveling direction, speed information, and blinker operation information, a display means for displaying a virtual traffic light, an external environment recognition means for recognizing the surrounding environment of the vehicle, a surrounding vehicle determination means for determining whether or not there is another vehicle in the surrounding environment, a communication means for communicating with external devices including the other vehicles, a setting means for setting the display mode of the virtual traffic light, and a determination means for determining the passage priority of the vehicle and other vehicles at the intersection based on the vehicle information acquired by the detection means, the content communicated by the communication means, and the determination result of the surrounding vehicle determination means. The setting means sets, as the display mode of the virtual traffic light, a first mode meaning passage is permitted when the priority determination means determines that the vehicle has a higher passage priority than other vehicles, and a second mode meaning stop when the vehicle has a lower passage priority than other vehicles. The communication means receives from an external device position information, traveling direction, speed information, and turn signal operation information of the other vehicles, and display information of a pedestrian traffic light for crossing the road on which the vehicle is traveling when a pedestrian traffic light is installed within a predetermined distance from the intersection, and when the display mode is set by the setting means, transmits information indicating the display mode to the other vehicles. Effect of the Invention

[0006] According to the present invention, it is possible to appropriately control vehicular traffic at intersections that are not regulated by traffic lights. [Brief description of the drawings]

[0007] [Figure 1] 1 is a diagram illustrating a virtual traffic light display provided by a driving assistance device according to an embodiment of the present invention; [Figure 2A] FIG. 2 is a diagram showing an example of an intersection where a driving assistance device provides driving assistance. [Figure 2B] 11 is a diagram showing another example of an intersection where the driving assistance device performs driving assistance. [Figure 2C] 11 is a diagram showing another example of an intersection where the driving assistance device performs driving assistance. [Diagram 3] FIG. 1 is a schematic diagram of a driving assistance device. [Figure 4] FIG. 4 is a block diagram showing a configuration of a main part of the server device shown in FIG. 3; [Diagram 5] FIG. 4 is a block diagram showing a configuration of a main part of the in-vehicle terminal shown in FIG. 3; [Figure 6] 5 is a flowchart illustrating a flow of a driving assistance process performed by the server device. [Figure 7] 5 is a flowchart illustrating a flow of a driving assistance process performed by the server device. [Figure 8] 5 is a flowchart illustrating a flow of a driving assistance process performed by the server device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an embodiment of the invention will be described with reference to the drawings. <Overview of driving support device> A driving assistance device according to an embodiment of the present invention provides driving assistance to a driver of a vehicle traveling through an intersection or the like where traffic is not regulated by a traffic signal (hereinafter simply referred to as a traffic signal). As a specific example, when a vehicle (hereinafter referred to as the vehicle itself in order to distinguish it from other vehicles) approaches an intersection where no traffic lights are installed, and it is determined that it is appropriate for the vehicle itself not to enter or pass through the intersection based on the traffic conditions around the vehicle itself, the driving assistance device displays a virtual signal (e.g., a red light) to the driver of the vehicle, urging the driver to stop the vehicle. Figure 1 is a diagram illustrating an example of a virtual signal display provided by the driving assistance device.

[0009] The virtual signal display is displayed, for example, on a display unit 53 provided on an instrument panel facing the driver of the vehicle. A display of a navigation unit arranged near the instrument panel may be used as the display unit 53. Also, the display unit that displays the virtual signal may be configured by a head-up display that projects image information onto a windshield or a panel provided near the windshield of the vehicle.

[0010] The driving support device further displays a virtual signal (e.g., a flashing red light) to drivers of other vehicles located around the vehicle to urge them to stop, and notifies them that the vehicle is being urged to stop at the intersection. If the driving support device determines that the vehicle has stopped after displaying the flashing red light to other vehicles, the driving support device switches the flashing red light as the virtual signal display to drivers of other vehicles to a flashing yellow light to urge the other vehicles to pay attention to other traffic when entering the intersection. In this way, the driving assistance device uses virtual signal displays to control traffic for the drivers of the vehicle and other vehicles at intersections where traffic control is not performed by traffic lights, etc. In other words, in the embodiment, intersections where traffic control is performed by traffic lights are excluded from intersections where traffic control is performed as driving assistance.

[0011] The above-mentioned driving support device will now be described in more detail. Figures 2A, 2B, and 2C are diagrams showing an example of an intersection where the driving support device according to the embodiment performs driving support. (1) Example of intersection 1 FIG. 2A is a schematic diagram illustrating an intersection without traffic lights. The intersecting roads RD1 and RD2 have the same width, and there is no priority / non-priority distinction between the roads RD1 and RD2. In other words, there is no center line or the like that runs through the intersection on either road RD1 or RD2, or there is no designation of a "priority road" by road signs or the like on either road RD1 or RD2. Furthermore, there is no stop line or a sign indicating a stop at the entrance to the intersection on either road RD1 or RD2. Note that there may be a stop line or a sign indicating a stop at the entrance to the intersection on either road RD1 or RD2.

[0012] (2) Example of intersection 2 2B is a schematic diagram illustrating another intersection where no traffic lights are installed. One of the intersecting roads RD1 and RD2 (e.g., road RD1) has priority, but road RD1 is congested at the intersection with road RD2 (on the north side of the intersection in FIG. 2B).

[0013] (3) Intersection example 3 Fig. 2C is a schematic diagram illustrating another intersection where no traffic lights are installed. As with the intersection example 1, there is no distinction between priority and non-priority for the intersecting roads RD1 and RD2. However, this intersection is different from the intersection example 1 in that a crosswalk is installed at the end of the intersection between road RD1 and road RD2 (on the north side of the intersection in Fig. 2C) and traffic lights 201A and 201B are installed for pedestrians crossing road RD1.

[0014] 2A, 2B, and 2C show an example in which a host vehicle 101 travels from south to north on road RD1, and another vehicle 102 travels from west to east on road RD2. In Fig. 2A and Fig. 2C, there is no preceding vehicle traveling ahead of the host vehicle 101 (on the north side of the intersection in Fig. 2A and Fig. 2C). In Fig. 2B, other vehicles 103 and 104 are present as preceding vehicles ahead of the host vehicle 101 (on the north side of the intersection in Fig. 2B), and are held up.

[0015] 2C, the display for the vehicle 101 traveling on the road RD1 is changed from green to yellow to red based on a button operation (not shown) by a pedestrian. The traffic lights 201A and 201B are configured to change back to green when a predetermined time has elapsed since the change to red. Note that the traffic lights 201A and 201B may be of a type that changes between flashing red and solid red.

[0016] <Overview of driving support device> 3 is a schematic configuration diagram of a driving assistance device 100 according to an embodiment. The driving assistance device 100 includes a host vehicle 101, another vehicle 102, and a server device 1 as a driving assistance device. As described above, the driving assistance device 100 does not provide driving assistance to a vehicle that is entering an intersection where traffic control is performed by traffic lights, but provides driving assistance to a vehicle that is entering an intersection where traffic control is not performed by traffic lights.

[0017] On-board terminals 101U and 102U mounted on the vehicle 101 and the other vehicle 102, respectively, are configured to be able to communicate with the server device 1 via a communication network 2. The communication network 2 includes not only public wireless communication networks such as the Internet and mobile phone networks, but also closed communication networks provided for each predetermined management area, such as a wireless LAN (Local Area Network) and Wi-Fi (registered trademark). In FIG. 3, only the host vehicle 101 and the other vehicle 102 are shown, but vehicles other than the other vehicle 102 may also be present. <Server device> Fig. 4 is a block diagram showing the configuration of the main part of the server device 1 in Fig. 3. The server device 1 is managed by a business entity that provides driving support services. The server device 1 may be configured using a virtual server function on a cloud, or may be configured distributed among a plurality of terminals. For example, the server device 1 may be distributed and arranged for each predetermined management area.

[0018] The server device 1 includes a communication unit 11, an information acquisition unit 12, a processing unit 13, and a storage unit 14. The communication unit 11 is configured to be able to communicate with external devices such as in-vehicle terminals 101U, 102U mounted on the vehicle 101 and other vehicles 102 via the communication network 2. With this configuration, the server device 1 can transmit and receive necessary information between the in-vehicle terminals 101U, 102U.

[0019] The information acquisition unit 12 acquires movement information of the traveling vehicle 101 and other vehicles 102 together with time information from the in-vehicle terminals 101U of the traveling vehicles 101 and other vehicles 102 at predetermined time intervals via the communication unit 11. The movement information of the vehicle includes, for example, information indicating the vehicle ID, traveling direction, speed, traveling position, and blinker (directional indicator) operation state of the vehicle. The information acquisition unit 12 may also acquire the operation state of traffic lights 201A and 201B at the intersection illustrated in Fig. 2C from a traffic light controller or a traffic control center (not shown) via the communication unit 11.

[0020] The processing unit 13 includes a computer having a CPU (microprocessor) and its peripheral circuits, etc. The processing unit 13 executes a predetermined process based on the information acquired by the information acquisition unit 12 and the data stored in the storage unit 14, etc. The processing unit 13 also outputs control signals to the communication unit 11, the information acquisition unit 12, and the storage unit 14. The processing unit 13 further functions as an external environment recognition unit 131, a priority determination unit 132, and a setting unit 133 by executing a program stored in advance in the storage unit 14.

[0021] The external environment recognition unit 131 recognizes the traffic conditions around each vehicle on the road based on image information captured by an imaging device such as a camera. The traffic conditions are the state in which vehicles (e.g., four-wheeled vehicles, two-wheeled vehicles, pedestrians, etc.) are passing around the vehicle, and include the number of moving vehicles, the moving direction, the moving speed, the number of passing vehicles per unit time, etc. The external environment recognition unit 131 recognizes the surrounding environment of the vehicle 101, and also functions as a surrounding vehicle determination unit that determines the presence or absence of another vehicle 102 in the surrounding environment. The imaging device may be a camera mounted on each vehicle, or may be a camera installed at an intersection.

[0022] The priority determination unit 132 determines which vehicle should go ahead and which vehicle should go behind among multiple vehicles entering the intersection, based on the information acquired by the information acquisition unit 12 and the data stored in the memory unit 14, etc.

[0023] The setting unit 133 sets the display mode of the virtual traffic light to be provided as driving support information to the driver of the vehicle. The display mode is the light color and lighting state of the virtual traffic light, for example, a red light is lit to prompt the vehicle to stop, a red light is flashing to prompt the vehicle to stop temporarily, and a yellow light is flashing to prompt the driver to be careful of other traffic when entering an intersection.

[0024] The storage unit 14 has a volatile or non-volatile memory (not shown). The storage unit 14 stores various programs and various data executed by the processing unit 13. The storage unit 14 also functions as a road database 141, a map database 142, and a traffic light database 143.

[0025] The road database 141 stores pre-registered road information, which includes location information of each intersection and information on priority roads. The map database 142 stores preregistered map information. The map information is associated with the position information of each intersection and the position information of each traffic light. The traffic light database 143 stores preregistered traffic light information, which includes location information of each traffic light.

[0026] <In-vehicle terminal> Fig. 5 is a block diagram showing the main configuration of the in-vehicle terminal 101U. The configuration of the in-vehicle terminal 102U is the same as that of the in-vehicle terminal 101U. As shown in Fig. 5, the in-vehicle terminal 101U includes a processing unit 50, a communication unit 51, a sensor group 52, a display unit 53, and a playback unit 54.

[0027] The communication unit 51 is configured to be capable of wireless communication with external devices such as the server device 1 via the communication network 2 . The sensor group 52 is a collective term for a plurality of sensors that detect the state of the vehicle 101. The sensor group 52 includes, for example, a positioning sensor, a vehicle speed sensor, a direction sensor, and a blinker sensor. The positioning sensor receives a positioning signal transmitted from a GPS satellite or the like, and determines the current position of the vehicle 101 based on the positioning signal. The vehicle speed sensor detects the traveling speed (vehicle speed) of the vehicle 101. The direction sensor detects the traveling direction of the vehicle 101 from the rotation difference between the left and right wheels, geomagnetism, a gyro, or the like. The turn signal sensor detects the operating state of the turn signal.

[0028] The processing unit 50 includes a computer having a CPU (microprocessor) and its peripheral circuits, etc. The processing unit 50 executes a predetermined process based on information acquired from the outside via the communication unit 51 and information detected by the sensor group 52. The processing unit 50 also outputs control signals to the communication unit 51, the sensor group 52, the display unit 53, and the playback unit 54. The processing unit 50 functions as a display control unit 501 and an audio control unit 502 by executing a program that is stored in advance in a storage area in the CPU.

[0029] The display control unit 501 causes the display unit 53 to display the virtual traffic signal display exemplified in FIG. When a virtual signal display is being performed on the display unit 53, the voice control unit 502 causes a voice message such as "Driving assistance display is being performed" to be reproduced from a speaker or the like serving as the reproduction unit 54.

[0030] If necessary, the processing unit 50 transmits information detected by the sensor group 52 (information indicating the direction of travel, speed, traveling position, and turn signal operation status of the vehicle 101) together with the ID and time information of the vehicle 101 to an external device such as the server device 1 via the communication unit 51 as movement information of the vehicle 101.

[0031] <Explanation of the flow chart> Fig. 6 is a flowchart explaining the flow of the driving assistance process performed by the server device 1. The processing unit 13 of the server device 1 repeatedly executes the process exemplified in Fig. 6. The subject vehicle 101 and the other vehicle 102 transmit movement information of the vehicle at predetermined time intervals while traveling. When the processing unit 13 receives the movement information from the subject vehicle 101 and the other vehicle 102, if the vehicle that transmitted the movement information is approaching an intersection that is a target of traffic control, the processing unit 13 performs the following process for each target intersection. In addition, when movement information is received from two vehicles approaching the same intersection, for convenience, the vehicle that transmitted its movement information first will be referred to as the own vehicle 101, and the vehicle that transmitted it later will be referred to as the other vehicle 102.

[0032] In step S10, the processing unit 13 judges whether the vehicle 101 is approaching an intersection without a traffic light based on the movement information received by the communication unit 11. By referring to the road database 141, the map database 142, and the traffic light database 143, when the vehicle 101 is traveling within a predetermined distance (for example, 10 m) from the center of the intersection without a traffic light, the processing unit 13 judges step S10 as positive and proceeds to step S20. On the other hand, when the vehicle 101 is not approaching an intersection or when the vehicle 101 is approaching an intersection with a traffic light, the processing unit 13 judges step S10 as negative as there is no need for traffic control as driving assistance, and ends the processing in FIG. 6.

[0033] In step S20, the processing unit 13 confirms the presence or absence of another vehicle 102 through communication and proceeds to step S30. In step S30, the processing unit 13 determines whether or not there is another vehicle 102 entering the same intersection based on the movement information received by the communication unit 11, using the external environment recognition unit 131. The external environment recognition unit 131 makes the determination by referring to the road database 141, the map database 142, and the traffic light database 143. Then, when the other vehicle 102 is entering the intersection that the host vehicle 101 is approaching, or is expected to enter, the processing unit 13 makes a positive determination in step S30 and proceeds to step S40. On the other hand, when the other vehicle 102 is not approaching the same intersection, the processing unit 13 makes a negative determination in step S30 as there is no need for traffic control as driving assistance, and ends the processing in FIG. 6.

[0034] In step S40, the processing unit 13 determines whether or not a pedestrian is crossing through communication. For example, when the intersection where the vehicle 101 and the other vehicle 102 are approaching corresponds to intersection example 3 (FIG. 2C), the processing unit 13 makes the determination based on the operation state information of the traffic lights 201A and 201B acquired by the information acquisition unit 12. Note that when the intersection where the vehicle 101 and the other vehicle 102 are approaching corresponds to intersection example 1 (FIG. 2A) or intersection example 2 (FIG. 2B), the traffic lights 201A and 201B for pedestrians are not installed, so the processing of step S40 may be omitted.

[0035] When the operational state of the traffic lights 201A, 201B is red for the vehicle 101, the processing unit 13 makes an affirmative judgment in step S40, determines that there is no need for traffic control as driving assistance, and ends the processing in Fig. 6. On the other hand, when the operational state of the traffic lights 201A, 201B is green for the vehicle 101, the processing unit 13 makes a negative judgment in step S40 and proceeds to step S50.

[0036] In step S50, the processing unit 13 determines whether or not the other vehicle 102 entering the same intersection is an oncoming vehicle with respect to the host vehicle 101, based on the movement information of the host vehicle 101 and the other vehicle 102 received by the communication unit 11, by using the external environment recognition unit 131. If the other vehicle 102 is an oncoming vehicle (traveling in the opposite direction on the same road RD1 as the host vehicle 101), the processing unit 13 makes a positive determination in step S50 and proceeds to step S60. If the other vehicle 102 is an intersecting vehicle (traveling on a road RD2 intersecting the road RD1 on which the host vehicle 101 is traveling), the processing unit 13 makes a negative determination in step S50 and proceeds to step S70.

[0037] In step S60, the processing unit 13 sets the virtual traffic light display for oncoming vehicles as driving assistance by the setting unit 133. Details of the processing in step S60 will be described later with reference to the flowchart illustrated in FIG.

[0038] In step S70, the processing unit 13 sets the virtual traffic light display for intersecting vehicles as driving assistance by the setting unit 133. Details of the processing in step S70 will be described later with reference to the flowchart illustrated in FIG.

[0039] <Settings for oncoming vehicles> FIG. 7 is a flowchart illustrating the flow of the setting process performed by the setting unit 133 in step S60. In step S601, the setting unit 133 detects the traveling direction of the vehicle at the intersection, and proceeds to step S602. For example, based on the movement information (particularly the blinker operation state) of the host vehicle 101 and the other vehicle 102 received by the communication unit 11, the setting unit 133 detects the traveling direction of both vehicles at the intersection where the two vehicles approach each other.

[0040] In step S602, the setting unit 133 determines whether or not either the host vehicle 101 or the other vehicle 102 turns right at the intersection. If either the host vehicle 101 or the other vehicle 102 turns right, the setting unit 133 makes a positive determination in step S602 and proceeds to step S603. If neither the host vehicle 101 nor the other vehicle 102 turns right, or if both turn right, the setting unit 133 makes a negative determination in step S602 and ends the processing in Fig. 7. If a negative determination is made in step S602, the paths of the host vehicle 101 and the other vehicle 102 do not intersect with each other, so there is no need for traffic control as driving assistance, and the processing returns to Fig. 6 and ends the processing in Fig. 6.

[0041] In step S603, which is reached after making a positive judgment in step S602, the setting unit 133 judges that the vehicle turning right of the host vehicle 101 and the other vehicle 102 has no priority, and proceeds to step S604. In this case, the vehicle turning left or going straight of the host vehicle 101 and the other vehicle 102 has priority.

[0042] In step S604, the setting unit 133 checks the traffic conditions (in particular, whether or not there is a traffic jam beyond the intersection) of the vehicle determined to have priority based on the movement information of the vehicle 101 and the other vehicles 102 received by the communication unit 11 via the external environment recognition unit 131, and proceeds to step S605.

[0043] In step S605, the setting unit 133 determines whether or not the situation is such that the priority vehicle should yield the right of first passing through the intersection to the non-priority vehicle. For example, if the host vehicle 101 that is going to go straight through the intersection is determined to have the priority, and other vehicles 103 and 104 are stopped due to congestion beyond the intersection where the host vehicle 101 is going straight, it is more reasonable to yield the right of first passing through the intersection to the other vehicle 102 that is determined to have the non-priority. In other words, traffic control that forces the other vehicle 102 to wait to turn right until the host vehicle 101 that cannot go straight through due to congestion passes the intersection is inappropriate. Based on the idea that it is more rational to give the right to pass through the intersection first to a non-priority vehicle that can proceed when the priority vehicle cannot proceed, the setting unit 133 makes an affirmative decision in step S605 and proceeds to step S606. On the other hand, when the priority vehicle can proceed, the setting unit 133 makes a negative decision in step S605 and proceeds to step S607.

[0044] In step S606, the setting unit 133 sets a display mode of the virtual traffic light information that allows non-priority vehicles to pass first. More specifically, a display mode of flashing red (display encouraging a stop) is set as the virtual signal display for vehicles determined to have non-priority in step S603, and a display mode of lit red (display encouraging a stop) is set as the virtual signal display for vehicles determined to have priority in step S603. Then, after setting the display mode of flashing red (display encouraging a stop) as the virtual signal display for vehicles determined to have non-priority in step S603, when it is detected based on movement information from the vehicle that the vehicle determined to have priority in step S603 has stopped, a display mode is set in which the flashing red display as the virtual signal display for the vehicles determined to have non-priority in step S603 is switched to a flashing yellow display, thereby encouraging the vehicles to enter the intersection while paying attention to other traffic. Furthermore, after setting a flashing yellow virtual signal display (a display urging the vehicle to enter the intersection with caution) for a vehicle determined to have no priority in step S603, if it is detected based on movement information from the vehicle that the vehicle has passed through the intersection, a display mode is set in which the virtual signal display for the vehicle determined to have priority in step S603 is switched from a solid red display to a flashing yellow display, urging the vehicle to enter the intersection with caution against other traffic. Furthermore, after setting a flashing yellow virtual signal display (a display encouraging drivers to enter the intersection with caution) for a vehicle determined to have priority in step S603, if it is detected based on movement information from the vehicle that the vehicle has passed through the intersection, traffic control at the intersection is terminated.

[0045] The processing unit 13 transmits the setting information of the virtual traffic light described above to the vehicle 101 and the other vehicle 102 via the communication unit 11. The communication unit 11 transmits the setting information of the virtual traffic light, including, for example, the vehicle ID of the vehicle to be displayed as the virtual traffic light in a predetermined area of ​​a predetermined data structure. When the processing unit 50 of the in-vehicle terminal 101U of each vehicle includes its own vehicle ID in a predetermined area of ​​the setting information of the virtual traffic light received from the communication unit 11 of the server device 1, the processing unit 50 of the in-vehicle terminal 101U of each vehicle displays the virtual traffic light display as illustrated in FIG. 1 on the display unit 53 based on the setting information of the virtual traffic light, based on the setting information. When the processing unit 50 of the in-vehicle terminal 101U of each vehicle does not include its own vehicle ID in a predetermined area of ​​the setting information of the virtual traffic light received from the communication unit 11 of the server device 1, the processing unit 50 of the in-vehicle terminal 101U of each vehicle does not display the virtual traffic light based on the setting information. The vehicle ID included in the virtual traffic light setting information by the communication unit 11 is the vehicle ID included in the movement information received from the host vehicle 101 and the other vehicle 102, respectively.

[0046] The processing unit 13 may transmit, together with the setting information of the virtual traffic light, voice message information to a vehicle that has set the virtual signal display in a lit red display mode (display encouraging a vehicle to stop) to other vehicles, that the virtual signal display in a flashing red display mode (display encouraging a vehicle to stop) is set. Similarly, the processing unit 13 may transmit, to a vehicle that has set the virtual signal display in a flashing red display mode (display encouraging a vehicle to stop) to other vehicles, voice message information to inform that the virtual signal display in a lit red display mode (display encouraging a vehicle to stop) is set. After completing such processing, the processing unit 13 ends the processing in FIG. 7, and returns to FIG. 6, where the processing in FIG. 6 ends.

[0047] In step S607, the setting unit 133 sets a display mode of the virtual traffic light information that allows priority vehicles to pass first. More specifically, a display mode of flashing red (display encouraging a stop) is set as the virtual signal display for vehicles determined to have priority in step S603, and a display mode of lit red (display encouraging a stop) is set as the virtual signal display for vehicles determined to have no priority in step S603. After setting the display mode of flashing red (display encouraging a stop) as the virtual signal display for vehicles determined to have priority in step S603, if it is detected based on movement information from a vehicle determined to have no priority in step S603 that the vehicle determined to have no priority in step S603 has stopped, a display mode is set in which the flashing red display as the virtual signal display for the vehicle determined to have priority in step S603 is switched to a flashing yellow display, thereby encouraging the vehicle to enter the intersection while paying attention to other traffic. Furthermore, after setting a flashing yellow virtual signal display (a display urging the vehicle to enter the intersection with caution) for a vehicle determined to have priority in step S603, if it is detected based on movement information from the vehicle that the vehicle has passed through the intersection, a display mode is set in which the virtual signal display for vehicles determined to have no priority in step S603 is switched from a solid red display to a flashing yellow display, urging the vehicle to enter the intersection with caution against other traffic. Furthermore, after setting a flashing yellow virtual signal display (a display encouraging the vehicle to enter the intersection with caution) for a vehicle determined to have no priority in step S603, if it is detected based on movement information from the vehicle that the vehicle has passed through the intersection, traffic control at the intersection is terminated.

[0048] As in the case of step S606, the processing unit 13 transmits the setting information of the virtual traffic light described above to the vehicle 101 and the other vehicle 102 via the communication unit 11. The communication unit 11 transmits the setting information of the virtual traffic light including the vehicle ID of the vehicle to be displayed as the virtual signal in a predetermined area of ​​a predetermined data structure. When the processing unit 50 of the in-vehicle terminal 101U of each vehicle includes its own vehicle ID in a predetermined area of ​​the setting information of the virtual traffic light received from the communication unit 11 of the server device 1, the processing unit 50 of the in-vehicle terminal 101U of each vehicle displays the virtual signal display as illustrated in FIG. 1 on the display unit 53 based on the setting information of the virtual traffic light if the processing unit 50 of the in-vehicle terminal 101U of each vehicle does not display the virtual signal based on the setting information if the processing unit 50 of the in-vehicle terminal 101U of each vehicle does not include its own vehicle ID in a predetermined area of ​​the setting information of the virtual traffic light received from the communication unit 11 of the server device 1. As in step S606, the vehicle ID included in the movement information received from the host vehicle 101 and the other vehicle 102 is used as the vehicle ID included in the setting information of the virtual traffic light by the communication unit 11.

[0049] Also, similarly to the case of step S606, the processing unit 13 may cause a vehicle that has set the virtual signal display mode of a lit red light (display encouraging a driver to stop) to transmit voice message information together with the setting information of the virtual traffic light, informing other vehicles that the virtual signal display mode of a flashing red light (display encouraging a driver to stop) is set. Similarly, a vehicle that has set the virtual signal display mode of a flashing red light (display encouraging a driver to stop) to transmit voice message information informing other vehicles that the virtual signal display mode of a lit red light (display encouraging a driver to stop) is set. After completing such processing, the processing unit 13 ends the processing in FIG. 7, and returns to FIG. 6, where the processing in FIG. 6 ends.

[0050] <Setting process for intersecting vehicles> FIG. 8 is a flowchart illustrating the flow of the setting process performed by the setting unit 133 in step S70. In step S701, the setting unit 133 judges whether or not the roads at the intersection are divided into priority / non-priority. By referring to the road database 141, the map database 142, and the traffic light database 143, the setting unit 133 judges step S701 to be positive if the roads RD1 and RD2 intersecting at the intersection where no traffic lights are provided are divided into priority / non-priority and proceeds to step S702. On the other hand, if the roads RD1 and RD2 intersecting at the intersection are not divided into priority / non-priority, the setting unit 133 judges step S701 to be negative and proceeds to step S703.

[0051] In step S702, the setting unit 133 determines that the vehicle traveling on the priority road out of the host vehicle 101 and the other vehicle 102 has priority, and the process proceeds to step S704. In step S703, the setting unit 133 determines that the vehicle entering the intersection from the left side out of the host vehicle 101 and the other vehicle 102 has priority, and proceeds to step S704. For example, when the intersection where the host vehicle 101 and the other vehicle 102 are approaching corresponds to the intersection example 1 (FIG. 2A), the other vehicle 102 traveling from west to east on the road RD2 is determined to be the priority vehicle. Note that, unlike Japan where vehicles are required to drive on the left side, in countries where vehicles are required to drive on the right side, the vehicle entering the intersection from the right side may be determined to have priority.

[0052] In step S704, the setting unit 133 detects the traveling direction of the vehicle at the intersection, and proceeds to step S705. For example, based on the movement information (particularly the blinker operation state) of the host vehicle 101 and the other vehicle 102 received by the communication unit 11, the setting unit 133 detects the traveling direction of both vehicles at the intersection where the two vehicles approach each other.

[0053] In step S705, the setting unit 133 determines whether traffic control is necessary. If the detected paths of the vehicle 101 and the other vehicle 102 cross each other, the setting unit 133 makes a positive determination in step S705 and proceeds to step S706. On the other hand, if the detected paths of both vehicles do not cross each other, the setting unit 133 makes a negative determination in step S705 and proceeds to step S710. For example, if one of the vehicle 101 and the other vehicle 102 turns left and the other turns right, the paths do not cross each other. In step S710, the setting unit 133 sets a flashing yellow display mode as a virtual traffic light display for both the vehicle 101 and the other vehicle 102, thereby urging the vehicles to be careful of other traffic while driving, and then ends the processing in Figure 7, and returns to Figure 6 and ends the processing in Figure 6.

[0054] In step S706, the setting unit 133 checks the traffic conditions (in particular, whether there is a traffic jam beyond the intersection) of the vehicle determined to have priority based on the movement information of the vehicle 101 and the other vehicles 102 received by the communication unit 11 via the external environment recognition unit 131, and proceeds to step S707.

[0055] In step S707, the setting unit 133 judges whether or not the situation is such that the priority vehicle cedes the right of first passing through the intersection to the non-priority vehicle, as in the case of step S605. In a situation in which the priority vehicle cannot proceed, the setting unit 133 judges in the affirmative in step S707 and proceeds to step S708 based on the idea that the right of first passing through the intersection is ceded to the non-priority vehicle that can proceed. On the other hand, in a situation in which the priority vehicle can proceed, the setting unit 133 judges in the negative in step S707 and proceeds to step S709.

[0056] In step S708, the setting unit 133 sets a display mode of the virtual traffic light information that allows non-priority vehicles to pass first. More specifically, a display mode of flashing red (display encouraging a stop) is set as the virtual signal display for vehicles determined to have non-priority in step S702 or S703, and a display mode of lit red (display encouraging a stop) is set as the virtual signal display for vehicles determined to have priority in step S702 or S703. After setting the display mode of flashing red (display encouraging a stop) as the virtual signal display for vehicles determined to have non-priority in step S702 or S703, when it is detected based on movement information from a vehicle determined to have priority in step S702 or S703 that the vehicle determined to have priority in step S702 or S703 has stopped, a display mode is set in which the flashing red display as the virtual signal display for the vehicles determined to have non-priority in step S702 or S703 is switched to a flashing yellow display, thereby encouraging the vehicles to enter the intersection while paying attention to other traffic. Furthermore, after setting a flashing yellow virtual signal display (a display urging the vehicle to enter the intersection with caution) for a vehicle determined to have no priority in step S702 or S703, if it is detected based on movement information from the vehicle that the vehicle has passed through the intersection, a display mode is set in which the virtual signal display for the vehicle determined to have priority in step S702 or S703 is switched from a solid red display to a flashing yellow display, thereby urging the vehicle to enter the intersection with caution against other traffic. Furthermore, after setting a flashing yellow virtual signal display (a display encouraging the vehicle to enter the intersection with caution) for a vehicle determined to have priority in step S702 or S703, if it is detected based on movement information from the vehicle that the vehicle has passed through the intersection, traffic control at the intersection is terminated.

[0057] The processing unit 13 transmits the setting information for the virtual traffic light display performed in step S708 to the vehicle 101 and the other vehicle 102 via the communication unit 11. As described above, the communication unit 11 transmits the setting information for the virtual traffic light, including, for example, the vehicle ID of the vehicle to be the target of the virtual traffic light display, in a predetermined area of ​​a predetermined data structure to be transmitted as the setting information for the virtual traffic light. When the processing unit 50 of the in-vehicle terminal 101U of each vehicle includes its own vehicle ID in a predetermined area of ​​the setting information for the virtual traffic light received from the communication unit 11 of the server device 1, the processing unit 50 of the in-vehicle terminal 101U of each vehicle displays the virtual traffic light display as illustrated in FIG. 1 on the display unit 53 based on the setting information for the virtual traffic light. When the processing unit 50 of the in-vehicle terminal 101U of each vehicle does not include its own vehicle ID in a predetermined area of ​​the setting information for the virtual traffic light received from the communication unit 11 of the server device 1, the processing unit 50 of the in-vehicle terminal 101U of each vehicle does not display the virtual traffic light based on the setting information. The vehicle ID included in the virtual traffic light setting information by the communication unit 11 is the vehicle ID included in the movement information received from the host vehicle 101 and the other vehicle 102, respectively.

[0058] The processing unit 13 may transmit, together with the setting information of the virtual traffic light, voice message information to a vehicle that has set the virtual signal display in a lit red display mode (display encouraging a vehicle to stop) to other vehicles, that the virtual signal display in a flashing red display mode (display encouraging a vehicle to stop) is set. Similarly, the processing unit 13 may transmit, to a vehicle that has set the virtual signal display in a flashing red display mode (display encouraging a vehicle to stop) to other vehicles, voice message information to inform that the virtual signal display in a lit red display mode (display encouraging a vehicle to stop) is set. After completing such processing, the processing unit 13 ends the processing in FIG. 8, and returns to FIG. 6 to end the processing in FIG.

[0059] In step S709, the setting unit 133 sets a display mode of the virtual traffic light information that allows priority vehicles to pass first. More specifically, a display mode of flashing red (display encouraging a stop) is set as the virtual signal display for vehicles determined to have priority in step S702 or S703, and a display mode of lit red (display encouraging a stop) is set as the virtual signal display for vehicles determined to have no priority in step S702 or S703. After setting the display mode of flashing red (display encouraging a stop) as the virtual signal display for vehicles determined to have priority in step S702 or S703, when it is detected based on movement information from a vehicle determined to have no priority in step S702 or S703 that the vehicle determined to have no priority in step S702 or S703 has stopped, a display mode is set in which the flashing red display as the virtual signal display for the vehicle determined to have priority in step S702 or S703 is switched to a flashing yellow display, thereby encouraging the vehicle to enter the intersection while paying attention to other traffic. Furthermore, after setting a flashing yellow virtual signal display (a display urging the vehicle to enter the intersection with caution) for a vehicle determined to have priority in step S702 or S703, if it is detected based on movement information from the vehicle that the vehicle has passed through the intersection, a display mode is set in which the steady red virtual signal display for the vehicle determined to have no priority in step S702 or S703 is switched to a flashing yellow virtual signal display, urging the vehicle to enter the intersection with caution against other traffic. Furthermore, after setting a flashing yellow virtual signal display (a display encouraging the vehicle to enter the intersection with caution) for a vehicle determined to have no priority in step S702 or S703, if it is detected based on movement information from the vehicle that the vehicle has passed through the intersection, traffic control at the intersection is terminated.

[0060] As in the case of step S607, the processing unit 13 transmits the setting information of the virtual traffic light to the vehicle 101 and the other vehicle 102 via the communication unit 11. The communication unit 11 transmits the setting information of the virtual traffic light including the vehicle ID of the vehicle to be displayed as the virtual signal in a predetermined area of ​​a predetermined data structure. When the processing unit 50 of the in-vehicle terminal 101U of each vehicle includes its own vehicle ID in a predetermined area of ​​the setting information of the virtual traffic light received from the communication unit 11 of the server device 1, the processing unit 50 of the in-vehicle terminal 101U of each vehicle displays the virtual signal display as illustrated in FIG. 1 on the display unit 53 based on the setting information of the virtual traffic light if the processing unit 50 of the in-vehicle terminal 101U of each vehicle does not display the virtual signal based on the setting information if the processing unit 50 of the in-vehicle terminal 101U of each vehicle does not include its own vehicle ID in a predetermined area of ​​the setting information of the virtual traffic light received from the communication unit 11 of the server device 1. As in step S607, the vehicle ID included in the movement information received from the host vehicle 101 and the other vehicle 102 is used as the vehicle ID included in the setting information of the virtual traffic light by the communication unit 11.

[0061] Also, similarly to the case of step S607, the processing unit 13 may cause a vehicle that has set the virtual signal display mode of a lit red light (display encouraging a driver to stop) to transmit voice message information together with the setting information of the virtual traffic light, informing other vehicles that the virtual signal display mode of a flashing red light (display encouraging a driver to stop) is set. Similarly, a vehicle that has set the virtual signal display mode of a flashing red light (display encouraging a driver to stop) to transmit voice message information informing other vehicles that the virtual signal display mode of a lit red light (display encouraging a driver to stop) is set. After completing such processing, the processing unit 13 ends the processing in FIG. 8, and returns to FIG. 6 to end the processing in FIG.

[0062] In the above description, in a case where the setting unit 133 has set, for example, a display mode of a lit red light (a display encouraging the driver to stop) as a virtual signal display for the other vehicle 102, but the driver of the other vehicle 102 does not stop the vehicle in accordance with the setting content (in other words, the external environment recognition unit 131 has determined that the driver forcibly entered the intersection), the processing unit 13 may perform the following processing. That is, the setting unit 133 performs a setting to switch the blinking yellow display to a light red display (a display encouraging the driver to stop) for the vehicle 101, which has already set a blinking yellow display mode (a display encouraging the driver to enter the intersection with caution) as a virtual signal display. By performing the processing in this manner, it becomes possible to switch to a virtual signal display that performs traffic control more safely for the vehicle 101 in order to avoid contact with the other vehicle 102 that forcibly enters the intersection.

[0063] In the above description, when the setting unit 133 has set the display mode of a lit red light (a display encouraging the vehicle to stop) as the virtual signal display for the vehicle 101, but the external environment recognition unit 131 has determined that the other vehicle 102 has passed the intersection before the vehicle 101 reaches the intersection, the processing unit 13 may perform the following processing. That is, the setting unit 133 performs a setting for the vehicle 101, which has already set the display mode of a lit red light (a display encouraging the vehicle to stop) as the virtual signal display, to switch the display mode of a blinking yellow light (a display encouraging the vehicle to enter the intersection with caution). By performing processing in this manner, it becomes possible to switch to a virtual signal display that more appropriately controls traffic without continuing to encourage the vehicle 101 to stop unnecessarily.

[0064] According to the embodiment described above, the following advantageous effects are achieved. (1) The server device 1 as a driving support device 100 for a vehicle traveling through an intersection not regulated by traffic lights includes an external environment recognition unit 131 that recognizes the surrounding environment of the vehicle 101 as a first vehicle having a display unit 53 that displays a virtual traffic light, the external environment recognition unit 131 as a surrounding vehicle determination unit that determines the presence or absence of another vehicle 102 as a second vehicle in the surrounding environment, a communication unit 11 that communicates with external devices including the vehicle 101 and the other vehicle 102, and a setting unit 133 that sets the display mode of the virtual traffic light. The setting unit 133 sets the display mode of the virtual traffic light for the vehicle 101 and the other vehicle 102 based on the content communicated by the communication unit 11 and the determination result by the external environment recognition unit 131 as a surrounding vehicle determination unit, and the communication unit 11 transmits information indicating the display mode set by the setting unit 133 to the vehicle 101 and the other vehicle 102. With this configuration, for example, in a situation where it is difficult for the driver to make an instant decision as to which of the vehicle 101 and the other vehicle 102 should have priority, the driving assistance device 100 can appropriately control traffic between intersecting vehicles. Furthermore, since the driving assistance device 100 displays a virtual traffic light that has a clear meaning as a traffic rule on the display unit 53, it becomes possible to appropriately inform the driver of the possibility of entering the intersection.

[0065] (2) The communication unit 11 of the server device 1 described above in (1) includes in its communication contents the position information, traveling direction, speed information, turn signal operation information, and display information of pedestrian traffic lights 201A, 201B for crossing the road RD1 on which the vehicle 101 is traveling when the pedestrian traffic lights are provided within a predetermined distance from the intersection. The server device 1 further includes a priority determination unit 132 that determines the passage priority of the vehicle 101 and the other vehicle 102 at the intersection based on the contents communicated by the communication unit 11 and the determination result of the external environment recognition unit 131 as a surrounding vehicle determination unit. The setting unit 133 sets the display mode of the virtual traffic light for the first vehicle to a flashing yellow light as a first mode indicating passage is permitted when the priority determination unit 132 determines that the vehicle 101 has a higher passage priority than the other vehicle 102, and to a steady red light as a second mode indicating a stop when the priority determination unit 132 determines that the vehicle 101 has a lower passage priority than the other vehicle 102. With this configuration, the driving support device 100 can appropriately determine which of the vehicle 101 and the other vehicle 102 should have priority. This can prevent near misses and collisions caused by different judgments between the drivers of the two vehicles, such as when the drivers of the two vehicles each judge whether the vehicle has priority or not.

[0066] (3) When the external environment recognition unit 131, which serves as a surrounding vehicle determination unit, determines that another vehicle 102 is entering an intersection, the setting unit 133 of the server device 1 described above in (1) sets the display mode of the virtual traffic light for the vehicle 101 to a second mode of red light indicating a stop. With this configuration, even if the vehicle 101 is in a situation where it should have priority over the other vehicle 102, if there are no signs of the other vehicle 102 yielding, it is possible to switch to a virtual signal display that provides safer traffic control for the vehicle 101 in order to avoid contact between the vehicle 101 and the other vehicle 102.

[0067] (4) When the external environment recognition unit 131, which serves as a surrounding vehicle determination unit, determines that another vehicle 102 has passed through an intersection, the setting unit 133 of the server device 1 described above in (1) sets the display mode of the virtual traffic light for the vehicle 101 to flashing yellow as the first mode indicating passage is permitted. With this configuration, for example, in a situation where another vehicle 102 has already passed the intersection when the vehicle 101 decelerates to stop, it is possible to increase the priority of the vehicle 101 and switch to a more appropriate virtual signal display without continuing to urge the vehicle 101 to stop unnecessarily.

[0068] (5) When the external environment recognition unit 131 as a surrounding vehicle determination unit determines that another vehicle 103, 104 as a third vehicle is stopped beyond the intersection, the setting unit 133 of the server device 1 described above in (1) sets the display mode of the virtual traffic light for the first vehicle to a second mode of red light indicating a stop. With this configuration, even if the vehicle 101 is in a situation where it should have priority over another vehicle 102, the vehicle 101, which cannot pass through the intersection due to congestion or the like, can give way to the other vehicle 102 that can pass, thereby realizing a smoother traffic flow.

[0069] (6) The setting unit 133 of the server device 1 described above in (2) sets the display mode of the virtual traffic light for the vehicle 101 and the other vehicle 102 to flashing yellow as a first mode indicating passage when it is determined that the paths of the vehicle 101 and the other vehicle 102 do not intersect with each other based on the content communicated by the communication unit 11 and the judgment result of the external environment recognition unit 131. With this configuration, it is possible to encourage both vehicles passing through the intersection to drive with caution.

[0070] The above embodiment can be modified in various ways, and modifications will be described below. (Variation 1) In the above-described embodiment, an example has been described in which the server device 1 is provided with the functions of the driving assistance device 100, and the driving assistance process is executed in the server device 1. Instead of this, functions similar to the external environment recognition unit 131, the priority determination unit 132, and the setting unit 133 as functional configurations performed in the processing unit 13 of the server device 1 may be included in the processing unit 50 of the in-vehicle terminal 101U or the like on the vehicle side. In variant example 1, the processing unit 50 of the in-vehicle terminal 101U, etc., not only functions as a display control unit 501 and a voice control unit 502 by executing a program previously stored in a memory area in the CPU, but also functions in the same manner as the external environment recognition unit 131, the priority determination unit 132, and the setting unit 133 in the processing unit 13 of the server device 1.

[0071] In the first modification, when the communication unit 11 of the server device 1 receives movement information from two vehicles (the subject vehicle 101 and the other vehicle 102) approaching the same intersection, the processing unit 13 controls the communication unit 11 to transmit the contents of the movement information of the other vehicle 102 received from the subject vehicle 102 to the subject vehicle 101, and to transmit the contents of the movement information of the subject vehicle 101 received from the subject vehicle 101 to the other vehicle 102. In this way, the movement information of the other vehicles is communicated to each vehicle.

[0072] Furthermore, the processing unit 13 refers to the road database 141 in the memory unit 14 and controls the communication unit 11 to transmit position information of the approaching intersection, information of the priority road, nearby map information, etc. to the vehicle 101 and the other vehicle 102. This allows each vehicle to receive the position information of the approaching intersection, information of the priority road, nearby map information, etc. By configuring in this manner, the processing unit 50 of the in-vehicle terminal 101U of the own vehicle 101 and the other vehicle 102 becomes able to perform processing similar to that of the external environment recognition unit 131, the priority determination unit 132, and the setting unit 133 in the processing unit 13 of the server device 1.

[0073] According to the above-described variant example 1, the function of the setting unit 133 for setting the display mode of virtual traffic light information, such as allowing priority vehicles to pass first, is performed by the processing unit 50 of the in-vehicle terminal 101U, etc. in the vehicle 101, etc., so that even if the display mode of the virtual traffic light information cannot be set on the server device 1, it is possible to set it on the vehicle side.

[0074] (Variation 2) In the above-described first modification, an example has been described in which the vehicle is provided with some of the functions of the driving support device 100 provided in the server device 1 in the embodiment. Instead, the vehicle may be provided with all of the functions of the driving support device 100 provided in the server device 1, and the functions may be performed by a processing unit 50 of the vehicle-mounted terminal 101U or the like on the vehicle side.

[0075] In the second modification, the in-vehicle terminals 101U and 102U mounted on the host vehicle 101 and the other vehicle 102, respectively, are configured to be capable of performing inter-vehicle communication, for example, via the communication network 2. Note that the in-vehicle terminals 101U and 102U may directly perform inter-vehicle communication without using the communication network 2.

[0076] In variant example 2, the processing unit 50 of the in-vehicle terminal 101U, etc., executes a program previously stored in a memory area in the CPU, and in addition to functioning as a display control unit 501 and a voice control unit 502, also functions as a driving assistance device similar to the processing unit 13 of the server device 1.

[0077] According to the second modification described above, it becomes possible to set virtual traffic light information as driving assistance information even at an intersection in a management area where a server device 1 for driving assistance is not installed.

[0078] (Variation 3) In the above description, an example has been given of a case where two vehicles, the host vehicle 101 and the other vehicle 102, enter an intersection. Even when three or more vehicles enter an intersection, it is possible to deal with the case by combining a response for the host vehicle and an oncoming vehicle and a response for the host vehicle and a crossing vehicle.

[0079] The above description is merely an example, and the present invention is not limited to the above-mentioned embodiment and modifications, as long as the characteristics of the present invention are not impaired. One or more of the above-mentioned embodiment and modifications can be arbitrarily combined, and modifications can also be combined with each other. [Explanation of symbols]

[0080] 1 server device, 2 communication network, 11, 51 communication unit, 12 information acquisition unit, 13, 50 processing unit, 14 memory unit, 52 sensor group, 53 display unit, 54 playback unit, 100 driving support device, 101 vehicle, 102, 103, 104 other vehicles, 101U, 102U vehicle-mounted terminal, 131 external recognition unit, 132 priority determination unit, 133 setting unit, 141 road database, 142 map database, 143 traffic light database, 201A, 201B traffic light, 501 display control unit, 502 voice control unit, RD1, RD2 road

Claims

1. A driving assistance device for a vehicle traveling through an intersection that is not regulated by traffic lights, An external environment recognition means for recognizing a surrounding environment of a first vehicle, the external environment recognition means including a display means for displaying a virtual traffic light; a surrounding vehicle determination means for determining whether or not a second vehicle is present in the surrounding environment; A communication means for communicating with an external device including the first vehicle and the second vehicle; A setting means for setting a display mode of the virtual traffic light; a priority determination means for determining a passing priority of the first vehicle and the second vehicle at the intersection based on the content communicated by the communication means and the determination result of the surrounding vehicle determination means, the setting means sets, as a display mode of the virtual traffic light for the first vehicle, a first mode indicating passage permitted when the priority determination means determines that the first vehicle has a higher traffic priority than the second vehicle, and a second mode indicating a stop when the priority determination means determines that the first vehicle has a lower traffic priority than the second vehicle; The communication means includes: receiving from the external device position information, traveling direction, speed information, and turn signal operation information of the first vehicle and the second vehicle, and display information of a pedestrian traffic signal for crossing a road on which the first vehicle is traveling when the pedestrian traffic signal is provided within a predetermined distance from the intersection; When the display mode is set by the setting means, information indicating the display mode is transmitted to the first vehicle and the second vehicle. A driving assistance device comprising:

2. The driving assistance device according to claim 1, a situation determination means for determining whether or not a vehicle determined to have a high traffic priority by the priority determination means is in a situation where the vehicle should yield the right to travel first through the intersection to a vehicle determined to have a low traffic priority by the priority determination means, the setting means sets the first aspect as a display aspect of the virtual traffic light for the first vehicle when the situation determination means determines that the second vehicle is in a situation to hand over the right to the first vehicle, and sets the second aspect as a display aspect of the virtual traffic light for the first vehicle when the situation determination means determines that the first vehicle is in a situation to hand over the right to the second vehicle. A driving assistance device comprising:

3. The driving assistance device according to claim 2, The driving assistance device is characterized in that the situation determination means determines that the first vehicle is in a situation to yield the right to the second vehicle when the surrounding vehicle determination means determines that a third vehicle is stopped beyond the intersection from the perspective of the first vehicle.

4. The driving assistance device according to claim 1, A driving assistance device characterized in that the setting means sets the display mode of the virtual traffic light for the first vehicle to the second mode when the surrounding vehicle determination means determines that the second vehicle is entering the intersection.

5. The driving assistance device according to claim 1, A driving assistance device characterized in that the setting means sets the display mode of the virtual traffic light for the first vehicle to the first mode when the surrounding vehicle determination means determines that the second vehicle has passed through the intersection.

6. The driving assistance device according to claim 1, A driving assistance device characterized in that when it is determined based on the content communicated by the communication means and the determination result of the surrounding vehicle determination means that the paths of the first vehicle and the second vehicle do not intersect with each other, the setting means sets the display mode of the virtual traffic light for the first vehicle and the second vehicle to the first mode.

7. An in-vehicle device that provides driving assistance when a vehicle travels through an intersection that is not regulated by traffic lights, comprising: A detection means for detecting host vehicle information including position information, traveling direction, speed information, and blinker operation information of the host vehicle; a display means for displaying a virtual traffic light; An external environment recognition means for recognizing a surrounding environment of the host vehicle; a surrounding vehicle determination means for determining whether or not there is another vehicle in the surrounding environment; A communication means for communicating with an external device including the other vehicle; A setting means for setting a display mode of the virtual traffic light; a priority determination means for determining a passing priority of the host vehicle and the other vehicles at the intersection based on the host vehicle information acquired by the detection means, the contents communicated by the communication means, and the determination result of the surrounding vehicle determination means, the setting means sets, as a display mode of the virtual traffic light, a first mode indicating passage permitted when the priority determination means determines that the vehicle has a higher passage priority than the other vehicle, and a second mode indicating a stop when the priority determination means determines that the vehicle has a lower passage priority than the other vehicle; The communication means includes: receiving from the external device position information, traveling direction, speed information, and turn signal operation information of the other vehicle, and, in a case where a pedestrian signal for pedestrians crossing a road on which the host vehicle is traveling is provided within a predetermined distance from the intersection, display information of the pedestrian signal, and When the display mode is set by the setting means, information indicating the display mode is transmitted to the other vehicle.

13. An in-vehicle device comprising:

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