Driver assistance devices

Abstract

To provide a driver supporting device that can present information to be reflected in driving to a driver.SOLUTION: The driver supporting device is equipped to a vehicle for use. Storage means stores the intersection attribute including the positional information of an intersection and information on a traffic light set at the intersection. The processing means of the driver supporting device causes output means to output, with reference to the storage means, information on the traffic light in the intersection located within a predetermined search region based on the current position of the vehicle, where a special traffic light different from a regular traffic light is set.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to, for example, a driver assistance device. [Background technology]

[0002] Patent Document 1 listed below discloses a navigation device that searches for and provides guidance on a route to a set destination. This navigation device includes a storage means for storing map information including search data, a signal determination unit for determining the type of traffic signal at an intersection based on intersection data included in the search data, and a display control unit for displaying a traffic signal mark corresponding to the determined type of traffic signal on the screen of a display unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-326306 Summary of the Invention [Problem to be solved by the invention]

[0004] Even if a driver looks at a screen that displays traffic signal light marks corresponding to the types of traffic signal lights, it is difficult for the driver to realize how to reflect that information in driving. An object of the present invention is to provide a driver assistance device that can provide the driver with information that should be reflected in driving. [Means for solving the problem]

[0005] (1) A driver assistance device that is mounted on a vehicle and used may have a processing means that has the function of referring to a storage means that stores intersection attributes including location information of the intersection and information about the traffic lights installed at the intersection, and outputting to an output means information about traffic lights at an intersection that is located within a predetermined search range based on the current location of the vehicle and that has a special traffic light that is different from a normal traffic light.

[0006] From the information output to the output means, the driver of the vehicle can learn about special traffic lights installed at intersections within a predetermined search range. Before reaching an intersection with a special traffic light, the driver can increase their attention and mentally reconfirm the traffic rules to follow when passing through the intersection. This can relieve the driver's anxiety when driving on a road they have never seen before in an unfamiliar area. It can also help the driver avoid traffic violations and accidents. In this way, the driver assistance device can provide guidance to help drivers follow traffic rules.

[0007] It is preferable that normal traffic lights and special traffic lights that are different from normal traffic lights can be defined arbitrarily. For example, a normal traffic light can be a type of traffic light that a novice driver or a driver with average knowledge of traffic rules can see and not be confused about whether or not to enter an intersection, and that is difficult to mistake. Alternatively, a normal traffic light can be a type of traffic light that is recognized as a common traffic light by the average driver. Alternatively, traffic lights can be classified as normal traffic lights and special traffic lights based on the number of traffic lights installed. Traffic lights that are more special than normal traffic lights can be classified as special traffic lights.

[0008] For example, traffic lights can be classified as either normal or special traffic lights based on static or dynamic information about the traffic lights. Static information can include, for example, the traffic light's shape, appearance, and number of lights. Dynamic information can include, for example, the order in which the lights change their lighting status. Special traffic lights can include, for example, traffic lights with special shapes and traffic lights with special state transitions.

[0009] In addition, traffic lights with a large number of installed traffic lights may be classified as normal traffic lights. For example, the number of installed traffic lights for each type of traffic light may be calculated, and traffic lights with a number of installed traffic lights above a reference level may be classified as normal traffic lights. The reference level may be, for example, the average number of installed traffic lights. Alternatively, traffic lights may be classified as normal traffic lights or special traffic lights based on the cumulative relative frequency of the number of installed traffic lights when traffic lights are sorted in order of the number of installed traffic lights. For example, traffic lights whose cumulative relative frequency reaches a predetermined ratio may be classified as special traffic lights. If there is a significant change in the number of installed traffic lights of a traffic light type, it may be appropriate to review the types that are determined to be normal traffic lights. Traffic lights of types that are not included in the normal traffic lights may be classified as special traffic lights.

[0010] For example, arrow-type traffic lights may be classified as special traffic lights that differ from normal traffic lights. Among arrow-type traffic lights, there are many traffic lights installed in Japan that are equipped with only a right-turn arrow light in addition to green, yellow, and red lights. Therefore, such traffic lights should be classified as normal traffic lights and excluded from guidance. In this way, it is possible to prevent the output means from outputting too much information. Traffic lights that include arrow lights other than a right-turn arrow light or that include arrow lights in two or more directions should be classified as special traffic lights.

[0011] Even if the installed lights are normal, if the state transition is special, the traffic light should be classified as a special traffic light. Examples of traffic lights with special state transitions include pedestrian-vehicle separation traffic lights and time-difference traffic lights. In addition, there are traffic lights that do not have a state in which the green light is lit, and indicate whether or not it is possible to enter the intersection by only lighting the arrow light. Such traffic lights should also be included in the category of traffic lights with special state transitions. Furthermore, at some intersections, it is always possible to turn left. Such intersections should also be included in the category of intersections where traffic lights with special state transitions are installed.

[0012] The location information of an intersection and information about the traffic lights installed at the intersection may be associated with each other and stored as intersection attributes in a storage means. The storage means may be, for example, a nonvolatile memory built into the device or a removable recording medium. Alternatively, an external database server may be used as the storage means, and the driver assistance device may receive database information via a communication device. Intersections for which intersection attributes are to be stored in the storage means may be, for example, all intersections in Japan that are equipped with traffic lights. Alternatively, the intersections may be limited to intersections on trunk roads (general national highways, major regional roads, and general prefectural roads).

[0013] The current location information of a vehicle equipped with a driver assistance device may be acquired from a built-in GPS receiver, for example, or the driver assistance device may acquire the current location information from a GPS receiver equipped in the vehicle via a wireless interface or a wired interface.

[0014] The predetermined search range does not necessarily have to include the current position, but it can be, for example, a certain range including the current position, or a route that the vehicle is estimated to be traveling. For example, the search range can be the inside of a circle with a predetermined radius centered on the current position of the vehicle. The predetermined radius can be, for example, 500 m to several kilometers.

[0015] The output means may be, for example, a speaker that outputs sound, a display device that displays images, etc. When an image is displayed, it is preferable to display an image that shows the appearance of a special traffic light.

[0016] The processing means may have a function of searching for a recommended route to the destination and causing the output means to output information indicating the recommended route. If the searched recommended route includes an intersection with a special traffic light, the processing means may cause the output means to output, together with the recommended route, a message informing the driver that the recommended route includes an intersection with a special traffic light.

[0017] (2) The driver assistance device may be configured such that the information about the traffic light output by the output means includes attention-calling information that notifies the driver that caution is required for the special traffic light.

[0018] By noticing the warning information, drivers can enter or stop at an intersection without hesitation when they reach an intersection with a special traffic light. For example, drivers can increase their attention or mentally reconfirm traffic rules before an intersection. In this way, even when driving in an unfamiliar area, the system can help drivers avoid violations and accidents.

[0019] If a stop is required at an intersection where no traffic lights are installed, the processing means may cause the output means to output a message informing the driver that the driver should make a stop. Information indicating whether or not the intersection is specified as requiring a stop may be included in the intersection attributes.

[0020] When the attention-calling information is output by voice, it is advisable to output a voice that calls the driver's attention, such as, "There is an arrow-type traffic light within XX km. Please be careful." If the traffic light has a special state transition, it is advisable to have the output means output specific information about how the traffic light will transition as attention-calling information.

[0021] For example, there are cases where a driver sees the arrow light for going straight and mistakenly determines that a left turn is possible, even though the red light is on, the arrow light for going straight and the pedestrian signal for going straight is green, and turns left. In order to prevent such a driver's mistaken determination, it is advisable to notify the driver that only the arrow light for going straight is on and that a left turn is not possible.

[0022] Furthermore, because the meaning of flashing red or flashing yellow traffic lights is easily misunderstood, it is advisable to classify such traffic lights as special traffic lights. For example, a flashing yellow light indicates that you can proceed while paying attention to other traffic and does not necessarily mean you need to slow down. Slowing down unconditionally at an intersection with a flashing yellow light can increase the risk of being hit by a vehicle behind. Also, a flashing red light indicates that you can stop at the stop line and proceed only after checking that your surroundings are safe. Violations such as slowing down without stopping at an intersection with a flashing red light are common. Before an intersection where a flashing red or yellow light is installed, it is advisable to notify drivers of the meaning of the flashing red or flashing yellow light. For traffic lights that flash only at night, it is advisable to include information indicating the time period during which the light flashes in the intersection attributes. The processing means should classify traffic lights that flash only at night as special traffic lights only for the time period during which the light flashes.

[0023] If the processing means has a function of searching for a recommended route to the destination, once the recommended route to the destination is determined, it is possible to determine whether there is an intersection with a special traffic light on the recommended route, and if there is an intersection with a special traffic light, to notify the driver of information that should be taken into consideration when traveling through that intersection.

[0024] For example, a map may be displayed on the display device of the output means so that the recommended route can be recognized, and an icon may be displayed at a location on the map corresponding to an intersection where a special traffic light is installed. The icon may be designed so that the driver can visually understand what type of traffic light is installed. If there are a large number of intersections to be displayed, some of the intersections where a special traffic light is installed may be displayed in order of proximity to the current location. For example, a message such as "There is an arrow-type traffic light on the route that requires caution. Please be careful" may be output by voice. Furthermore, when driving along the recommended route and approaching an intersection where a special traffic light is installed, a message such as "There is an arrow-type traffic light that requires caution soon. Please be careful" may be output by voice.

[0025] (3) The processing means may be a driver assistance device that refers to the intersection attributes stored in the storage means and does not cause the output means to output information about traffic lights for intersections located within the search range that have normal traffic lights installed.

[0026] By not outputting information about traffic lights at intersections where normal traffic lights are installed, the amount of information output to the output means is reduced, making it easier for drivers to notice intersections where special traffic lights are installed.

[0027] (4) The information about traffic lights with intersection attributes stored in the memory means may include identification information that identifies whether the traffic light installed at the intersection is the normal traffic light or the special traffic light, and the processing means may be a driver assistance device that causes the output means to output information about traffic lights at intersections where the special traffic lights are installed based on the identification information.

[0028] The processing means can easily determine whether to cause the output means to output information about the traffic light at the intersection by referring to the identification information that identifies whether the traffic light is a normal traffic light or a special traffic light.

[0029] The identification information may be information that directly identifies whether the traffic light is a normal traffic light or a special traffic light. For example, the intersection attributes may include an item that identifies whether the traffic light is a normal traffic light or a special traffic light.

[0030] The identification information may be information that indirectly identifies whether the traffic light is a normal traffic light or a special traffic light. For example, it may be possible to identify whether the traffic light is a normal traffic light or a special traffic light based on intersection information included in map data of a general car navigation system.

[0031] (5) The identification information may be a driver assistance device information including the presence or absence and number of arrow lights, and information regarding the direction of the arrow indicated by the arrow lights.

[0032] The processing means can determine whether or not to cause the output means to output information about the traffic lights at the intersection based on information about the presence and number of arrow lights and the direction of the arrows indicated by the arrow lights. For example, a traffic light without any arrow lights may be determined to be not a special traffic light. A traffic light with one arrow light and an arrow pointing to the right may be determined to be not a special traffic light. A traffic light with two or more arrow lights may be determined to be a special traffic light. A traffic light with one arrow light and an arrow pointing in a direction other than the right may be determined to be a special traffic light.

[0033] The identification information for identifying whether a traffic light is special or not may include information indicating whether a tram light is installed. Traffic lights that are installed with tram lights may be classified as special traffic lights. For example, when approaching an intersection where tram lights are installed, a message may be displayed to the driver informing them that yellow arrow lights are tram lights and should be used with caution. Since pedestrian lights are commonly installed at many intersections, the presence or absence of pedestrian lights does not need to be included in the identification information for identifying whether a traffic light is special or not.

[0034] (6) The memory means may be a driver assistance device that does not store information about intersections where normal traffic lights are installed, but stores information about intersections where the special traffic lights are installed.

[0035] Since information about a large number of intersections where normal traffic lights are installed is not stored in the storage means, an increase in the capacity of the storage means can be suppressed.

[0036] (7) The processing means may be a driver assistance device that sets the search range to a position on a route that the vehicle will pass through when traveling along a road, based on map data, the current position of the vehicle, and the direction of travel of the vehicle.

[0037] A route that is passed when traveling along a road is likely to be passed in the future. If a position on this route is set as the search range, information on intersections on routes that are unlikely to be passed will be excluded from the search range. As a result, it is possible to prevent too much traffic light information from being output to the output means. The driver can obtain only the information that is deemed most necessary, making it easier for the driver to notice necessary information.

[0038] When the vehicle changes course by turning right, left, making a U-turn, etc., the processing means may modify the search range to search for an intersection where a special traffic light is installed, and cause the output means to output information about the traffic light at the intersection where the special traffic light is installed.

[0039] "Following the road" means that, except at intersections, the vehicle will proceed along the route it is currently on, and when it enters an intersection, it will exit toward the exit road that requires the smallest change in direction.

[0040] (8) The intersection attributes of an intersection where a dedicated lane is provided on an approach road to the intersection for heading to a specific exit road include information about the dedicated lane, The processing means may be a driver assistance device having a function of searching for a recommended route from the vehicle's current location to the destination, and if there is an intersection on the recommended route where the dedicated lane is provided, notifying the driver of a lane that is easy to enter into the dedicated lane that the vehicle should travel along in order to proceed along the recommended route, just before the point where the dedicated lane starts.

[0041] The driver can know the recommended lane for entering the dedicated lane before arriving at the intersection where the dedicated lane is provided, which reduces the occurrence of situations where the driver is confused because they have to enter the dedicated lane just before the intersection.

[0042] Depending on the dedicated lane, it may be possible to enter the intersection even when the red light is on because the arrow light is on. When it is necessary to enter such a dedicated lane to travel the recommended route to the destination, the processing means may cause the output means to output information to notify the driver that the intersection is accessible because the arrow light is on, even when the red light is on. For example, the processing means may notify the driver to enter the intersection by following the arrow light. This can prevent the driver from erroneously stopping the vehicle before the intersection even though it is accessible.

[0043] At an intersection where a dedicated lane for right-turning vehicles is provided and a U-turn is possible, the processing means may notify the driver that a vehicle in front of the vehicle may make a U-turn. Unlike a vehicle turning right, a vehicle making a U-turn may behave in an unexpected manner by the driver of the following vehicle. The driver can prevent an accident from occurring by operating the vehicle while assuming that the vehicle in front of the vehicle may make a U-turn.

[0044] When the host vehicle is stopped at the front of a designated lane at an intersection, a violation is likely to occur due to failure to check the travel direction permitted for the designated lane. When the host vehicle is stopped at the front of a designated lane at an intersection, the processing means may cause the output means to output a message urging the driver to proceed in the designated lane's travel direction. The determination of whether the host vehicle is at the front of a designated lane may be based on, for example, an image captured by a camera capturing an image of the area ahead of the vehicle. A camera may be built into the driver assistance device to acquire this image data. Alternatively, the driver assistance device may acquire image data from an on-board camera. The determination of whether the lane in which the host vehicle is located is a designated lane may be performed by extracting road markings from an image captured by the camera. Furthermore, as the accuracy of GPS positioning improves, it may also be possible to determine the lane in which the host vehicle is located from the GPS positioning results.

[0045] (9) The processing means may be a driver assistance device that has the function of searching for advance warning signs installed on the route that the vehicle will pass through when traveling along a road, based on information that can identify the location where the advance warning signs are installed, map data, the current position of the vehicle, and the direction of travel of the vehicle, and notifying the driver that the advance warning sign is installed just before the point where the advance warning sign is installed.

[0046] If a driver notices a warning sign too late, they may not have enough time to read the contents of the warning sign. When the driver is notified that a warning sign has been installed, they can notice the presence of the warning sign just before reaching the point where the warning sign is installed. This allows them to read the contents of the warning sign in ample time.

[0047] Information that can identify the location where the advance notice sign is installed may be stored in a storage means that stores intersection attributes. The processing means may output the information displayed on the advance notice sign to an output means. For example, an image of the advance notice sign may be displayed on a display device of the output means. Even if the driver misses the timing to check the content of the advance notice sign, the driver can understand the content of the advance notice sign from the information output to the output means.

[0048] When a recommended route to the destination is set, the processing means may notify the driver that a preliminary guide sign is installed on the recommended route.

[0049] The advance notice guide sign to be notified may be, for example, one that provides information about an intersection where a special traffic light is installed.

[0050] The inventions described in (1) to (9) above can be combined in any way. For example, it is possible to have at least one of the other configurations (2) to (9) without all or part of the configuration (1). However, it is particularly preferable to have all or part of the configuration (1) and at least one of the configurations (2) to (9). Furthermore, any of the components described in (1) to (9) may be extracted and combined. The applicant intends to obtain patent rights for such configurations as well. The specific aspects of the present invention described above are merely examples, and some of them may be expanded or limited. [Effects of the Invention]

[0051] From the information output to the output means, the driver of the vehicle can learn about special traffic lights installed at intersections within a predetermined search range. Before reaching an intersection with a special traffic light, the driver can increase their attention and mentally reconfirm the traffic rules to follow when passing through the intersection. This can relieve the driver's anxiety when driving on a road they have never seen before in an unfamiliar area. It can also help the driver avoid traffic violations and accidents. In this way, the driver assistance device can provide guidance to help drivers follow traffic rules. [Brief explanation of the drawings]

[0052] [Figure 1] FIG. 1A is a schematic perspective view of a driver assistance device according to a first embodiment, and FIG. 1B is a block diagram of the driver assistance device according to the first embodiment. [Figure 2] FIG. 2 is a diagram showing data items of intersection attributes. [Figure 3] Figure 3A is a diagram showing an example of the appearance of an arrow-type traffic light that also serves as a tram traffic light, Figure 3B is a diagram showing an example of the appearance of a time-difference traffic light, and Figure 3C is a diagram showing an example of the appearance of a pedestrian-vehicle separation traffic light. [Figure 4]FIG. 4A is a diagram showing an example of an image displayed on a display device of a driver assistance device according to the first embodiment, and FIG. 4B is a diagram showing the correspondence between icons displayed on the display device and the meanings of the icons. [Figure 5] FIG. 5 is a diagram showing an example of an image displayed on the display device of the driver assistance device according to the second embodiment. [Figure 6] FIG. 6 is a diagram showing an image displayed on the display device when the vehicle approaches an intersection where an arrow-type traffic light, which is classified as a special traffic light, is installed. [Figure 7] FIG. 7 is a diagram showing a route that the vehicle will take when traveling along a road from the current position of the vehicle. [Figure 8] FIG. 8 is a plan view showing an example of an approach road to an intersection where a dedicated lane is provided. [Figure 9] FIG. 9 is a plan view showing another example of an approach road to an intersection where a dedicated lane is provided. [Figure 10] FIG. 10 is a schematic diagram of a warning guide sign and a driver assistance device for explaining the function of the driver assistance device according to the fourth embodiment. [Figure 11] FIG. 11 is a diagram showing an example of a map of an area in which the zone 30 is set. DETAILED DESCRIPTION OF THE INVENTION

[0053] [First Example] A driver assistance device according to a first embodiment will be described with reference to FIGS. 1A to 4C. 1A is a schematic perspective view of a driver assistance device according to a first embodiment. The driver assistance device 1 is mounted on a vehicle for use. The driver assistance device 1 is supported on the dashboard of the vehicle, for example, via a cradle 2. The bottom surface of the cradle 2 is attached to the dashboard of the vehicle, thereby fixing the driver assistance device 1 to the dashboard.

[0054] A display device 3 is provided on the front surface of the driver assistance device 1 (the surface facing the rear of the vehicle (driver's side)). The display device 3 may be, for example, a liquid crystal display, an organic EL display, or the like. A touch panel 4 serving as an input device is provided on the surface of the display device 3. A vehicle user can give various commands to the driver assistance device 1 by operating the touch panel 4.

[0055] A card insertion slot 5 is provided on the side of the driver assistance device 1. A memory card 6 as a removable storage medium is inserted into the driver assistance device 1 through the card insertion slot 5. As the memory card 6, for example, an SD memory card, a micro SD memory card, etc. can be used.

[0056] 1B is a block diagram of a driver assistance device 1 according to a first embodiment. A processing unit 10 includes a central processing unit (CPU) 11, a random access memory (RAM) 12, and a read-only memory (ROM) 13. The CPU 11 executes programs stored in the ROM 13 to realize various functions of the driver assistance device 1. A storage area for temporary data when the CPU 11 executes the programs is secured in the RAM 12.

[0057] The GPS receiver 15 calculates the current position (latitude and longitude) of the vehicle. The processing unit 10 reads the current position data of the vehicle calculated by the GPS receiver 15. The processing unit 10 performs data communication with an external device via the communication device 16. The communication device 16 may be, for example, one that complies with a short-range wireless communication standard or one that uses a mobile communication network. The driver assistance device 1 may not be equipped with a GPS receiver, and current position information of the vehicle may be received via the communication device 16 from a GPS receiver equipped in the vehicle.

[0058] The output means 17 includes the display device 3 and the speaker 7. The processing unit 10 causes the display device 3 to display information such as images and characters, and causes the speaker 7 to output voice or sound. When a vehicle user operates the touch panel 4, various commands are input to the processing unit 10.

[0059] A memory card 6 is inserted into the memory card reader 18. The processing unit 10 can read and rewrite data stored in the memory card 6, and write data to the memory card 6. The memory card 6 stores intersection attributes for each intersection, including location information of the intersection and information about traffic lights installed at the intersection.

[0060] 2 is a diagram showing data items of intersection attributes. The intersection attributes include intersection position information, traffic light identification information, state transition type information, and information on the number of arrow lights for each connecting road, arrow direction information, and information indicating the presence or absence of tram lights.

[0061] The intersection location information indicates the location of the intersection. The intersection location is expressed, for example, by latitude and longitude. The traffic light identification information is information for identifying whether the traffic light is a normal traffic light or a special traffic light.

[0062] Normal traffic lights and special traffic lights that are different from normal traffic lights can be defined arbitrarily. For example, a normal traffic light may be a type of traffic light that a novice driver or a driver with average knowledge of traffic rules can see and not be confused about whether or not to enter an intersection, and that is unlikely to cause confusion. Alternatively, a normal traffic light may be a type of traffic light that is recognized as a common traffic light by the average driver. Alternatively, traffic lights may be classified as normal traffic lights and special traffic lights based on the number of traffic lights installed. A traffic light that is not included in the normal traffic lights may be classified as a special traffic light. For example, a traffic light that is more special than a normal traffic light may be classified as a special traffic light. In the traffic light identification information item, a value of "normal" or "special" is pre-set based on one of the various definitions described above or a combination of these definitions.

[0063] The state transition type information indicates the type of transition between the lighting states of a traffic light. A traffic light equipped with a normal green, yellow, and red light switches transitions between green, yellow, and red states in that order. For traffic lights with special state transitions, information about the state transition is stored in the state transition type information field. Examples of traffic lights with special state transitions include time-difference traffic lights, pedestrian-vehicle separation traffic lights, and traffic lights that do not light green but only use arrow lights to indicate progress.

[0064] The number of arrow lights for each connecting road indicates the number of arrow lights provided on the traffic lights that should be used by vehicles entering the intersection from the connecting road. The arrow direction information indicates the direction of the arrow indicated by the arrow lights provided on the traffic lights that should be used by vehicles entering the intersection from the connecting road. The information indicating the presence or absence of tram lights literally indicates whether tram lights are installed.

[0065] Next, an example of a special traffic light will be described with reference to FIGS. 3A to 3C. 3A is a diagram showing an example of the appearance of an arrow-type traffic light that also serves as a streetcar traffic light. This traffic light includes a green light, a yellow light, a red light, a right-turn arrow light, a straight-through arrow light, a left-turn arrow light, and a streetcar light. Some arrow-type traffic lights do not include a streetcar light, some include only one arrow light, some include two arrow lights, and some include four or more arrow lights.

[0066] 3B is a diagram showing an example of the appearance of a time-difference traffic light. This traffic light includes a green light, a yellow light, a red light, and a sign indicating that it is a time-difference traffic light.

[0067] 3C is a diagram showing an example of the appearance of a pedestrian-vehicle separation traffic light. This traffic light includes a green light, a yellow light, a red light, and a sign indicating that it is a pedestrian-vehicle separation traffic light.

[0068] Next, the processing of the processing unit 10 will be described with reference to FIGS. 4A and 4B. The processing unit 10 (FIG. 1B) has a function of referring to the contents of the memory card 6 and displaying, on the display device 3, information about traffic lights at intersections that are located within a predetermined search range based on the current position of the vehicle and that have special traffic lights that are different from normal traffic lights. For intersections that have normal traffic lights, information about traffic lights is not displayed.

[0069] The determination of whether or not a traffic light is special can be made based on the traffic light identification information (Fig. 2) of the intersection attribute. The predetermined search range may be, for example, the inside of a circle (search circle) of a predetermined radius centered on the current position of the vehicle. The radius of the search circle may be, for example, within a range of 500 m to 3 km. The radius of the search circle may also be varied according to the traveling speed of the vehicle. The faster the traveling speed, the longer the radius of the search circle.

[0070] FIG. 4A is a diagram showing an example of an image displayed on the display device 3 (FIGS. 1A and 1B). The position of the vehicle is indicated by an inverted V-shaped icon 20. The direction indicated by the icon 20 corresponds to the front of the vehicle. The direction ahead of the vehicle may be obtained, for example, from an electronic compass built into the driver assistance device 1. The position of an intersection where a special traffic light is installed is indicated by an icon (image) 21 corresponding to the type of traffic light. Circles with radii of 500 m, 1 km, and 2 km are displayed with the position of the vehicle as the center.

[0071] 4B is a diagram showing the correspondence between icons 20 and 21 and the meanings of the icons 20 and 21. For example, an icon 20 indicating the vehicle itself and icons 21 indicating an arrow-type traffic light, a flashing traffic light, a tram traffic light, a time-difference traffic light, and a pedestrian-vehicle separation traffic light are defined.

[0072] Furthermore, the processing unit 10 outputs, by voice, from the speaker 7, attention-calling information informing the driver that caution is required for a special traffic light within the search range. For example, it is preferable to output a voice message urging the driver's attention, such as "There is an arrow-type traffic light within XX km. Please be careful." If the traffic light has a special state transition, it is preferable to output, from the speaker 7, specific information about how the traffic light will transition.

[0073] Next, another example of a method for classifying normal traffic signals and traffic signals that are more special than normal traffic signals will be described.

[0074] For example, traffic lights can be classified as either normal or special traffic lights based on static or dynamic information about the traffic lights. Static information can include, for example, the traffic light's shape, appearance, and number of lights. Dynamic information can include, for example, the order in which the lights change their lighting status. Special traffic lights can include, for example, traffic lights with special shapes and traffic lights with special state transitions.

[0075] In addition, traffic lights with a large number of installed traffic lights may be classified as normal traffic lights. For example, the number of installed traffic lights for each type of traffic light may be calculated, and traffic lights with a number of installed traffic lights above a reference level may be classified as normal traffic lights. The reference level may be, for example, the average number of installed traffic lights. Alternatively, traffic lights may be classified as normal traffic lights or special traffic lights based on the cumulative relative frequency of the number of installed traffic lights when traffic lights are sorted in order of the number of installed traffic lights. For example, traffic lights whose cumulative relative frequency reaches a predetermined ratio may be classified as special traffic lights. If there is a significant change in the number of installed traffic lights of a traffic light type, it may be appropriate to review the types that are determined to be normal traffic lights. Traffic lights of types that are not included in the normal traffic lights may be classified as special traffic lights.

[0076] For example, arrow-type traffic lights may be classified as special traffic lights that differ from normal traffic lights. Among arrow-type traffic lights, there are many traffic lights installed in Japan that are equipped with only a right-turn arrow light in addition to green, yellow, and red lights. Therefore, such traffic lights should be classified as normal traffic lights and excluded from guidance. In this way, it is possible to prevent the output means 17 (FIG. 1B) from outputting too much information. Traffic lights that include arrow lights other than a right-turn arrow light, or traffic lights that include arrow lights in two or more directions, should be classified as special traffic lights.

[0077] Even if the installed lights are normal, if the state transition is special, the traffic light should be classified as a special traffic light. Examples of traffic lights with special state transitions include pedestrian-vehicle separation traffic lights and time-difference traffic lights. In addition, there are traffic lights that do not have a state in which the green light is lit, and indicate whether or not it is possible to enter the intersection by only lighting the arrow light. Such traffic lights should also be included in traffic lights with special state transitions. Furthermore, at some intersections, left turns are always possible. Such intersections should also be included in intersections where traffic lights with special state transitions are installed.

[0078] [Effects of the first embodiment] Next, the excellent effects of the first embodiment will be described. The driver of the vehicle can learn about special traffic lights installed at intersections within a specified search range from the information output to the output means 17 (Fig. 1B). When attention alert information is output from the speaker 7, the driver becomes more aware of the existence of intersections where he or she should drive carefully. Before reaching an intersection with a special traffic light, the driver can increase his or her attention and mentally review the traffic rules to follow when passing through the intersection. This can relieve the driver of anxiety when driving on a road for the first time in an unfamiliar area. It can also help the driver to avoid traffic violations and accidents.

[0079] For example, there are cases where a driver sees the arrow light for going straight and mistakenly determines that a left turn is possible, even though the red light is on, the arrow light for going straight is on, and the pedestrian signal for the direction of going straight is green, and makes a left turn. If only the arrow light for going straight is on and the driver is notified as attention-calling information that a left turn is not possible, such a misjudgment by the driver can be prevented.

[0080] In the first embodiment, for intersections where normal traffic lights are installed, information about the traffic lights is not displayed on the display device 3 (FIGS. 1A and 1B), thereby reducing the amount of information displayed on the display device 3. This makes it easier for drivers to notice the existence of intersections where special traffic lights are installed.

[0081] By providing an item of traffic light identification information for identifying whether a traffic light is normal or special in the intersection attributes (Fig. 2), the processing unit 10 can easily determine whether a traffic light at an intersection within the search range is a traffic light that should be displayed on the display device 3 (whether a traffic light is a traffic light that should be guided). Also, by changing the setting value of the traffic light identification information item, information about the traffic light at each intersection can be easily included in or excluded from the objects to be displayed on the display device 3.

[0082] [Modification of the first embodiment] Next, various modifications of the first embodiment will be described. In the first embodiment, the intersection attributes (FIG. 2) for each intersection are stored in the memory card 6 (FIGS. 1A and 1B), but they may also be stored in various other storage means. For example, they may be stored in the ROM 13 of the processing unit 10. Also, an external database server may be used as the storage means. The driver assistance device 1 may receive information about intersections from the database server via the communication device 16. For example, information about intersections within a certain area centered on the current location of the vehicle may be received and temporarily stored in the RAM 12 (FIG. 1B).

[0083] Intersections for which intersection attributes are to be stored in a storage means such as memory card 6 may be, for example, all intersections in the country that are equipped with traffic lights. Alternatively, the intersections may be limited to intersections on trunk roads (general national roads, major local roads, and general prefectural roads). By changing the traffic light identification information item (FIG. 2) among the intersection attributes of an intersection stored in the storage means from "normal" to "special," or vice versa, the intersection can be easily included in or excluded from the output targets to output means 17.

[0084] The intersection attributes (FIG. 2) may not include an item for traffic light identification information, and the processing unit 10 may indirectly determine whether a traffic light is a normal traffic light or a special traffic light based on information regarding the presence and number of arrow lights and the direction of the arrow indicated by the arrow lights. For example, a traffic light without an arrow light may be determined to be not a special traffic light. A traffic light with one arrow light and an arrow pointing to the right may be determined to be not a special traffic light. A traffic light with two or more arrow lights may be determined to be a special traffic light. A traffic light with one arrow light and an arrow pointing in a direction other than the right may be determined to be a special traffic light. If the map data of a car navigation system includes information such as the number of arrow lights at an intersection, the processing unit 10 can determine whether a traffic light installed at an intersection is a normal traffic light or a special traffic light based on such map data of the car navigation system.

[0085] The identification information for identifying whether or not a traffic light is special may include information indicating whether or not a streetcar light is installed. Traffic lights equipped with streetcar lights may be classified as special traffic lights. For example, when approaching an intersection equipped with streetcar lights, a message may be displayed to the driver saying, "Please be careful as yellow arrow lights are signals for streetcars." Pedestrian lights are commonly installed at many intersections, so the presence or absence of pedestrian lights does not need to be included in the identification information for identifying whether or not a traffic light is special.

[0086] Because the meaning of flashing red or flashing yellow traffic lights is easily misunderstood, such traffic lights should be classified as special traffic lights. For example, a flashing yellow light indicates that you can proceed while paying attention to other traffic and does not necessarily mean you need to slow down. Slowing down unconditionally at an intersection with a flashing yellow light can increase the risk of being hit by a vehicle behind. Also, a flashing red light indicates that you can stop at the stop line and proceed after checking that your surroundings are safe. Violations such as slowing down without stopping at an intersection with a flashing red light are common. Before an intersection where a flashing red or flashing yellow light is installed, it is recommended that the meaning of the flashing red or flashing yellow light be notified to drivers. For traffic lights that flash only at night, it is recommended that information indicating the time period during which the light flashes should be included in the intersection attributes. The processing means should classify traffic lights that flash only at night as special traffic lights only for the time period during which the light flashes.

[0087] In the first embodiment, a circular range centered on the current position of the vehicle is used as the search range for determining whether or not there is an intersection with a special traffic light. However, the search range does not necessarily have to include the current position of the vehicle. For example, a semicircular range located in front of the vehicle may be used as the search range. In this way, information about the area behind the vehicle, which is unlikely to be passed through, is not displayed on the display device 3 (FIGS. 1A and 1B), making it easier for the driver to notice useful information.

[0088] In the first embodiment, information about intersections where normal traffic lights are installed is stored in the storage means, but it is not necessary to store information about intersections where normal traffic lights are installed in the storage means. In this way, information about many intersections where normal traffic lights are installed is not stored in the storage means, which makes it possible to prevent an increase in the capacity of the storage means.

[0089] In the first embodiment, the guidance targets intersections with special traffic lights, but it would be better to provide guidance on intersections without traffic lights that require careful driving, such as roundabouts.

[0090] [Second Example] Next, a driver assistance device according to a second embodiment will be described with reference to Fig. 5. Below, a description of the configuration common to the driver assistance device according to the first embodiment will be omitted.

[0091] In addition to the functions of the driver assistance device 1 of the first embodiment (FIGS. 1A and 1B), the driver assistance device 1 of the second embodiment has map data stored in a storage means such as a memory card 6, and the processing unit 10 (FIG. 1B) has a function of displaying a map of an area including the current location of the vehicle on the display device 3, and a function of searching for a recommended route (recommended route) to the destination and displaying the recommended route on the display device 3.

[0092] Once the recommended route is determined, the processing unit 10 searches for intersections with special traffic lights within a search range that includes positions on the recommended route. If there is an intersection with a special traffic light on the recommended route, the processing unit 10 causes the output means 17 (FIG. 1B) to output a message informing the driver that there is an intersection with a special traffic light on the recommended route.

[0093] 5 is a diagram showing an example of an image displayed on the display device 3. On the map displayed on the display device 3, an S symbol in a circle is displayed at the current position of the vehicle, and a G symbol in a circle is displayed at the destination. The recommended route is indicated by a thick solid line. At intersections on the recommended route where special traffic lights are installed, an icon 21 corresponding to the type of special traffic light is displayed.

[0094] The processing unit 10 displays a map and an icon 21 on the display device 3, and also outputs a message from the speaker 7 indicating that there is an intersection with a special traffic light on the recommended route. For example, the processing unit 10 may output a message by voice saying, "There are arrow-type traffic lights, pedestrian-vehicle separation traffic lights, and tram traffic lights on the route that require caution. Please be careful." Furthermore, when traveling along the recommended route and approaching an intersection with a special traffic light, the processing unit 10 may output a message by voice saying, "There is an arrow-type traffic light that requires caution soon. Please be careful."

[0095] FIG. 6 is a diagram showing an image displayed on the display device 3 when the vehicle approaches an intersection where an arrow-type traffic light classified as a special traffic light is installed. The processing unit 10 causes a partial area 8 of the display screen of the display device 3 (for example, approximately one-third of the area on the left side of the display screen) to graphically display the appearance of the traffic light at the next intersection where the special traffic light is installed, as well as lane information for the approach road to that intersection. Furthermore, the processing unit 10 causes the distance to the intersection where the traffic light is installed to be displayed numerically. Each lane in the graphic displayed on the display device 3 is marked with an arrow indicating the direction of travel permitted when entering the intersection from that lane. The area 8 for graphically displaying the appearance of the traffic light and lane information for the approach road to that intersection may be displayed in another area of ​​the display screen, such as the upper left area, the upper right area, or approximately one-third of the area on the right side.

[0096] The timing for displaying the traffic light appearance and the lane information of the approach road to the intersection as a graphic may be when the distance to the intersection reaches a predetermined distance, for example, 1 km. This predetermined distance may be changed depending on the legal speed limit of the currently traveling route or the current vehicle speed. For example, the higher the legal speed limit or the current vehicle speed, the longer this predetermined distance may be.

[0097] Furthermore, the processing unit 10 highlights the lane in which the vehicle should travel in order to proceed along the recommended route among the graphics showing the lanes of the approach road displayed on the display device 3. For example, the lane in which the vehicle should travel in the graphics may be colored differently from the other lanes, or the lane in which the vehicle should travel may be displayed brighter than the other lanes.

[0098] Furthermore, the processing unit 10 may display the appearance of the traffic lights displayed in the area 8 so that the lighting state of the traffic lights that allow travel along the recommended route can be recognized. For example, if the recommended route is a route that involves turning right at an intersection, the processing unit 10 may display in the area 8 the appearance of the traffic lights with the red light and right-turn arrow light both lit.

[0099] [Effects of the second embodiment] The driver can see the icon 21 on the map displayed on the display device 3 and know where on the route the vehicle is scheduled to travel there is an intersection with a special traffic light that requires caution. When the driver approaches an intersection with a special traffic light, warning information is output by voice, allowing the driver to increase their attention before reaching the intersection or to mentally reconfirm the traffic rules when passing through the intersection.

[0100] Intersections other than the route on which the vehicle is scheduled to travel are not displayed on the display device 3, even if special traffic lights are installed. Information about intersections other than the route on which the vehicle is scheduled to travel is of low importance to the driver. Since information of low importance is not displayed on the display device 3, the driver can easily notice information of high importance.

[0101] The driver can review in advance in his mind the specific points to be aware of when passing through an intersection by looking at the outline of the traffic light and the lane information of the approach road displayed in a partial area 8 (Figure 6) of the display screen of the display device 3.

[0102] [First Modification of Second Embodiment] Next, a first modified example of the second embodiment will be described. In the second embodiment shown in FIG. 5, the driver is guided to intersections where special traffic lights are installed on the recommended route to the destination, but in this modified example, useful guidance is provided to the driver even when a recommended route is not set.

[0103] The processing unit 10 (FIG. 1B) sets the search range to the positions on the route that the vehicle will pass through when traveling along a road, based on map data, the current position of the vehicle, and the direction of travel of the vehicle. If there is an intersection with a special traffic light on the route that the vehicle will pass through when traveling along a road, the processing unit 10 displays an icon corresponding to the traffic light at the intersection's position on the map.

[0104] When the vehicle changes course by turning right, left, or making a U-turn, the processing unit 10 may modify the search range and cause the display device 3 to re-display information about the traffic lights at the intersection where the special traffic lights are installed.

[0105] Next, the "follow the road" operation will be described with reference to FIG. "Follow the road" means to follow the route you are currently traveling on except at intersections. At intersections, it means to go straight. When entering an intersection where there is no straight exit road, it means to exit towards the exit road with the smallest change in direction.

[0106] 7 is a diagram showing a route 26 that the vehicle will traverse when traveling along a road from a current position 25. There is no straight exit road at an intersection 27. The angle θ1 at which the vehicle's direction of travel is changed when heading towards an exit road 28 is smaller than any of the angles θ2, θ3, and θ4 at which the vehicle's direction of travel is changed when heading towards other exit roads. Therefore, traveling towards the exit road 28 corresponds to "traveling along a road."

[0107] A route that is passed when traveling along a road is likely to be passed in the future. If a position on this route is set as the search range, information about intersections on routes that are unlikely to be passed will be excluded from the search range. As a result, it is possible to prevent too much traffic light information from being displayed on the display device 3. The driver can obtain only the information that is deemed to be most necessary, making it easier for the driver to notice necessary information.

[0108] [Second Modification of Second Embodiment] Next, a second modification of the second embodiment will be described. In the second embodiment, the driver is informed of intersections where special traffic lights are installed and information about the traffic lights, but in this modified example, the processing unit 10 informs the driver of intersections where no traffic lights are installed and a stop is mandatory. For example, the processing unit 10 outputs a voice message from the speaker 7 informing the driver that a stop should be made before an intersection where a stop is mandatory. Information indicating whether or not an intersection is one where a stop is required may be included in the intersection attributes and stored in a storage means.

[0109] In this modified example, the driver becomes aware that he or she is approaching an intersection where he or she is required to stop, and is less likely to violate the stop sign.

[0110] [Another Modification of the Second Embodiment] Next, another modification of the second embodiment will be described. When the processing unit 10 (FIG. 1B) detects that the vehicle has stopped at an intersection before the intersection where the special traffic light is installed, it is preferable that the processing unit 10 notify the driver by voice that the vehicle will soon approach the intersection where the special traffic light is installed. The driver who notices this voice can obtain specific information about the special traffic light by looking at the display screen of the display device 3 while the vehicle is stopped.

[0111] Furthermore, it is preferable to display information about special intersections in text form along with traffic light and lane diagrams so that a passenger in the front seat can convey information about special intersections to the driver by looking at the display device 3. For example, it is preferable to display a message on the display device 3 such as, "The traffic light at the intersection XXX meters ahead is equipped with arrow lights for turning right, going straight, and turning left. The rightmost lane is a lane for turning right only." Even if the passenger does not have a driver's license, they can convey the necessary information to the driver by reading aloud the text displayed on the display device 3.

[0112] It is preferable that the operation of inputting a destination and the operation of selecting one destination from among destination candidates can be performed by voice.

[0113] [Third Example] Next, a driver assistance device according to a third embodiment will be described with reference to Figures 8 and 9. Below, a description of the configuration common to the first and second embodiments will be omitted.

[0114] The intersection attributes referenced by the driver assistance device according to this embodiment include information about dedicated lanes for intersections where dedicated lanes are provided for specific exit roads. Similar to the second embodiment, the processing unit 10 (FIG. 1B) has a function of searching for a recommended route from the vehicle's current location to the destination. When the recommended route includes an intersection where a dedicated lane is provided, the processing unit 10 has a function of notifying the driver of a lane that is likely to be entered into the dedicated lane before the point where the dedicated lane begins, as a recommended lane, in order to proceed along the recommended route.

[0115] Figure 8 is a plan view showing an example of an approach road to an intersection where a dedicated lane is provided, and a diagram showing the appearance of a traffic light as seen from the approach road. Approach road 32 to intersection 31 increases from three lanes to four lanes just before the intersection, and the dedicated lane begins here. Of the four lanes, the rightmost lane is a lane for right turns, and the leftmost lane is a lane for going straight and turning left. The second and third lanes from the left are lanes for going straight. The traffic light installed at intersection 31 includes a right-turn arrow light.

[0116] When a route for turning right at intersection 31 is set as the recommended route, processing unit 10 (FIG. 1B) notifies the driver of a preferred lane (recommended lane) for entering the dedicated right-turn lane before point 33 where the dedicated lane starts. For example, processing unit 10 outputs a voice message from speaker 7 (FIG. 1B) saying, "A dedicated right-turn lane will be coming soon. Please drive in the lane on the right."

[0117] When the vehicle passes point 33 where the dedicated lane starts, the processing unit 10 notifies the driver of matters to be careful of when passing through the intersection 31. For example, the processing unit 10 causes the speaker 7 to output a voice message saying, "Please follow the right turn arrow signal."

[0118] When a route for turning left at intersection 31 is set as the recommended route, processing unit 10 (FIG. 1B) notifies the driver of a preferred lane for entering the left turn lane before point 33 where the dedicated lane starts. For example, processing unit 10 causes speaker 7 (FIG. 1B) to output a voice message saying, "A left turn lane will be coming soon. Please stay in the left lane." When the vehicle passes point 33 where the dedicated lane starts, processing unit 10 causes speaker 7 to output a voice message saying, "Please follow the left turn arrow signal."

[0119] Since it is possible to go straight at the intersection 31 regardless of which lane the vehicle is traveling in before the point 33 where the dedicated lane starts, if a route that goes straight is set as the recommended route, the processing unit 10 (Figure 1B) does not output any message to call attention to the situation.

[0120] Figure 9 is a plan view showing another example of an approach road to an intersection where dedicated lanes are provided. Approach road 36 to intersection 35 increases from three lanes to four lanes just before the intersection, where the dedicated lanes begin. Of the four lanes, the rightmost lane is a dedicated right-turn lane, the leftmost lane is a dedicated left-turn lane, and the center two lanes are dedicated straight-through lanes. The traffic lights installed at intersection 35 include arrow lights for right turns, straight turns, and left turns.

[0121] If a route going straight at the intersection 35 is set as the recommended route, the processing unit 10 (FIG. 1B) notifies the driver of a preferred lane (recommended lane) for going straight at the intersection 35 just before the point 37 where the dedicated lane starts. For example, the processing unit 10 outputs a voice message from the speaker 7 (FIG. 1B) saying, "The road will split into lanes for turning right and left and going straight. Please stay in the center or right lane to go straight."

[0122] When the vehicle passes point 37 where the dedicated lane starts, the processing unit 10 notifies the driver of matters to be careful of when passing through the intersection 35. For example, the processing unit 10 causes the speaker 7 to output a voice message saying, "Please follow the green light or the arrow signal for going straight ahead."

[0123] If a route that makes a right turn at the intersection 35 is set as the recommended route, the processing unit 10 (FIG. 1B) notifies the driver of a preferred lane for turning right at the intersection 35 just before the point 37 where the dedicated lane starts. For example, the processing unit 10 outputs a voice message from the speaker 7 (FIG. 1B) saying, "A dedicated right-turn lane will be coming soon. Please drive in the lane on the right."

[0124] When the vehicle passes point 37 where the exclusive lane starts, for example, the processing unit 10 causes the speaker 7 to output a voice message saying, "Please follow the arrow signal for turning right."

[0125] If a route that makes a left turn at the intersection 35 is set as the recommended route, the processing unit 10 (FIG. 1B) notifies the driver of a preferred lane for turning left at the intersection 35 just before the point 37 where the dedicated lane starts. For example, the processing unit 10 outputs a voice message from the speaker 7 (FIG. 1B) saying, "A dedicated left-turn lane will be coming soon. Please drive in the left lane."

[0126] When the vehicle passes point 37 where the exclusive lane starts, for example, the processing unit 10 causes the speaker 7 to output a voice message saying, "Please follow the green light or the left turn arrow signal."

[0127] [Effects of the third embodiment] Next, the excellent effects of the third embodiment will be described.

[0128] In the example shown in Figure 8, when turning right at intersection 31, the driver is prompted to stay in the right lane just before point 33 where the dedicated lane begins, and by changing lanes to the right, it becomes easier to enter the dedicated right-turn lane after the number of lanes increases. Also, by being warned to follow the right-turn arrow signal, the driver can perform driving operations without confusion just before intersection 31.

[0129] In the example shown in Figure 9, when going straight through intersection 35, the driver is prompted to stay in the center or right lane just before point 37 where the dedicated lane begins, and by changing lanes from the leftmost lane to the center lane, the driver can avoid entering the dedicated left-turn lane. Also, by being warned to follow the green light or the arrow signal for going straight, the driver can perform driving operations without confusion just before intersection 35.

[0130] Furthermore, when turning right at intersection 35, if a driver is prompted to drive in the rightmost lane just before point 37 where the dedicated lane begins, and changes lanes to the rightmost lane, it is possible to avoid a situation where the driver is unable to enter the right-turn dedicated lane while remaining in the leftmost or center lane. Also, by being warned to follow the arrow signal for a right turn, the driver can perform driving operations without confusion just before intersection 35.

[0131] Furthermore, when turning left at intersection 35, if a driver is prompted to drive in the leftmost lane just before point 37 where the dedicated lane begins, the driver may change lanes to the leftmost lane, which can prevent the driver from remaining in the rightmost lane and being unable to enter the dedicated left-turn lane. Also, by being warned to follow the green light or left-turn arrow signal, the driver can perform driving operations without hesitation just before intersection 35.

[0132] For example, just before the start of a right-turn lane, there may be warning signs such as "Right turn lane in 150m," "Right turn lane in 100m," and "Right turn lane in 50m," or warning signs above each lane of the road that indicate the direction of travel of the right-turn lane with an arrow. However, drivers may overlook these warning signs. In the third embodiment, even if a driver overlooks the warning signs informing the driver of the right-turn lane, the driver can know the recommended lane for entering the right-turn lane just before the start of the right-turn lane. Once the driver reaches the start of the right-turn lane, the driver can enter the right-turn lane without hesitation. This can prevent the driver from being confused about entering the right-turn lane just before an intersection.

[0133] Depending on the dedicated lane, it may be possible to enter the intersection even if the red light is on because the arrow light is on. When it is necessary to enter such a dedicated lane to travel the recommended route to the destination, the processing unit 10 may output information from the speaker 7 to notify the driver that the intersection is accessible because the arrow light is on, even if the red light is on. For example, as shown in the examples of FIGS. 8 and 9, it may be possible to notify the driver to enter the intersection by following the arrow light. This can prevent the driver from erroneously performing a stop operation before the intersection even though it is possible to enter the intersection.

[0134] The point where the recommended lane is notified to the driver should be set so that there is a sufficient distance between the point where the recommended lane is notified to the driver to enter the dedicated lane and the point where the dedicated lane begins, for example, 250 m to 1 km before the point where the dedicated lane begins.

[0135] If the road just before the start of the dedicated lane has two lanes, the driver can easily determine which lane to use when turning right, going straight, or turning left at the next intersection. If the road just before the start of the dedicated lane has three or more lanes, the driver may be confused about which lane to use. The third embodiment has a more pronounced effect when the road just before the start of the dedicated lane has three or more lanes.

[0136] [Modification of the third embodiment] Next, a modification of the third embodiment will be described. 8, the processing unit 10 outputs a voice message from the speaker 7 saying, "Please follow the right turn arrow signal." In addition to the voice output, it is also possible to display the lighting status of a traffic light that allows a right turn on the display device 3. For example, it is possible to display the appearance of a traffic light with the red light and right turn arrow light both lit.

[0137] In the example shown in Figure 9, in addition to outputting audio, the processing unit 10 may cause the display device 3 to display the appearance of the traffic light with the blue light on, and the appearance of the traffic light with the red light, straight arrow light, and left turn arrow light on.

[0138] At an intersection where a dedicated lane for right-turning vehicles is provided and a U-turn is possible, the processing unit 10 may notify the driver that a vehicle in front of the host vehicle may make a U-turn. Unlike a vehicle turning right, a vehicle making a U-turn may behave in an unexpected manner by the driver of the following vehicle. The driver can reduce the occurrence of accidents by performing driving operations assuming that a vehicle in front of the host vehicle may make a U-turn.

[0139] At intersections where U-turns are prohibited, it is advisable to output a voice message from the speaker 7 informing the driver that U-turns are prohibited.

[0140] When the host vehicle is stopped at the front of a designated lane at an intersection, a violation is likely to occur due to failure to check the travel direction permitted for the designated lane. When the host vehicle is stopped at the front of a designated lane at an intersection, the processing unit 10 (FIG. 1B) may output a message from the speaker 7 urging the driver to proceed in the designated lane's travel direction. The determination of whether the host vehicle is at the front of a designated lane may be based on, for example, an image captured by a camera capturing an image of the area ahead of the vehicle. A camera may be built into the driver assistance device to acquire this image data. Alternatively, the driver assistance device may acquire image data from an on-board camera. The determination of whether the lane in which the host vehicle is located is a designated lane may be performed by extracting road markings from an image captured by the camera. Furthermore, as the accuracy of GPS positioning improves, it may also be possible to determine the lane in which the host vehicle is located from the GPS positioning results.

[0141] When a recommended route for turning left at an intersection is set, a message to alert the driver to be careful of being hit by two-wheeled vehicles such as bicycles can be output by voice from the speaker 7. This encourages the driver to be careful of being hit by two-wheeled vehicles when turning left, thereby reducing the occurrence of hit-and-run accidents.

[0142] [Fourth Example] Next, a driver assistance device according to a fourth embodiment will be described with reference to Fig. 10. Below, a description of the configuration common to the first and second embodiments will be omitted.

[0143] 10 is a schematic diagram of an advance notice guide sign 40 and the driver assistance device 1 for explaining the function of the driver assistance device 1 according to the fourth embodiment. Information capable of identifying the positions where the plurality of advance notice guide signs 40 are installed, and map data are stored in a storage means such as a memory card 6.

[0144] When an advance warning sign 40 is installed on a route 41 that the vehicle passes while traveling along a road, the processing unit 10 (FIG. 1B) has a function of notifying the driver that an advance warning sign 40 has been installed just before the point where the advance warning sign 40 is installed. For example, the processing unit 10 may output a voice message from the speaker 7 just before the point where the advance warning sign 40 is installed, saying, "An advance warning sign 40 will be installed soon." For example, if the advance warning sign 40 is installed 400 m before an intersection, a message notifying the driver of the advance warning sign 40 may be output 500 m before the intersection. For example, a message notifying the driver that an advance warning sign 40 has been installed may be output at the point where the advance warning sign 40 begins to come into the driver's field of vision.

[0145] Furthermore, the processing unit 10 may cause the display device 3 to display the information displayed on the advance notice sign 40. For example, an image of the advance notice sign 40 may be displayed on the display device 3.

[0146] [Effects of the Fourth Embodiment] Next, the excellent effects of the fourth embodiment will be described. If the driver notices the advance warning sign 40 too late, he or she may not have enough time to read the contents of the advance warning sign 40. When the driver is notified that an advance warning sign 40 has been installed, the driver can notice the presence of the advance warning sign 40 just before reaching the point where the advance warning sign 40 is installed. This allows the driver to read the contents of the advance warning sign 40 in ample time. Furthermore, even if the driver misses the timing to check the contents of the advance warning sign 40, the driver can still understand the contents of the advance warning sign 40 from the information displayed on the display device 3.

[0147] For example, if a guide sign such as "Turn right here" is installed, a situation may occur in which the driver has already reached the point where he or she should turn right by the time he or she notices the guide sign and is unable to make the right turn. In the fourth embodiment, by notifying the driver of the presence of a guide sign such as "Turn right here" installed at the point where he or she should change lanes before the point, the driver can notice the guide sign in advance and change lanes.

[0148] When a recommended route to the destination has been set, the processing unit 10 may notify the driver that advance notice guide signs 40 have been installed on the recommended route. This allows the driver to know the locations where advance notice guide signs 40 have been installed before traveling along the recommended route. The advance notice guide signs 40 to be notified may be signs that provide information about intersections where special traffic lights are installed, for example.

[0149] [Fifth Example] Next, a driver assistance device according to a fifth embodiment will be described with reference to Fig. 11. Below, a description of the configuration common to the first and second embodiments will be omitted.

[0150] 11 is a diagram showing an example of a map of an area where "zones 30" are set. Zones 30 are indicated by dashed lines. In the fifth embodiment, information specifying areas where drivers should pay particular attention, such as zones 30, silver zones, school zones, etc., is stored in storage means such as memory card 6.

[0151] The processing unit 10 (FIG. 1B) provides a search mode that prioritizes searching for a route that does not pass through zone 30 when searching for a recommended route to a destination. When the search mode is set to a mode that does not pass through zone 30, the processing unit 10 recommends a route that bypasses zone 30 as the recommended route, as shown by the thick line in FIG. 11. When the vehicle approaches zone 30, the processing unit 10 notifies the driver that a route that does not pass through zone 30 has been set as the recommended route. For example, the processing unit 10 outputs a voice message from the speaker 7 saying, "You will soon reach zone 30. A route that does not pass through zone 30 will be displayed."

[0152] In addition, when the processing unit 10 detects that the vehicle has entered an area where the driver is required to pay particular attention, such as Zone 30, a silver zone, or a school zone, it is preferable to notify the driver that the vehicle has entered a zone requiring special attention.

[0153] If the destination is located within the zone 30, the processing unit 10 may search for a recommended route under the condition that the distance traveled within the zone 30 is the shortest.

[0154] [Effects of the Fifth Example] In the fifth embodiment, accidents within the zone 30 can be avoided or suppressed by driving around the zone 30 or by driving so as to shorten the distance traveled within the zone 30 .

[0155] In the various embodiments described above, the driver assistance device provides the driver with warning information, but the final decision should be made by the driver, who should visually check the traffic signs and urge the driver to follow the traffic signs.

[0156] [Other Examples] When the processing unit 10 (FIG. 1B) outputs a voice message to alert the driver, the processing unit 10 may wait for an input of an acknowledgement message from the driver. The acknowledgement message may be input by the driver without taking his / her eyes off the road. For example, the processing unit 10 may recognize that an acknowledgement message has been input by detecting a voice such as "understood" or "OK." Alternatively, the processing unit 10 may recognize that an acknowledgement message has been input whenever the driver touches any part of the touch panel 4 (FIGS. 1A and 1B).

[0157] During this input waiting state, if the driver does not input a message indicating that the driver has confirmed the operation, it is preferable to periodically output a voice warning message. When the driver inputs a message indicating that the driver has confirmed the operation, the processing unit 10 preferably stops the periodic output of the warning message. This can prevent the driver from noticing the warning message and arriving at an intersection requiring caution. In addition, by providing the driver with appropriate warnings, it is possible to prevent the driver from falling asleep at the wheel.

[0158] When stopped at an intersection, if the vehicle ahead is tall, the driver of the vehicle may not be able to see the traffic light. In such a case, if the traffic light is visible from the position where the driver assistance device is installed, it is advisable to notify the driver of the traffic light status based on an image captured by a camera installed in the driver assistance device. For example, it is advisable to extract an image of the traffic light from the image captured by the camera and display the image of the traffic light on the display device 3. Even in a situation where the driver cannot directly see the traffic light, the driver can know the status of the traffic light by looking at the display device 3 of the driver assistance device.

[0159] Various aspects of the present invention have been described above using examples and modifications. However, it should be noted that the descriptions of these examples and modifications are provided to aid in understanding the present invention, and are not intended to limit the technical scope of the present invention. The technical scope of the present invention is not limited to the configurations explicitly described in the specification, and this specification also discloses other inventions obtained by combining various aspects of the present invention described. The applicant of this application has specified the configuration of the invention for which a patent is sought in the appended claims, but intends to include in the claims in the future inventions that are not currently specified in the claims but include at least one component disclosed in this specification.

[0160] The present invention is not limited to the configuration described in the "Mode for Carrying Out the Invention" above. It is possible to arbitrarily select and combine elements included in each of the above-described embodiments and variations to create a new invention. Furthermore, any element of each embodiment or variation can be arbitrarily combined with any element described in the "Summary of the Problem" or with any element embodying any element described in the "Summary of the Problem" to create a new invention. The applicant of the present application intends to obtain rights to these new inventions through amendments to the present application or divisional applications, etc. [Explanation of symbols]

[0161] 1 Driver assistance devices 2 Cradle 3 Display device 4 Touch Panel 5 Card slot 6. Memory Card 7 Speakers 8 Part of the display screen 10 Processing section 11 Central Processing Unit (CPU) 12 Random Access Memory (RAM) 13 Read-only memory (ROM) 15 GPS receiver 16. Communications equipment 17 Output Method 18 Memory card reader 20 Vehicle position icon 21 Icons showing the location of intersections with special traffic lights 25 Vehicle position 26 Route following the road 27 Intersections with no straight-through exits 28 Exit road with the smallest turning angle 31 Intersection 32 Approach to the intersection 33 Where the dedicated lane begins 35 Intersection 36 Approach to Intersection 37 Where the dedicated lane begins 40 Advance notice sign 41 Routes

Claims

1. A driver assistance device mounted on a vehicle, a processing means having a function of referring to a storage means in which intersection attributes including location information of the intersection and information about the traffic lights installed at the intersection are stored, and causing an output means to output caution information informing a driver that caution is required at an intersection that is located within a predetermined search range based on the current position of the vehicle and that is equipped with at least one of a time-difference traffic light, a pedestrian-vehicle separation traffic light, and a traffic light that does not light green and indicates progress only with an arrow light; The processing means When the attention-calling information is output, a state of waiting for a response from the driver indicating that confirmation has been completed is entered, and the attention-calling information is output periodically until the response is input; When the response is input, the periodic output of the warning information is stopped. A driver assistance device having:

2. The processing means has a function of outputting the warning information by voice.

10. The apparatus of claim 1.

3. The response is a confirmation message from the driver, and is set so that the driver can give it without taking their eyes off the road. A driver assistance device according to claim 1 or 2.

4. Further, a driver assistance device including a display, The response is made by the driver touching any position on the display screen of the display device, and is set so that the driver can do so without taking their eyes off the road. A driver assistance device according to claim 1 or 2.

5. A program for causing a computer to realize the functions of the system according to any one of claims 1 to 4.

Images