Driving assistance devices

Abstract

To provide a driving support device that can prevent a driver of an own vehicle from feeling uncomfortable when the own vehicle stops at an intersection.SOLUTION: A driving support device 1 includes: a display unit 7 that displays information on the driving support of an own vehicle A; a front camera 2 that captures images of the front of the own vehicle A; a traffic signal identification unit 12 that identifies a traffic signal to be observed installed at an intersection based on the images captured by the front camera 2; a stop position determination unit 15 that determines a stop position such that the traffic signal to be observed is within an image capturing range of the front camera 2 in front of the farthest point of the stop position to wait for a right turn in the intersection when the traffic signal to be observed indicates that the right turn is permitted; a traveling control unit 13 that controls the own vehicle A to travel to the stop position; and a display control unit 17 that displays on the display unit 7 an image including at least the traffic signal to be observed recognized by the front camera 2 when the own vehicle A has stopped at the stop position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Known conventional driving assistance devices include, for example, the technology described in Patent Document 1. The driving assistance device described in Patent Document 1 determines, based on map information, a first stop position in accordance with traffic rules in the lane on which the host vehicle is traveling, and, based on an image captured by a camera, determines a second stop position that is closest to a traffic light whose current state can be determined in the area on the lane on which the host vehicle is traveling, and sets the first or second stop position, whichever is farther from the traffic light, as a target stop position, and controls the host vehicle to stop at the target stop position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-68317 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when a vehicle turns right at an intersection using automatic driving, if the vehicle stops earlier than the position where it should stop when manually driving in order to wait for the right turn within the intersection, the driver of the vehicle may feel uncomfortable with the stopping position of the vehicle.

[0005] An object of the present invention is to provide a driving assistance device that can prevent the driver of the vehicle from feeling uncomfortable when the vehicle stops in an intersection. [Means for solving the problem]

[0006] One aspect of the present invention is a driving assistance device that provides driving assistance for a vehicle that keeps on the left side of the road when the vehicle turns right at an intersection, and includes: a display unit that displays information related to driving assistance for the vehicle; a forward imaging unit that captures an image of the area in front of the vehicle; a traffic light identification unit that identifies a traffic light that must be observed and is installed at the intersection based on the image captured by the forward imaging unit; a stop position determination unit that determines a stop position before the farthest stop position for waiting to turn right within the intersection so that the traffic light that must be observed is within the imaging range of the forward imaging unit when the current indication of the traffic light that must be observed and identified by the traffic light identification unit indicates that a right turn is permitted; a driving control unit that controls the vehicle to travel to the stop position determined by the stop position determination unit; and a display control unit that causes an image including at least the traffic light that must be observed and recognized by the forward imaging unit to be displayed on the display unit when the vehicle stops at the stop position.

[0007] The display control unit may highlight the traffic light to be obeyed on the display unit.

[0008] The display control unit may cause the display unit to display an image of the front of the host vehicle captured by the front imaging unit.

[0009] The driving assistance device may further include a rear imaging unit that images the area behind the vehicle and a side imaging unit that images the area to the side of the vehicle, and the display control unit may display on the display unit a bird's-eye view image that is a combination of images captured by the front imaging unit, rear imaging unit, and side imaging unit, together with the imaging range of the front imaging unit.

[0010] Another aspect of the present invention is a driving assistance device that provides driving assistance for a vehicle that keeps on the right side of the road when the vehicle turns left at an intersection, and includes a display unit that displays information related to driving assistance for the vehicle, a forward imaging unit that captures an image of the area in front of the vehicle, a traffic light identification unit that identifies a traffic light that must be observed and is installed at the intersection based on the image captured by the forward imaging unit, a stop position determination unit that determines a stop position before the farthest stop position for waiting to turn left within the intersection so that the traffic light that must be observed is within the image capture range of the forward imaging unit when the current indication of the traffic light that must be observed and identified by the traffic light identification unit indicates that a left turn is permitted, a driving control unit that controls the vehicle to travel to the stop position determined by the stop position determination unit, and a display control unit that causes an image including at least the traffic light that must be observed and recognized by the forward imaging unit to be displayed on the display unit when the vehicle stops at the stop position. [Effects of the Invention]

[0011] According to the present invention, it is possible to prevent the driver of the vehicle from feeling uncomfortable when the vehicle stops in an intersection. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a block diagram showing a configuration of a driving assistance device according to an embodiment of the present invention; [Figure 2] 4 is a flowchart showing the procedure of a driving assistance process executed by an ECU. [Figure 3] 4 is a flowchart showing the procedure of a driving assistance process executed by an ECU. [Figure 4] FIG. 2 is a bird's-eye view showing a state in which the host vehicle is stopped and waiting to turn right. [Figure 5] FIG. 10 is a diagram showing an example of an image displayed on a display device. [Figure 6] FIG. 10 is a bird's-eye view illustrating a comparative example in which the host vehicle is stopped and waiting to turn right. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or equivalent elements are designated by the same reference numerals, and redundant description will be omitted.

[0014] Fig. 1 is a block diagram showing the configuration of a driving assistance device according to one embodiment of the present invention. In Fig. 1, the driving assistance device 1 of this embodiment is mounted on a host vehicle A (see Fig. 4) equipped with an automatic driving function. The driving assistance device 1 provides driving assistance to the host vehicle A when the host vehicle A, which keeps on the left side of the road, turns right at an intersection with traffic lights.

[0015] The driving assistance device 1 includes a front camera 2, a rear camera 3, a side camera 4, an acceleration / deceleration control device 5, a steering control device 6, a display 7, and an ECU (Electronic Control Unit) 10.

[0016] The front camera 2 is a front imaging unit that captures images in front of the vehicle A. The rear camera 3 is a rear imaging unit that captures images behind the vehicle A. The side camera 4 is a side imaging unit that captures images to the sides of the vehicle A. The front camera 2, rear camera 3, and side camera 4 are cameras that recognize traffic lights and road markings such as white lines painted on the road.

[0017] The acceleration / deceleration control device 5 controls the engine and brakes of the host vehicle A so as to accelerate or decelerate the host vehicle A. The steering control device 6 controls the steering of the host vehicle A so as to steer the host vehicle A.

[0018] The display 7 is a display unit that displays information related to driving assistance for the vehicle A. As the display 7, for example, an in-vehicle display such as a multimedia display, a center display, or a meter may be used. As the display 7, a head-up display or the like may also be used.

[0019] The ECU 10 is configured with a CPU, RAM, ROM, an input / output interface, etc. The ECU 10 has a determination unit 11, a traffic light identification unit 12, a driving control unit 13, a farthest stop position determination unit 14, a stop position determination unit 15, a driving trajectory setting unit 16, and a display control unit 17.

[0020] Based on the image captured by the forward camera 2, the judgment unit 11 judges the current indication of the traffic lights installed at the intersection, whether there is an obstacle entering the path of vehicle A, and whether there is a stopping position guide line painted on the road at the intersection.

[0021] The traffic light identification unit 12 identifies traffic lights that are installed at the intersection and that must be obeyed, based on the image captured by the front camera 2. The traffic lights that must be obeyed are traffic lights that the host vehicle A must obey at the intersection.

[0022] The driving control unit 13 controls the acceleration / deceleration control unit 5 and the steering control unit 6 so that the host vehicle A turns right at the intersection according to the determination result of the determination unit 11. When the current indication of the traffic light to be complied with indicates that a right turn is permitted, the driving control unit 13 controls the acceleration / deceleration control unit 5 and the steering control unit 6 so that the host vehicle A travels to a stopping position (described later).

[0023] The farthest stop position determination unit 14 determines the farthest stop position for waiting to turn right within an intersection based on the image captured by the front camera 2. The farthest stop position is the farthest (innermost) point within the intersection that can be used as a stopping position for vehicle A to wait for an oncoming vehicle to pass when vehicle A turns right at the intersection.

[0024] When the current indication of the traffic light to be complied with indicates that a right turn is permitted, the stop position determination unit 15 determines a stop position in which the traffic light to be complied with falls within the imaging range of the front camera 2, before the farthest point of the stop position.

[0025] The travel trajectory setting unit 16 sets a travel trajectory of the host vehicle A up to the stop position determined by the stop position determination unit 15. The travel trajectory setting unit 16 sets a travel trajectory that does not stray from the travel lane (traffic lane) in which the host vehicle A is traveling.

[0026] When the vehicle A stops at the stop position determined by the stop position determination unit 15, the display control unit 17 displays on the display 7 an image including at least the traffic light to be complied with that is recognized by the forward camera 2.

[0027] 2 and 3 are flowcharts showing the procedure of the driving assistance process executed by the ECU 10. This process is executed when the host vehicle A turns right at an intersection with traffic lights by autonomous driving. When this process starts, the host vehicle A is traveling in the right-turn lane just before the intersection.

[0028] 2, ECU 10 first groups traffic lights located in front of vehicle A based on the image captured by front camera 2, and selects the traffic light to follow (step S101). At this time, traffic lights with the same current indication may be grouped, or traffic lights other than red may be grouped. If there is a traffic light exclusively for right-turning vehicles in the right-turn lane, that traffic light is selected.

[0029] Next, the ECU 10 determines whether the traffic light to be obeyed is green based on the image captured by the front camera 2, thereby determining whether the host vehicle A can enter the intersection (step S102). For example, at the intersection shown in Fig. 4, it determines whether the right turn arrow of the traffic light S3 is green. If the ECU 10 determines that the host vehicle A cannot enter the intersection, it controls the acceleration / deceleration control device 5 so that the host vehicle A stops before the intersection (step S103).

[0030] When the ECU 10 determines that the host vehicle A can enter the intersection, it controls the acceleration / deceleration control device 5 and the steering control device 6 so that the host vehicle A enters the intersection (step S104). At this time, in order to ensure visibility of oncoming straight-moving vehicles and traffic lights by the front camera 2, the steering control device 6 is controlled so that the host vehicle A travels on the right side (inside course) of the right-turn lane.

[0031] Next, the ECU 10 determines whether or not there is an obstacle entering the path of the host vehicle A based on the image captured by the front camera 2 (step S105). Examples of obstacles include an oncoming vehicle going straight, an oncoming vehicle turning left, a motorcycle, a bicycle, and a pedestrian. When the ECU 10 determines that there is no obstacle entering the path of the host vehicle A, it controls the acceleration / deceleration control device 5 and the steering control device 6 so that the host vehicle A turns right and passes through the intersection (step S106).

[0032] When ECU 10 determines that there is an obstacle entering the path of vehicle A, it groups traffic lights that have been newly recognized since vehicle A entered the intersection based on the image captured by front camera 2 (step S107).

[0033] Then, the ECU 10 determines, from the traffic lights grouped in steps S101 and S107, a traffic light in the right-turn lane that can be seen until the end by the front camera 2 as the traffic light to be observed (step S108). For example, as shown in Figure 4, if three traffic lights S1 to S3 are installed at an intersection, the traffic light S3 located at the farthest end in the intersection is determined to be the traffic light to be observed.

[0034] Next, the ECU 10 determines whether or not there is a stop position guideline at the intersection based on the image captured by the front camera 2 (step S109). The stop position guideline is a line that serves as a guide for a leading vehicle making a right turn to stop temporarily before waiting to turn right, and is drawn on the road in the center of the intersection.

[0035] When the ECU 10 determines that a stop position guide line exists at the intersection, the ECU 10 sets the stop position guide line to the farthest stop position (step S110). For example, at the intersection shown in Fig. 4, the stop position guide line L exists, so the stop position guide line L is set to the farthest stop position.

[0036] When ECU10 determines that there is no stop position guide line at the intersection, it sets the farthest point on the path of vehicle A that does not obstruct the path of oncoming straight-moving vehicles and oncoming right-turning vehicles as the farthest stop position (step S111).

[0037] After executing step S110 or step S111, ECU 10 determines the area in which the traffic light to be complied with can be seen by front camera 2 (visible area) and the direction of vehicle A based on the angle of view, mounting position and orientation of front camera 2 (step S112). At this time, the visible area of ​​the traffic light to be complied with and the direction of vehicle A are determined taking into consideration the possibility of obstruction by an oncoming vehicle turning right, etc.

[0038] Then, the ECU 10 determines a stop position that is closer to the farthest stop position within the visible area of ​​the traffic light to be complied with (step S113). At this time, as shown in Fig. 4, the stop position is determined so that the front camera 2 can easily recognize the oncoming vehicle C going straight, taking into account the blind spot Q of the oncoming vehicle B turning right.

[0039] Next, the ECU 10 sets a travel path of the host vehicle A to the stop position determined in step S113 (step S114). At this time, the travel path is set within a range that does not go beyond the right-turn lane in which the host vehicle A is traveling.

[0040] Next, the ECU 10 controls the acceleration / deceleration control device 5 and the steering control device 6 so that the host vehicle A travels along the travel path (step S115). At this time, the ECU 10 may correct (fine-tune) the stopping position of the host vehicle A based on the position of the traffic light to be obeyed and the positional relationship with the oncoming vehicle in the image captured by the front camera 2.

[0041] 3, after executing step S115, the ECU 10 determines whether the host vehicle A has reached a stopping position based on the image captured by the front camera 2 (step S116). When the ECU 10 determines that the host vehicle A has reached a stopping position, the ECU 10 controls the acceleration / deceleration control device 5 and the steering control device 6 so that the host vehicle A stops in the orientation determined in step S112 (step S117).

[0042] At this time, as shown in Figure 4, the stopping position and direction of the vehicle A are determined so that the traffic light S3 to be complied with is within the imaging range H of the front camera 2 in order to recognize the traffic light S3 to be complied with, and so that the blind spot Q of the oncoming right-turning vehicle B is reduced to ensure that the oncoming straight-moving vehicle C can be recognized by the front camera 2.

[0043] Next, ECU 10 determines whether the stop position of vehicle A deviates from the farthest stop position by a specified amount or more (step S118). At this time, it is determined whether the stop position of vehicle A is separated from the farthest stop position by a specified distance (for example, 2 m in the front-rear direction of vehicle A and 0.5 m in the width direction of vehicle A) or more. In addition, the amount of deviation of the direction of vehicle A with respect to the extension direction of the driving lane in which vehicle A is traveling may also be determined.

[0044] When the ECU 10 determines that the stopping position of the vehicle A is deviated from the farthest stopping position by more than a specified amount, the ECU 10 controls the display 7 to display an image including the traffic light to be complied with, based on at least the image captured by the front camera 2 (step S119).

[0045] For example, at the intersection shown in FIG. 4, as shown in FIG. 5(a), an image of the area in front of the vehicle A captured by the front camera 2 is displayed on the display 7 in AR (Augmented Reality).

[0046] Specifically, the traffic light S3 to be complied with and the oncoming right-turning vehicle B in the display image of the display device 7 are highlighted, for example, by a rectangular frame W or highlighting. This allows the driver of the vehicle A to immediately recognize the locations of the traffic light S3 to be complied with and the oncoming right-turning vehicle B. Furthermore, because the traffic light S3 to be complied with is located at the left edge of the display image, the driver can easily realize why the vehicle A is stopped in a position closer to the farthest stopping position. Furthermore, the display image of the display device 7 displays the planned route R of the vehicle A with a dashed arrow. This allows the driver to intuitively understand the future route R of the vehicle A.

[0047] 5(b), a bird's-eye view image obtained by combining images captured by the front camera 2, the rear camera 3, and the side camera 4 may be displayed as a panoramic view monitor on the display 7. The bird's-eye view image is an image of the vehicle A viewed from directly above.

[0048] The panoramic view monitor displays a bird's-eye view image together with the imaging range H of the front camera 2. As with the image shown in FIG. 5(a), the panoramic view monitor highlights the traffic light S3 that must be complied with and the oncoming right-turning vehicle B. The panoramic view monitor also displays the area (blind spot Q) blocked by the oncoming right-turning vehicle B on the display 7. Because the traffic light S3 that must be complied with is located at the left end of the imaging range H of the front camera 2, the driver of vehicle A can easily notice why vehicle A is stopped in a position shorter than the farthest stopping position.

[0049] Furthermore, the panoramic view monitor displays the route R0 that the vehicle A has traveled so far as a solid arrow, and also displays the route R that the vehicle A plans to travel as a dashed arrow, so that the driver can intuitively understand the future route R of the vehicle A.

[0050] Returning to Figure 3, after executing step S119, or when ECU 10 determines in step S118 that the stopping position of vehicle A has not deviated by more than a specified amount from the farthest stopping position, ECU 10 recognizes from the image captured by front camera 2 that the traffic light to be complied with is green, and then controls the acceleration / deceleration control device 5 and steering control device 6 so that vehicle A travels along the travel trajectory (step S120).

[0051] Next, the ECU 10 determines whether or not there is an obstacle entering the path of the host vehicle A based on the image captured by the front camera 2 (step S121). When the ECU 10 determines that there is an obstacle entering the path of the host vehicle A, the ECU 10 controls the acceleration / deceleration control device 5 so that the host vehicle A temporarily stops (step S122). Then, the ECU 10 executes the above step S121 again.

[0052] When the ECU 10 determines that there is no obstacle entering the path of the host vehicle A, it controls the acceleration / deceleration control device 5 and the steering control device 6 so that the host vehicle A turns right and passes through the intersection (step S106).

[0053] In the above, the determination unit 11 executes the above steps S102, S105, S116, and S121. The traffic light identification unit 12 executes the above steps S101, S107, and S108. The driving control unit 13 executes the above steps S103, S104, S106, S115, S117, S120, and S122. The farthest stop position determination unit 14 executes the above steps S109 to S111. The stop position determination unit 15 executes the above steps S112 and S113. The driving trajectory setting unit 16 executes the above step S114. The display control unit 17 executes the above steps S118 and S119.

[0054] Incidentally, when the driver manually drives the vehicle A to turn right at an intersection, as shown in Fig. 6(a), the vehicle A is stopped at the stop position guide line L when waiting to turn right within the intersection. In this case, the driver can change his / her position to check the traffic light S3 that must be complied with.

[0055] On the other hand, when vehicle A is turning right at an intersection in an autonomous driving mode, if vehicle A is stopped at the stop position guide line L, the traffic light S3 to be complied with will not fit within the imaging range H of front camera 2. For this reason, as shown in FIGS. 6(b) and 6(c), vehicle A is stopped in front of the stop position guide line L so that traffic light S3 to be complied with fits within the imaging range H of front camera 2, thereby enabling front camera 2 to recognize traffic light S3 to be complied with. Note that in FIG. 6(b), vehicle A is stopped in a position backed up straight from the stop position guide line L. In FIG. 6(c), vehicle A is stopped in a position backed up along the right turn lane from the stop position guide line L.

[0056] However, simply adjusting the stopping position of vehicle A in the longitudinal direction relative to stopping position guide line L in order to recognize traffic light S3 to be complied with using front camera 2 may result in the stopping position of vehicle A being significantly away from stopping position guide line L. Furthermore, after oncoming straight-moving vehicle C has passed, vehicle A is able to turn right, but in order to reduce the blind spot Q of oncoming right-turning vehicle B and recognize oncoming straight-moving vehicle C, it is necessary to consider not only the longitudinal position of vehicle A but also the direction of vehicle A. However, if the stopping position and direction of vehicle A are different from those during manual driving, the driver of vehicle A may feel uncomfortable.

[0057] To address this issue, in this embodiment, the front camera 2 captures an image of the area ahead of the host vehicle A, and the traffic light to be observed that is installed at the intersection is identified based on the captured image. When the current indication of the traffic light to be observed indicates that a right turn is permitted, a stop position is determined such that the traffic light to be observed falls within the image capture range of the front camera 2, before the farthest stop position for waiting to turn right within the intersection, and the host vehicle A is controlled to travel to that stop position. When the host vehicle A stops at the stop position, an image including at least the traffic light to be observed that is recognized by the front camera 2 is displayed on the display 7. Therefore, even if the host vehicle A, which keeps on the left, turns right at an intersection and stops at a position shorter than the farthest stop position where the host vehicle A should stop during manual driving in order to wait for a right turn, the driver of the host vehicle A can understand from the image displayed on the display 7 why the host vehicle A stopped at a position shorter than the farthest stop position. This prevents the driver of the vehicle A from feeling uncomfortable about the stopping position and direction of the vehicle A when the vehicle A stops in an intersection to turn right.

[0058] In addition, in this embodiment, the traffic light to be complied with is highlighted on the display 7. This allows the driver to immediately understand the reason why the vehicle A has stopped at a position before the farthest stop position, further preventing the driver from feeling uncomfortable.

[0059] Furthermore, in this embodiment, the image of the front of vehicle A captured by front camera 2 is displayed on display 7, which simplifies the process of displaying an image including a traffic light that must be obeyed on display 7. In this case, for example, if the traffic light that must be obeyed is captured at the edge of the image, the driver can easily recognize that vehicle A has stopped at a position before the farthest stopping position in order to bring the traffic light that must be obeyed into the imaging range of front camera 2.

[0060] Furthermore, in this embodiment, a bird's-eye view image combining images captured by the front camera 2, rear camera 3, and side camera 4 is displayed on the display 7 together with the imaging range of the front camera 2, so that the driver can immediately see that the traffic light to be complied with is within the imaging range of the front camera 2. In this case, for example, if the traffic light to be complied with is captured at the edge of the imaging range of the front camera 2, the driver can easily recognize that the vehicle A has stopped in a position before the farthest stopping position in order to bring the traffic light to be complied with within the imaging range of the front camera 2.

[0061] Furthermore, in this embodiment, when the stopping position of vehicle A deviates from the farthest stopping position by a specified amount or more, an image including the traffic light to be complied with is displayed on display device 7. Therefore, when the stopping position of vehicle A is close to the farthest stopping position, it is not necessary to display an image including the traffic light to be complied with on display device 7, which simplifies the driving assistance process by ECU 10.

[0062] Furthermore, in this embodiment, even if the driver becomes unsure of the traffic light that must be obeyed after the vehicle A enters the intersection, the driver can check the traffic light that must be obeyed by looking at the display 7. Furthermore, since the planned route that the vehicle A is traveling is displayed on the display 7, the driver can intuitively check the behavior of the vehicle A and its predicted future route.

[0063] The present invention is not limited to the above-described embodiment. For example, in the above-described embodiment, the rear camera 3 and the side camera 4 are mounted on the vehicle A. However, as shown in Fig. 5(a), if an image captured by the front camera 2 is displayed on the display 7, the rear camera 3 and the side camera 4 may be omitted.

[0064] Furthermore, in the above embodiment, when the stopping position of vehicle A deviates from the farthest stopping position by more than a specified amount, an image including the traffic light to be complied with is displayed on display 7, but this is not limited to a particular form, and an image including the traffic light to be complied with may be displayed on display 7 regardless of the stopping position of vehicle A.

[0065] Furthermore, while the above embodiment is a device that provides driving assistance to a vehicle that keeps on the left side of the road when it turns right at an intersection, the present invention is not limited to this particular embodiment and can also be applied to a device that provides driving assistance to a vehicle when it turns left at an intersection in countries or regions where vehicles keep on the right side of the road. In this case, when the current indication of the traffic light to be complied with indicates that a left turn is permitted, a stop position is determined so that the traffic light to be complied with falls within the imaging range of front camera 2, just before the farthest stop position for waiting to turn left within the intersection. Then, when vehicle A stops at a stop position to wait to turn left, an image including at least the traffic light to be complied with, as recognized by front camera 2, is displayed on display 7. [Explanation of symbols]

[0066] 1...driving assistance device, 2...front camera (front imaging unit), 3...rear camera (rear imaging unit), 4...side camera (side imaging unit), 7...display (display unit), 11...judgment unit, 12...traffic light identification unit, 13...driving control unit, 15...stop position determination unit, 17...display control unit, A...own vehicle, H...imaging range, S3...traffic light to be complied with.

Claims

1. A driving assistance device that provides driving assistance to a vehicle that keeps on the left side of the road when the vehicle turns right at an intersection, a display unit that displays information regarding driving assistance for the host vehicle; a front imaging unit that images a view ahead of the host vehicle; a traffic light identification unit that identifies a traffic light to be observed that is installed at the intersection based on an image captured by the forward imaging unit; a stop position determination unit that determines a stop position before the farthest stop position for waiting to turn right within the intersection so that the traffic light to be complied with falls within the imaging range of the forward imaging unit when the current indication of the traffic light to be complied with identified by the traffic light identification unit indicates that a right turn is permitted; and a travel control unit that controls the host vehicle to travel to the stop position determined by the stop position determination unit; A driving assistance device comprising: a display control unit that, when the vehicle stops at the stop position, displays on the display unit an image including at least the traffic light to be complied with that is recognized by the forward imaging unit.

2. The driving assistance device according to claim 1 , wherein the display control unit highlights the traffic light to be obeyed on the display unit.

3. The driving assistance device according to claim 1 or 2, wherein the display control unit causes the display unit to display an image of the area ahead of the host vehicle captured by the front imaging unit.

4. a rear image capturing unit that captures an image of the area behind the vehicle; a side imaging unit that images a side of the vehicle, 3. The driving assistance device according to claim 1, wherein the display control unit causes the display unit to display a bird's-eye view image obtained by combining images captured by the front imaging unit, the rear imaging unit, and the side imaging unit together with the imaging range of the front imaging unit.

5. A driving assistance device that provides driving assistance to a vehicle that keeps on the right side of the road when the vehicle turns left at an intersection, a display unit that displays information regarding driving assistance for the host vehicle; a front imaging unit that images a view ahead of the host vehicle; a traffic light identification unit that identifies a traffic light to be observed that is installed at the intersection based on an image captured by the forward imaging unit; a stop position determination unit that determines a stop position before the farthest stop position for waiting to turn left within the intersection so that the traffic light to be complied with falls within the image capture range of the forward image capture unit when the current indication of the traffic light to be complied with identified by the traffic light identification unit indicates that a left turn is permitted; a travel control unit that controls the host vehicle to travel to the stop position determined by the stop position determination unit; A driving assistance device comprising: a display control unit that, when the vehicle stops at the stop position, displays on the display unit an image including at least the traffic light to be complied with that is recognized by the forward imaging unit.

Images