Driving support device and driving support method

Abstract

To provide a driving support device capable of encouraging appropriate action by a driver when lane change by a system cannot be performed.SOLUTION: A driving support device includes: a position detection unit that detects a position of an own vehicle; a road shape recognition unit that recognizes a shape of a road; a steering wheel; a driving support control unit that controls the steering wheel based on position information and the shape of the road; and an information display control unit that presents information. The driving support control unit identifies a target point where lane change needs to be completed based on the shape of the road recognized by the road shape recognition unit, and further determines a first point between the target point and the own vehicle, and a second point between the target point and the own vehicle that is closer to the target point than the first point or the same point as the target point. The information display control unit displays information on a distance or time from the position of the own vehicle to the first point and information on a distance or time from the position of the own vehicle to the second point.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a driving support device and a driving support method.

Background Art

[0002] In recent years, efforts have been actively made to provide access to a sustainable transportation system that takes into account people in vulnerable positions among traffic participants. Toward this realization, research and development focused on further improving traffic safety and convenience through research and development related to driving support technology have been carried out. For example, in a driving support system related to vehicle lane changes, a technique has been disclosed in which the final point where a lane change by the system is allowed is set, and the distance from the current location to that point is visually displayed on a HUD (Head-Up Display) (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above-described driving support technology, it may be possible to visually present to the driver the remaining distance or remaining time until a vehicle lane change by the system can be executed. However, after a predetermined distance or remaining time during which a vehicle lane change by the system can be executed has elapsed and the system is no longer able to perform a lane change, there is a need for further improvement in the information to be displayed in order to prompt appropriate actions by the driver.

[0005] This invention was made in consideration of these circumstances, and one of its objectives is to provide a driver assistance device that can prompt the driver to take appropriate action when the system is unable to change lanes. Ultimately, this will contribute to the development of a sustainable transportation system. [Means for solving the problem]

[0006] The driver assistance device and driver assistance method according to this invention employ the following configuration. (1) A driving assistance device according to one aspect of the present invention comprises: a position detection unit for detecting the position information of the vehicle; a road shape recognition unit for recognizing the shape of the road on which the vehicle is scheduled to travel; a steering motor for changing the direction of travel of the vehicle; a driving assistance control unit for controlling the steering motor to change lanes based on the position information detected by the position detection unit and the road shape recognized by the road shape recognition unit; and an information display control unit for visually presenting information to the driver operating the vehicle. The driving assistance control unit identifies a target point on which the lane change needs to be completed based on the road shape recognized by the road shape recognition unit, and further determines a first point between the target point and the vehicle, and a second point between the target point and the vehicle that is closer to the target point than the first point, or the same point as the target point. The information display control unit displays information regarding the distance or time from the vehicle's position to the first point, and information regarding the distance or time from the vehicle's position to the second point.

[0007] (2) In the embodiment of (1) above, the driving support control unit changes lanes up to the first point, and does not change lanes beyond the first point.

[0008] (3) In the embodiment of (2) above, the driving support control unit recommends that the driver change lanes by operating the steering wheel up to the second point, and does not recommend that the driver change lanes by operating the steering wheel beyond the second point.

[0009] (4) In the embodiment of (3) above, the information display control unit displays a display area of ​​a predetermined size that represents information about distance or time, and displays a first object having a size corresponding to the distance or time to the first point and a second object having a size corresponding to the distance or time to the second point in the display area.

[0010] (5) In the embodiment of (4) above, the information display control unit arranges and displays the strip-shaped or linear first object and the strip-shaped or linear second object in a continuous manner along the long axis.

[0011] (6) In the embodiment of (5) above, the information display control unit changes the area of ​​the first object according to the distance or time from the vehicle to the first point, and if the distance from the target point to the vehicle is greater than the distance from the target point to the first point, it displays the area of ​​the second object as a constant area according to the distance or time from the first point to the second point, and if the distance from the target point to the vehicle is less than the distance from the target point to the first point, it changes the area of ​​the second object according to the distance or time from the vehicle to the second point.

[0012] (7) In the embodiment of (6) above, the information display control unit makes the area of ​​the second object larger when multiple lane changes are required to reach the target point than the area of ​​the second object when one lane change is required to reach the target point.

[0013] (8): A driving assistance method according to one aspect of the present invention is a driving assistance method comprising: a position detection step for detecting the position information of the vehicle; a road shape recognition step for recognizing the shape of a road on which the vehicle is scheduled to travel; a driving assistance control step for controlling a steering element that changes the direction of travel of the vehicle so that the vehicle changes lanes, based on the position information detected by the position detection step and the road shape recognized by the road shape recognition step; and an information display control step for visually presenting information to the driver operating the vehicle, wherein the driving assistance control step identifies a target point on which the lane change needs to be completed based on the road shape recognized by the road shape recognition unit, and further determines a first point between the target point and the vehicle, and a second point between the target point and the vehicle that is closer to the target point than the first point, or the same point as the target point, and the information display control step displays information regarding the distance or time from the vehicle's position to the first point, and information regarding the distance or time from the vehicle's position to the second point. [Effects of the Invention]

[0014] According to embodiments (1) to (8), it is possible to provide a driver assistance device and a driver assistance method that can encourage appropriate actions by the driver even when the system is unable to change lanes. [Brief explanation of the drawing]

[0015] [Figure 1] This is a diagram illustrating the configuration of a vehicle system utilizing a driver assistance device according to the embodiment. [Figure 2] This diagram illustrates a driving assistance method according to an embodiment, specifically the process involved in a single lane change. [Figure 3] This figure shows an example of a display screen shown by a driver assistance device according to an embodiment, in a case where a lane change is not involved. [Figure 4] This figure shows an example of a display screen shown by a driver assistance device according to an embodiment, specifically a display screen shown when changing lanes. [Figure 5] This figure shows an example of the display screen shown by the driver assistance device according to the embodiment, specifically an example of how the display screen changes during a lane change. [Figure 6] This diagram illustrates the processing involved in a driving assistance method according to an embodiment, specifically in cases where multiple lane changes are required. [Figure 7] This figure shows a first modified example of the display screen shown by the driver assistance device according to the embodiment. [Figure 8] This figure shows a second modified example of the display screen shown by the driver assistance device according to the embodiment. [Modes for carrying out the invention]

[0016] Hereinafter, embodiments of the driving support device and driving support method of the present invention will be described with reference to the drawings. In the following, the case where the left-hand traffic regulations are applied will be described. However, when the right-hand traffic regulations are applied, the left and right should be read in reverse. In the following embodiments, an example of the case where the driving support device and driving support method of the present invention are applied to a vehicle will be described, but they may be applied to various moving bodies not limited to vehicles. The moving body widely includes a structure that can move by a driving mechanism provided therein, such as micromobility, autonomous mobile robots, ships, drones, etc., in addition to vehicles. The control of the moving body includes, for example, at least temporarily, driving control for autonomously moving the moving body by controlling one or both of the steering and speed of the moving body. Further, the control of the moving body may include mainly manual driving and giving advice on driving operations or performing a certain degree of interference control by voice, display, etc., and may include controlling the operation of a protection device that protects the passengers of the moving body. In the following description, it is assumed that the moving body is a vehicle moving on the ground, and the configuration and functions for moving the vehicle on the ground will be described exclusively. The driving control of the vehicle may include various driving controls such as automatic driving controls such as LKAS (Lane Keeping Assistance System), ALC (Auto Lane Changing), ACC (Adaptive Cruise Control), etc., and driving support controls such as collision avoidance control, emergency stop control, and lane departure avoidance control during manual driving.

[0017] [Overall Configuration] FIG. 1 is a configuration diagram of a vehicle system 1 using the driving support device according to the embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a two-wheeled, three-wheeled, four-wheeled, or other vehicle, and its drive source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using the electric power generated by a generator connected to the internal combustion engine, or the discharge power of a secondary battery or a fuel cell.

[0018] The vehicle system 1 includes, for example, a camera 10, a radar device 12, a LIDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, a HMI (Human Machine Interface) 30, a vehicle sensor 40, a navigation device 50, an MPU (Map Positioning Unit) 60, a driving operator 80, an automatic driving control device 100, a traveling driving force output device 200, a brake device 210, and a steering device 220. These devices and apparatuses are connected to each other by a multiplex communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. Note that the configuration shown in FIG. 1 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.

[0019] The camera 10 is, for example, a digital camera using a solid-state imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is attached to an arbitrary position of a vehicle (hereinafter, the host vehicle M) on which the vehicle system 1 is mounted. When imaging the front, the camera 10 is attached to the upper part of the front windshield, the back surface of the rearview mirror, or the like. The camera 10, for example, periodically and repeatedly images the periphery of the host vehicle M. The camera 10 may be a stereo camera.

[0020] The radar device 12 radiates radio waves such as millimeter waves to the periphery of the host vehicle M, and detects radio waves (reflected waves) reflected by an object to detect at least the position (distance and azimuth) of the object. The radar device 12 is attached to an arbitrary position of the host vehicle M. The radar device 12 may detect the position and speed of an object by an FM-CW (Frequency Modulated Continuous Wave) method.

[0021] The LIDAR 14 irradiates light (or electromagnetic waves with a wavelength close to light) around the vehicle M and measures the scattered light. The LIDAR 14 detects the distance to the target based on the time from emission to reception. The irradiated light is, for example, pulsed laser light. The LIDAR 14 can be attached to any location on the vehicle M.

[0022] The object recognition device 16 performs sensor fusion processing on the detection results from some or all of the camera 10, radar device 12, and LIDAR 14 to recognize the position, type, speed, etc., of an object. The object recognition device 16 outputs the recognition results to the automatic driving control device 100. The object recognition device 16 may output the detection results from the camera 10, radar device 12, and LIDAR 14 directly to the automatic driving control device 100. The object recognition device 16 may be omitted from the vehicle system 1.

[0023] The communication device 20 communicates with other vehicles in the vicinity of its own vehicle M, or with various server devices via a wireless base station, for example, by using a cellular network, Wi-Fi network, Bluetooth®, DSRC (Dedicated Short Range Communication), etc.

[0024] The HMI30 presents various information to the occupants of the vehicle M and accepts input operations from the occupants. The HMI30 includes various display devices, speakers, buzzers, touch panels, switches, keys, etc. In other words, the HMI30 includes an information display unit that visually presents information to the driver.

[0025] The vehicle sensor 40 includes a vehicle speed sensor for detecting the speed of the vehicle M, an acceleration sensor for detecting acceleration, a yaw rate sensor for detecting angular velocity around the vertical axis, and an orientation sensor for detecting the orientation of the vehicle M.

[0026] The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The navigation device 50 stores first map information 54 in a storage device such as an HDD (Hard Disk Drive) or flash memory.

[0027] The GNSS receiver 51 determines the position of the vehicle M based on signals received from GNSS satellites. In other words, the GNSS receiver 51 is a position detection unit that detects the position information of the vehicle (vehicle M). The position of the vehicle M may be determined or supplemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 40, or it may be determined or supplemented based on information captured by the camera 10. In other words, if the position of the vehicle M is determined by an INS, the INS is the position detection unit, and if the position of the vehicle M is determined based on information captured by the camera 10, the camera 10 may be the position detection unit.

[0028] The navigation HMI 52 includes a display device, speaker, touch panel, keys, etc. The navigation HMI 52 may be partially or completely shared with the HMI 30 described above. The display device included in the navigation HMI 52 visually presents information to the driver. That is, if the navigation HMI 52 includes a display device, the navigation HMI 52 may also be an information display unit.

[0029] The route determination unit 53 determines, for example, a route (hereinafter referred to as the route on the map) from the position of the vehicle M identified by the GNSS receiver 51 (or any inputted position) to the destination input by the occupant using the navigation HMI 52, by referring to the first map information 54.

[0030] The first map information 54 is, for example, information in which the road shape is represented by links indicating roads and nodes connected by those links. The first map information 54 may also include information such as road curvature and POI (Point of Interest) information. The route on the map is output to the MPU 60. The navigation device 50 may provide route guidance using the navigation HMI 52 based on the route on the map. The navigation device 50 may be implemented, for example, by the functions of a terminal device such as a smartphone or tablet held by an occupant. The navigation device 50 may transmit the current location and destination to the navigation server via the communication device 20 and obtain a route equivalent to the route on the map from the navigation server.

[0031] The MPU 60 includes, for example, a recommended lane determination unit 61 and stores second map information 62 in a storage device such as an HDD or flash memory. The recommended lane determination unit 61 divides the map route provided by the navigation device 50 into multiple blocks (for example, every 100m with respect to the vehicle's direction of travel) and determines a recommended lane for each block by referring to the second map information 62. The recommended lane determination unit 61 makes decisions such as which lane from the left the vehicle should travel in. If there is a branching point on the map route, the recommended lane determination unit 61 determines a recommended lane so that the vehicle M can travel along a reasonable route to proceed to the branching point.

[0032] The second map information 62 is map information with higher accuracy than the first map information 54. The second map information 62 includes, for example, information on the center of lanes or information on lane boundaries. The second map information 62 may also include road information, traffic regulation information, address information (address and postal code), facility information, telephone number information, etc. The second map information 62 may be updated as needed by the communication device 20 communicating with other devices.

[0033] The driver control elements 80 include, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a modified steering wheel, a joystick, and other controls. The driver control elements 80 also include a steering control that changes the direction of travel of the vehicle. Sensors are attached to the driver control elements 80 to detect the amount of operation or whether or not an operation is performed, and the detection results are output to the automatic driving control device 100, or to some or all of the driving force output device 200, the brake device 210, and the steering device 220.

[0034] The automatic driving control device 100 includes, for example, a first control unit 120, a second control unit 160, and an information display control unit 170. The first control unit 120, the second control unit 160, and the information display control unit 170 are each implemented by a hardware processor, such as a CPU (Central Processing Unit), executing a program (software). Some or all of these components may be implemented by hardware (including circuitry) such as an LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or GPU (Graphics Processing Unit), or by the cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device with a non-transient storage medium) such as the HDD or flash memory of the automatic driving control device 100, or it may be stored in a removable storage medium such as a DVD or CD-ROM and installed in the HDD or flash memory of the automatic driving control device 100 when the storage medium (non-transient storage medium) is mounted on a drive device. The automatic driving control device 100 is an example of a "vehicle control device," and the combination of the GNSS receiver 51, the driver control unit 80, the recognition unit 130, the driving support control unit 150, and the information display control unit 170 is an example of a "driving support device."

[0035] Next, the details of the first control unit 120, the second control unit 160, and the information display control unit 170 will be described. The first control unit 120 includes, for example, a recognition unit 130, an action plan generation unit 140, and a driving support control unit 150. The first control unit 120 implements, for example, functions using AI (Artificial Intelligence) and functions using a pre-defined model in parallel. For example, the function of "recognizing intersections" may be implemented by simultaneously performing intersection recognition using deep learning, etc., and recognition based on pre-defined conditions (such as pattern-matchable signals and road markings), and then scoring both and comprehensively evaluating them. This ensures the reliability of autonomous driving.

[0036] The recognition unit 130 recognizes the position and state, such as speed and acceleration, of objects around the vehicle M based on information input from the camera 10, radar device 12, and LIDAR 14 via the object recognition device 16. The position of an object is recognized as a position on an absolute coordinate system with the vehicle M's representative point (such as the center of gravity or the center of the drive axis) as the origin, and is used for control. The position of an object may be represented by a representative point such as the object's center of gravity or a corner, or by a represented region. The "state" of an object may include the object's acceleration, jerk, or "action state" (for example, whether or not it is changing lanes or attempting to change lanes).

[0037] Furthermore, the recognition unit 130 recognizes, for example, the lane in which the vehicle M is traveling or is scheduled to travel (driving lane). For example, the recognition unit 130 recognizes the driving lane by comparing the road marking pattern (for example, an arrangement of solid and dashed lines) obtained from the second map information 62 with the road marking pattern around the vehicle M recognized from the image captured by the camera 10. Note that the recognition unit 130 may recognize the driving lane not only by road markings, but also by recognizing the road boundary (road boundary) including road markings, shoulders, curbs, median strips, guardrails, etc. In this recognition, the position of the vehicle M obtained from the navigation device 50 and the processing results by INS may also be taken into consideration. In addition, the recognition unit 130 recognizes stop lines, obstacles, red lights, toll booths, and other road events. That is, the recognition unit 130 functions as a road shape recognition unit that recognizes the shape of the road in which the vehicle (vehicle M) is scheduled to travel.

[0038] When recognizing a driving lane, the recognition unit 130 recognizes the position and orientation of the vehicle M relative to the driving lane. For example, the recognition unit 130 may recognize the deviation of the vehicle M's reference point from the center of the lane, and the angle it makes with a line connecting the centers of the lanes in the direction of travel, as the relative position and orientation of the vehicle M relative to the driving lane. Alternatively, the recognition unit 130 may recognize the position of the vehicle M's reference point relative to any side edge of the driving lane (road marking or road boundary), as the relative position of the vehicle M relative to the driving lane.

[0039] The action plan generation unit 140, in principle, drives in the recommended lane determined by the recommended lane determination unit 61, and further generates a target trajectory for the vehicle M to travel in the future, automatically (without driver operation) in order to respond to the surrounding conditions of the vehicle M. The target trajectory includes, for example, a speed element. For example, the target trajectory is represented as a sequence of points (trajectory points) that the vehicle M should reach. The trajectory points are points that the vehicle M should reach at predetermined travel distances (e.g., a few meters) along the road, and separately, target speed and target acceleration at predetermined sampling times (e.g., a few tenths of a second) are generated as part of the target trajectory. Alternatively, the trajectory points may be the positions that the vehicle M should reach at each sampling time. In this case, the information on target speed and target acceleration is represented by the intervals between trajectory points.

[0040] The action plan generation unit 140 may set autonomous driving events when generating a target trajectory. Autonomous driving events include constant speed driving events, low-speed follow driving events, lane change events, branching events, merging events, and takeover events. The action plan generation unit 140 generates a target trajectory according to the activated event.

[0041] The driver assistance control unit 150 assists the driver operating the vehicle M. In particular, when the vehicle M requires a lane change, the driver assistance control unit 150 assists the vehicle in changing lanes by scanning the accelerator pedal, brake pedal, shift lever, steering wheel, etc., according to the conditions around the vehicle M. Specifically, the driver assistance control unit 150 controls the driver control device 80 so that the vehicle M changes lanes based on information regarding the position of the vehicle M identified by the GNSS receiver 51 and information regarding the road shape recognized by the recognition unit 130.

[0042] The second control unit 160 controls the driving force output device 200, the braking device 210, and the steering device 220 so that the vehicle M passes through the target trajectory generated by the action plan generation unit 140 at the scheduled time.

[0043] The second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, and a steering control unit 166. The acquisition unit 162 acquires information on the target trajectory (trajectory point) generated by the action plan generation unit 140 and stores it in memory (not shown). The speed control unit 164 controls the driving force output device 200 or the brake device 210 based on the speed elements associated with the target trajectory stored in memory. The steering control unit 166 controls the steering device 220 according to the curvature of the target trajectory stored in memory. The processing of the speed control unit 164 and the steering control unit 166 is realized, for example, by a combination of feedforward control and feedback control. As an example, the steering control unit 166 performs a combination of feedforward control according to the curvature of the road in front of the vehicle M and feedback control based on the deviation from the target trajectory.

[0044] The information display control unit 170 controls the display devices such as the HMI 30 and the navigation HMI 52 to visually present information to the driver.

[0045] The driving force output device 200 outputs driving force (torque) to the drive wheels for the vehicle to move. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, and an ECU (Electronic Control Unit) that controls them. The ECU controls the above configuration according to information input from the second control unit 160 or information input from the driver control unit 80.

[0046] The brake system 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from the second control unit 160 or from the driver control unit 80, so that brake torque corresponding to the braking operation is output to each wheel. The brake system 210 may also include a backup mechanism that transmits hydraulic pressure generated by the operation of the brake pedal included in the driver control unit 80 to the cylinder via a master cylinder. The brake system 210 is not limited to the configuration described above, and may also be an electronically controlled hydraulic brake system that controls an actuator according to information input from the second control unit 160 to transmit hydraulic pressure from the master cylinder to the cylinder.

[0047] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies force to a rack and pinion mechanism to change the direction of the steering wheels. The steering ECU drives the electric motor to change the direction of the steering wheels according to information input from the second control unit 160 or from the driver control unit 80.

[0048] [Processing when a single lane change is involved] Figure 2 is a diagram illustrating the process of a driving assistance method according to an embodiment, specifically when a single lane change is involved. The process of the driving assistance device when a single lane change is involved will be explained with reference to this figure. The figure shows an example where the vehicle M moves from the right lane to the left lane. The vehicle M is currently located in the first lane L11. When the vehicle M moves from the right lane to the left lane, it changes lanes from the first lane L11 to the second lane L12 at a predetermined position or timing. In the explanation given with reference to this figure, the position of the vehicle M may be described with reference to the horizontal axis x. The current position of the vehicle M is shown as position P11.

[0049] Vehicle M changes lanes from the first lane L11 to the second lane L12 either by driver operation or by the vehicle system 1's automatic lane change. Here, at points where the vehicle system 1's automatic lane change is possible, there is a limit beyond which it becomes impossible to make a lane change with sufficient margin without sudden steering or acceleration / deceleration. This limiting point is, for example, a point that exists when the number of passable lanes is reduced, such as when one lane is closed due to road construction or when a broken-down vehicle is stopped in one lane.

[0050] Here, if the vehicle M's position exceeds a certain point, it may still be possible to change lanes through driver intervention. However, even with driver intervention, there is a limit to the point beyond which a lane change with sufficient margin becomes impossible. Therefore, the driver assistance system identifies the point where a lane change with sufficient margin is possible by the vehicle system 1, and the point where a lane change is possible through driver intervention, and presents the driver with the distance or time to both identified points. The specific processing will be explained below.

[0051] First, the driver assistance system identifies a target point, which is the point where the vehicle M must complete its lane change. An example of a target point is shown as position P14 in the figure. To the right of the target point, the first lane L11 is closed for some reason. Therefore, the vehicle M must change lanes from the first lane L11 to the second lane L12 at a point at least before position P14 (a point located to the left of position P14 in the figure), either by driver operation or by an automatic lane change by the vehicle system 1. Specifically, the target point is identified by the driver assistance control unit 150. Since the target point is identified by road construction or broken-down vehicles, it may be difficult to identify it in advance. Therefore, it is preferable that the target point be identified based on the situation captured by the vehicle M. More specifically, the target point may be identified based on the shape of the road recognized by the recognition unit 130. That is, the driver assistance control unit 150 identifies the target point where the lane change must be completed based on the shape of the road recognized by the recognition unit (road shape recognition unit) 130.

[0052] Furthermore, the driver assistance control unit 150 identifies the target point mentioned above and determines a first point, which is the point between the target point and the vehicle M. An example of the first point is shown as position P12 in the figure. The first point is the limit point at which lane changes can be made by the driver assistance control unit 150 through automated driving. In other words, the driver assistance control unit 150 performs automated lane changes up to the first point, and does not perform automated lane changes beyond the first point.

[0053] Furthermore, the driver assistance control unit 150 determines a second point. The second point is a point between the target point and the vehicle M that is closer to the target point than the first point. An example of the second point is shown as position P13 in the figure. The second point is the limit point at which the driver can change lanes manually. The driver assistance control unit 150 recommends that the driver change lanes by operating the steering control unit 80 at the point or time at which the driver can change lanes manually. In other words, the driver assistance control unit 150 recommends that the driver change lanes by operating the steering control unit up to the second point, and does not recommend that the driver change lanes by operating the steering control unit beyond the second point.

[0054] Here, the distance from the target point to the second point is the distance required for the driver to change lanes with sufficient margin through their actions. For example, if an accident vehicle is present at the target point, it is desirable for the driver to change lanes at least a few meters before the accident vehicle, so it is desirable to set the target point at least a few meters before the accident vehicle. However, there may be situations where setting a marginal distance is unnecessary. Therefore, if setting a marginal distance is unnecessary, the second point and the target point may be the same point. Note that the diagram for cases where the second point and the target point are the same point is omitted.

[0055] Next, with reference to Figures 3 to 5, an example of a display screen displayed by the information display control unit 170 will be described. The example shown in the figures is, for example, an example of a display screen that is displayed on the HUD. Figure 3 is a diagram showing an example of a display screen displayed by the driver assistance device according to the embodiment, in a case where there is no lane change. An example of the display screen P11 will be described with reference to the same figure. The display screen P11 shows the lane in which the vehicle M is traveling and the lanes in which the vehicle M can change lanes.

[0056] The information display control unit 170 displays the display screen P11 shown in the figure when there is no lane change. The information display control unit 170 displays the position of the vehicle M as code DM in order to let the driver know which lane the vehicle M is traveling in. However, if the driver can be made to know which lane the vehicle M is traveling in, the information display control unit 170 does not necessarily have to display code DM. In Figure 3, it can be seen that the vehicle M is traveling in the middle lane of the three lanes.

[0057] Furthermore, the information display control unit 170 displays code D110 as an element for recognizing the lane in which the vehicle M is traveling. Code D110 has a shape that follows the lane displayed on the information display control unit 170 and has a different color from the color used to display other lanes in which the vehicle M is not traveling, thereby allowing the driver to recognize the lane in which the vehicle M is traveling. In the example shown in Figure 3, the lane in which code DM is located and the lane in which code D110 is displayed coincide, so the driver can recognize that there is no need to change lanes. The information display control unit 170 may also display other vehicles on the display screen P11 to allow the driver to recognize that other vehicles are traveling near the vehicle M. In the example shown in Figure 3, there is one vehicle in the left lane and one vehicle in the right lane.

[0058] Figure 4 is a diagram showing an example of a display screen displayed by the driver assistance device according to the embodiment, specifically a display screen shown when changing lanes. An example of the display screen P12 will be described with reference to this figure. The display screen P12 displays the lane in which the vehicle M is traveling and the lanes to which it can change lanes, as well as the distance or time to the point where a lane change is possible. The display screen P12 differs from the display screen P11 in that a display area DA is displayed. The display area DA has a predetermined size that represents information about distance or time and is controlled by the information display control unit 170. That is, the information display control unit 170 displays a display area DA of a predetermined size that represents information about distance or time. In the description of the display screen P12, the same reference numerals are used for screen configurations similar to those of the display screen P11, and explanations may be omitted.

[0059] The information display control unit 170 displays the display screen P12 shown in the figure when a lane change is required. In the example shown in the figure, the vehicle M is traveling in the middle lane of three lanes and needs to change lanes to the left lane. The information display control unit 170 displays the code D120 as an element to help the driver recognize the lane to which the vehicle M will change lanes. The code D120 has a shape that follows the lane displayed on the information display control unit 170 and has a different color from the color used to display lanes other than the lane to which the vehicle M will change lanes, thereby helping the driver recognize the lane to which the vehicle M will change lanes. In the example shown in Figure 4, the lane where the code DM is located and the lane on which the code D120 is displayed are different, so the driver can recognize that a lane change is necessary. The driver assistance system may also provide voice notification to help the driver recognize that a lane change is necessary.

[0060] The information display control unit 170 determines the target point, the first point, and the second point, and then controls the HUD to display information according to the target point, the first point, and the second point. The display according to the target point, the first point, and the second point includes at least information regarding the distance or time from the vehicle's position to the first point, and information regarding the distance or time from the vehicle's position to the second point. Specifically, the information display control unit 170 displays the information regarding the distance or time from the vehicle M's position to the first point, and the information regarding the distance or time from the vehicle M's position to the second point, by displaying the display area DA.

[0061] The display area DA has a first object O1 and a second object O2 as screen components. The first object O1 displays information regarding the distance or time from the current location of the vehicle M to the first point in a predetermined manner. The second object O2 displays information regarding the distance or time from the first point to the second point in a predetermined manner.

[0062] In the example shown in Figure 4, the first object O1 and the second object O2 are displayed by indicators. The first object O1 has a size corresponding to the distance or time from the vehicle M to the first point. The second object O2 has a size corresponding to the distance or time from the first point or the point where the vehicle M is located to the second point. That is, the information display control unit 170 displays the first object O1, which has a size corresponding to the distance or time to the first point, and the second object O2, which has a size corresponding to the distance or time to the second point, in the display area DA. The first object O1 and the second object O2 may be displayed anywhere on the display screen D12. For example, the first object O1 and the second object O2 may be displayed independently in different positions. Also, the first object O1 and the second object O2 may be displayed in different colors. For example, the color of the second object O2 may be a color that indicates a stronger warning than the color of the first object O1. Specifically, the first object O1 may be displayed in green and the second object O2 in yellow.

[0063] In the example shown in Figure 4, both the first object O1 and the second object O2 are rectangles. However, the shapes of the first object O1 and the second object O2 are not limited to rectangles. The shapes of the first object O1 and the second object O2 are preferably, for example, strip-shaped or linear. Here, "strip-shaped or linear" is not limited to rectangles or straight lines, but broadly includes continuous shapes such as arcs. Because the shapes of the first object O1 and the second object O2 are strip-shaped or linear, the first object O1 and the second object O2 can be displayed continuously in the direction of the long axis (or the direction of continuity). That is, the information display control unit 170 arranges and displays the strip-shaped or linear first object O1 and the strip-shaped or linear second object O2 continuously in the direction of the long axis.

[0064] Figure 5 shows an example of the display screen shown by the driver assistance device according to the embodiment, illustrating how the display screen changes during a lane change. An example of how the display screen P12 changes during a lane change will be explained with reference to this figure.

[0065] Figure 5(A) is an example of a display screen shown when the driver assistance system begins a lane change. The information display control unit 170 may, for example, display screen D13 from 2 km (kilometers) before the target point. In addition to the display area DA described above, display screen D13 displays symbols D130 and D140. Symbol D130 is a display prompting the driver to check the left lane when the system changes lanes to the left lane, and displays text such as "Please check the left lane." The driver assistance system may output an audio prompt to check the left lane in conjunction with the display of symbol D130. Symbol D140 is a visual display to make the driver aware that they are changing lanes to the left lane. Symbol D140 may consist of, for example, three inequality signs.

[0066] In the explanation using Figure 5, an example of changing lanes from the center lane to the left lane will be described, but this same directional pattern can also be applied to changing lanes to the right lane. When changing lanes to the right lane, symbol D120 is displayed to match the shape of the right lane. Symbol D130 is a display that prompts the driver to check the right lane when the system is changing lanes to the right lane, and may display text such as "Please check the right lane." Also, when changing lanes to the right lane, the shape of the inequality sign in symbol D140 is configured symmetrically.

[0067] Figure 5(B) shows an example of a display screen that appears when the vehicle M is located before the first point. In other words, when the vehicle M is located before the first point, it means that the distance from the target point to the vehicle is greater than the distance from the target point to the first point. Display screen D14 shows an example of what happens when the vehicle M travels several hundred meters after the display area DA is displayed. In the description of display screen D14, components similar to those in display screen D13 may be denoted by the same reference numerals, and their explanation may be omitted.

[0068] The information display control unit 170 updates the display area DA according to the position of the vehicle M. When the vehicle M is in front of the first point, the information display control unit 170 changes the area of ​​the first object O1 according to the distance or time from the vehicle M to the first point. Therefore, as the vehicle M approaches the first point, the size of the first object O1 gradually decreases. When the display screen D14 is displayed, the position of the vehicle M is closer to the first point than when the display screen D13 is displayed, so the size of the first object O1 on the display screen D14 is smaller than the size of the first object O1 on the display screen D13.

[0069] Furthermore, the information display control unit 170 does not change the size of the second object O2 when the vehicle M is located before the first point. Specifically, when the vehicle M is located before the first point, the information display control unit 170 displays the area of ​​the second object O2 as a fixed area corresponding to the distance or time from the first point to the second point.

[0070] Furthermore, the information display control unit 170 may change the shape of the symbol D140 as the vehicle M approaches the first point. For example, compared to the symbol D140A on display screen D13, the symbol D140B on display screen D14 has a thicker border that makes up the symbol, thereby strongly emphasizing the movement to the left lane.

[0071] Figure 5(C) shows an example of a display screen that appears when the vehicle M is located between the first and second points. Display screen D15 shows an example of a situation where the system was unable to change lanes even after passing the first point. In such cases, the driver is required to change lanes manually. In the explanation of display screen D15, components similar to those in display screen D14 may be denoted by the same reference numerals, thus omitting further explanation.

[0072] When the vehicle M is located between the first and second points, the information display control unit 170 either does not display the first object O1, or displays it in a manner that indicates that the area of ​​the first object O1, which has gradually decreased, has become zero. This display allows the driver to recognize that a distance or time has elapsed that the system can perform a lane change.

[0073] When the vehicle M is located between the first and second points, the information display control unit 170 changes the area of ​​the second object O2 according to the distance or time from the vehicle M to the second point. Therefore, when the vehicle M is located between the first and second points, the size of the second object O2 gradually decreases as the vehicle M approaches the second point. Since the position of the vehicle M when display screen D15 is displayed is closer to the second point than the position of the vehicle M when display screen D14 is displayed, the size of the second object O2 on display screen D15 is smaller than the size of the second object O2 on display screen D14.

[0074] Furthermore, the information display control unit 170 may change the shape of the symbol D140 as the vehicle M approaches the second point. For example, compared to the symbol D140B on display screen D14, the symbol D140C on display screen D15 has a thicker border that makes up the symbol, thereby strongly emphasizing the movement to the left lane.

[0075] Figure 5(D) shows an example of a display screen that appears when the vehicle M has passed the target point. Note that the vehicle M must have completed its lane change by the time it reaches the target point, so display screen D16 is not displayed under normal operation. In display screen D16, since the vehicle M has passed the target point, both the first object O1 and the second object O2 are zero. When the vehicle M has passed the target point, the driver assistance system displays display screen D16 and then terminates processing.

[0076] [Handling of situations involving multiple lane changes] Figure 6 is a diagram illustrating the processing of a driving assistance method according to an embodiment, in the case of multiple lane changes. The processing of the driving assistance device in the case of multiple lane changes will be explained with reference to this figure. As an example of the processing of the driving assistance device in the case of multiple lane changes, the processing of the driving assistance device in the case of two lane changes will be explained. The processing explained in this figure is an example of a case involving multiple processing, and the same processing can be applied in the case of three or more lane changes. This figure shows an example in which the vehicle M moves from the right lane to the left lane. The vehicle M is currently located in the first lane L21. When the vehicle M moves from the right lane to the left lane, it changes lanes from the first lane L21 to the second lane L22, and then to the third lane L23, at a predetermined position or timing. In the explanation given with reference to this figure, the position of the vehicle M may be explained with reference to the horizontal axis x. The current position of the vehicle M is shown as position P21.

[0077] Vehicle M will change lanes a total of two times, from the first lane L21 to the second lane L22, and then to the third lane L23, either by driver operation or by automatic lane changes by the vehicle system 1. Even if the number of lane changes increases, there is only one target point, and it is the same as the example explained with reference to Figure 2, so the explanation will be omitted. An example of a target point is shown as position P24 in the figure. In the example shown in Figure 6, the target point is a lane junction. A lane junction is, for example, an exit junction on a highway. Therefore, vehicle M is required to change lanes from the first lane L21 to the third lane L23 at a point at least before position P24 (a point located to the left of position P24 in the figure), either by driver operation or by automatic lane changes by the vehicle system 1.

[0078] Furthermore, when multiple lane changes are involved, the driver assistance control unit 150 determines a number of first points corresponding to the number of lane changes to be made. In this embodiment, since there are two lane changes, two first points are determined. Specifically, the driver assistance control unit 150 determines positions P22-1 and P22-2 as the first point positions P22. Position P22-1 is the limit point at which the system can make the first lane change, and position P22-2 is the limit point at which the system can make the second lane change. More specifically, position P22-1 is the final point at which the system should change lanes to the left lane in order to move to the branching road, and position P22-2 is the final point at which the system can change lanes to the branching road.

[0079] Furthermore, the driver assistance control unit 150 determines a second point. The number of second points does not change depending on the number of times a lane change is performed; there is only one. An example of a second point is shown in the figure as position P23. The second point is the limit point where a lane change is possible through manual driving by the driver. Therefore, up to position P23, it is possible to perform a second lane change by operating the steering wheel, but beyond position P23, it is not recommended to change lanes. In other words, the driver assistance control unit 150 recommends that the driver change lanes by operating the steering wheel up to position P23, which is the second point, but does not recommend that the driver change lanes by operating the steering wheel beyond position P23.

[0080] Next, the control of the information display control unit 170 in cases involving multiple lane changes will be explained. Processing similar to that in the case involving a single lane change may be omitted from the explanation. First, the total length, which is the sum of the lengths of the first object O1 and the second object O2, is, for example, the distance from the current location of the vehicle M, position P21, to the second location, position P23. The length of the first object O1 is the distance from the current location of the vehicle M, position P21, to the first location, position P22-1. The length of the second object O2 is the distance from the first location, position P22-1, to the second location, position P23, when the vehicle M has not yet passed the first location. Furthermore, the length of the second object O2 is the distance from the current location of the vehicle M to the second location, position P23, when the vehicle M has passed the first location.

[0081] In other words, in the example shown in Figure 6, two lane changes are required. Therefore, taking into account the two lane changes, two initial points are set, and the distance to the initial point closest to the vehicle M is displayed on the indicator, thereby setting a margin of safety for the distance to the point where the lane change is possible by the system. Furthermore, if multiple lane changes are required, the information display control unit 170 sets a margin of safety for the distance to the point where the lane change is possible by the system by increasing the area of ​​the second object O2. Specifically, the information display control unit 170 makes the area of ​​the second object O2 larger when multiple lane changes are required to reach the target point than the area of ​​the second object O2 when only one lane change is required to reach the target point.

[0082] [First example of the display screen] Figure 7 shows a first modified example of the display screen displayed by the driver assistance device according to the embodiment. Referring to this figure, display screens D21 and D22, which are the first modified examples of the display screen displayed by the information display control unit 170, will be described. Display screen D21 is an example of a display screen displayed at the point where the driver assistance device begins to change lanes. That is, display screen D21 is a modified example of display screen D13 described above. Display screen D22 is an example of a display screen displayed when the vehicle M is located before the first point. That is, display screen D22 is a modified example of display screen D14 described above.

[0083] In the first modified example, as shown in display screens D21 and D22, the display area DA-1 is provided instead of the display area DA, which is different from the embodiment described above. The display area DA-1 has a first object O1-1 and a second object O2-1 as screen components. The difference is that while the display area DA is a horizontal indicator, the display area DA-1 is a vertical indicator. The display area DA-1 is displayed, for example, next to the vehicle M indicated by the symbol DM. The first object O1-1 has a size corresponding to the distance or time from the vehicle M to the first point, and its area or length changes vertically according to the distance or time from the vehicle M to the first point. The second object O2-1 has a size corresponding to the distance or time from the first point or the point where the vehicle M is located to the second point, and its area or length changes vertically according to the distance or time from the first point or the point where the vehicle M is located to the second point.

[0084] [Second variation of the display screen] Figure 8 shows a second modified example of the display screen displayed by the driver assistance device according to the embodiment. Referring to this figure, display screens D31 and D32, which are second modified examples of the display screen displayed by the information display control unit 170, will be described. Display screen D31 is an example of a display screen displayed at the point where the driver assistance device begins to change lanes. That is, display screen D31 is a modified example of display screen D13 described above. Display screen D32 is an example of a display screen displayed when the vehicle M is located before the first point. That is, display screen D32 is a modified example of display screen D14 described above.

[0085] In the second modified example, as shown in display screens D31 and D32, the display area DA-2 is provided instead of the display area DA, which is different from the embodiment described above. The display area DA-2 has a first object O1-2 and a second object O2-2 as screen components. While the display area DA arranges the first object O1 and the second object O2 in a continuous direction, the display area DA-2 differs in that the first object O1-2 and the second object O2-2 are arranged in parallel directions. The first object O1-2 and the second object O2-2 each have different areas, with the first object O1-2 being smaller than the second object O2-2. Both the first object O1 and the second object O2 change their area as the position of their right ends moves to the left. The right ends of the first object O1 and the right ends of the second object O2 move to the left at the same speed according to the position of the vehicle M. In this embodiment, the point where the area of ​​the first object O1 becomes zero is the first point.

[0086] [Summary of Embodiments] According to the embodiments described above, the driver assistance device includes a position detection unit to detect the vehicle's position, a road shape recognition unit to recognize the shape of the road the vehicle is scheduled to travel on, a steering control unit to change the vehicle's direction of travel, a driver assistance control unit to control the steering control unit so that the vehicle changes lanes based on the position information detected by the position detection unit and the road shape recognized by the road shape recognition unit, and an information display control unit to visually present information to the driver operating the vehicle. The driver assistance control unit identifies a target point where the lane change needs to be completed based on the road shape recognized by the road shape recognition unit, and further determines a first point between the target point and the vehicle, and a second point between the target point and the vehicle that is closer to the target point than the first point, or the same point as the target point. The information display control unit displays information regarding the distance or time from the vehicle's position to the first point, and information regarding the distance or time from the vehicle's position to the second point. In other words, the driver assistance device displays the distance or time to two points. Therefore, by presenting the distance or time from the vehicle to the first and second points to the driver in a manner that is easily understandable, the driver's psychological stress, such as anxiety, during lane changes can be reduced. Thus, even if the system is unable to perform a lane change, the driver assistance system can encourage appropriate action by the driver.

[0087] Furthermore, according to the embodiment described above, the driver assistance control unit performs a lane change up to the first point, and does not perform a lane change beyond the first point; in other words, the first point can be considered the limit point for automated driving. Therefore, by displaying the distance or time to the first point, the driver assistance device makes it easy for the driver to understand the distance or time at which a lane change is possible. Thus, according to this embodiment, the psychological stress on the driver when changing lanes can be reduced.

[0088] Furthermore, according to the embodiment described above, the driver assistance control unit recommends lane changes by the driver operating the steering wheel up to the second point, but does not recommend lane changes by the driver operating the steering wheel beyond the second point. In other words, the second point can be considered the limit point for manual driving. Therefore, by displaying the distance or time to the first point, the driver assistance device makes it easy for the driver to understand the range in which lane changes are possible by the driver assistance control unit and the range in which lane changes can be made manually by the driver. Thus, according to this embodiment, the psychological stress on the driver when changing lanes can be reduced.

[0089] Furthermore, according to the above-described embodiment, the information display control unit displays a display area of ​​a predetermined size that represents information about distance or time, and displays a first object having a size corresponding to the distance or time to the first point and a second object having a size corresponding to the distance or time to the second point in the display area. That is, according to this embodiment, the distance or time to the first point and the distance or time to the second point are displayed by indicators. Therefore, the driving assistance device makes it easy for the driver to intuitively understand the range in which lane changes are possible by the driving assistance control unit and the range in which the driver can manually change lanes. Thus, according to this embodiment, the psychological stress on the driver when changing lanes can be reduced.

[0090] Furthermore, according to the embodiment described above, the information display control unit arranges and displays the strip-shaped or linear first object and the strip-shaped or linear second object in a continuous manner along the long axis. In other words, in this embodiment, the first object and the second object are displayed continuously. That is, the driving assistance device can display the distance or time to the first point and the second point in a manner that is more intuitively understandable to the driver.

[0091] Furthermore, according to the embodiment described above, the information display control unit changes the area of ​​the first object according to the distance or time from the vehicle to the first point. Also, if the distance from the target point to the vehicle is greater than the distance from the target point to the first point, the information display control unit displays the area of ​​the second object as a fixed area according to the distance or time from the first point to the second point. If the distance from the target point to the vehicle is less than the distance from the target point to the first point, the area of ​​the second object changes according to the distance or time from the vehicle to the second point. Therefore, the driver assistance device can display to the driver whether lane changes are possible by the driver assistance control unit or whether lane changes must be made by the driver, and by when they should be made, depending on the position of the vehicle.

[0092] Furthermore, according to the embodiment described above, the information display control unit makes the area of ​​the second object larger when multiple lane changes are required to reach the target point than the area of ​​the second object when only one lane change is required to reach the target point. Therefore, when multiple lane changes are required, the distance to the first point can be set with ample margin, taking into account the multiple lane changes.

[0093] The embodiments described above can be expressed as follows. A storage medium that stores instructions readable by a computer, A processor connected to the storage medium, The processor executes instructions that can be read by the computer, The vehicle's location information is detected, The system recognizes the shape of the road the vehicle is scheduled to travel on, Based on the detected location information and the recognized road shape, the steering system controls the vehicle's steering direction to change the vehicle's lane. To visually present information to the driver of the vehicle, Based on the road shape recognized by the aforementioned road shape recognition unit, the system identifies a target point where a lane change must be completed. A first point between the target point and the vehicle, and a second point between the target point and the vehicle that is closer to the target point than the first point, or the same point as the target point, are further determined. The system displays information regarding the distance or time from the vehicle's current position to the first point, and information regarding the distance or time from the vehicle's current position to the second point. Device.

[0094] Although embodiments for carrying out the present invention have been described above using examples, the present invention is not limited in any way to these embodiments, and various modifications and substitutions can be made without departing from the spirit of the present invention. [Explanation of Symbols]

[0095] 1... Vehicle system, 10...Camera, 12... Radar equipment, 14…LIDAR, 16...Object recognition device, 20...Communication equipment, 30...HM, 40... Vehicle sensors, 50…Navigation system, 51...GNSS receiver, 52... Navigation HMI, 53... Route determination unit, 54…First map information, 60...MPU, 61... Recommended lane determination section, 62... Second map information, 80... Driver control panel, 120...First control unit, 130...recognition section, 140... Action plan generation unit, 150... Driving support control unit, 160...Second control unit, 162...Acquisition Department, 164... Speed ​​control unit, 166... ​​Steering control unit, 170... Information display control unit, 200... Driving force output device, 210... Brake system, 220... Steering system, M... Own vehicle, DA...display area, O1...First object, O2... Second object

Claims

1. A position detection unit that detects the vehicle's own position information, A road shape recognition unit that recognizes the shape of the road on which the vehicle is scheduled to travel, A steering mechanism that changes the direction of the vehicle, A driving support control unit controls the steering wheel so that the vehicle changes lanes, based on the position information detected by the position detection unit and the road shape recognized by the road shape recognition unit. A driver assistance device comprising an information display control unit that visually presents information to the driver of the vehicle, The aforementioned driving support control unit identifies a target point where a lane change needs to be completed based on the road shape recognized by the road shape recognition unit, A first point between the target point and the vehicle, and a second point between the target point and the vehicle that is closer to the target point than the first point, or the same point as the target point, are further determined. The information display control unit displays information regarding the distance or time from the vehicle's position to the first point, and information regarding the distance or time from the vehicle's position to the second point. The aforementioned first point is a point where lane changes by the driver assistance control unit are permitted, The second point mentioned above is a point where lane changes by the driver are permitted. Display a predetermined size display area that represents information about distance or time. A first object having a size corresponding to the distance or time to the first point, and a second object having a size corresponding to the distance or time to the second point, are to be displayed in the display area. Driving assistance system.

2. The aforementioned driving support control unit performs a lane change up to the first point, and does not perform a lane change beyond the first point. The driving support device according to claim 1.

3. The aforementioned driving support control unit recommends lane changes by the driver operating the steering wheel up to the second point, but does not recommend lane changes by the driver operating the steering wheel beyond the second point. The driving support device according to claim 1.

4. The information display control unit arranges and displays the strip-shaped or linear first object and the strip-shaped or linear second object in a continuous manner along the long axis. The driving support device according to claim 3.

5. The information display control unit changes the area of ​​the first object according to the distance or time from the vehicle to the first point. If the distance from the target point to the vehicle is greater than the distance from the target point to the first point, the area of ​​the second object is displayed as a fixed area corresponding to the distance or time from the first point to the second point. If the distance from the target point to the vehicle is less than the distance from the target point to the first point, the area of ​​the second object is changed according to the distance or time from the vehicle to the second point. The driving support device according to claim 4.

6. The information display control unit makes the area of ​​the second object larger when multiple lane changes are required to reach the target point than the area of ​​the second object when only one lane change is required to reach the target point. The driving support device according to claim 5.

7. A position detection process for detecting the vehicle's own location information, A road shape recognition process that recognizes the shape of the road on which the vehicle is scheduled to travel, A driving assistance control step that controls the steering element to change the direction of travel of the vehicle so that the vehicle changes lanes, based on the position information detected by the position detection step and the road shape recognized by the road shape recognition step, A driving assistance method having an information display control process that visually presents information to the driver of the vehicle, The aforementioned driving assistance control process identifies a target point where a lane change needs to be completed based on the road shape recognized by the road shape recognition process, A first point between the target point and the vehicle, and a second point between the target point and the vehicle that is closer to the target point than the first point, or the same point as the target point, are further determined. The information display control step displays information regarding the distance or time from the vehicle's position to the first point, and information regarding the distance or time from the vehicle's position to the second point. The aforementioned first point is a point where lane changes are permitted by the driver assistance control process, The second point mentioned above is a point where lane changes by the driver are permitted. Display a predetermined size display area that represents information about distance or time. A first object having a size corresponding to the distance or time to the first point, and a second object having a size corresponding to the distance or time to the second point, are to be displayed in the display area. Driving assistance methods.

8. A position detection unit that detects the vehicle's own position information, A road shape recognition unit that recognizes the shape of the road on which the vehicle is scheduled to travel, A steering mechanism that changes the direction of the vehicle, A driving support control unit controls the steering wheel so that the vehicle changes lanes, based on the position information detected by the position detection unit and the road shape recognized by the road shape recognition unit. A driver assistance device comprising an information display control unit that visually presents information to the driver of the vehicle, The aforementioned driving support control unit identifies a target point where a lane change needs to be completed based on the road shape recognized by the road shape recognition unit, A first point between the target point and the vehicle, and a second point between the target point and the vehicle that is closer to the target point than the first point, or the same point as the target point, are further determined. The information display control unit displays information regarding the distance or time from the vehicle's position to the first point, and information regarding the distance or time from the vehicle's position to the second point. The aforementioned first point is the limit point where the driver assistance control unit can change lanes. The aforementioned second point is the limit of the point where a driver can change lanes. Driving assistance system.

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