Driving assistance systems

Abstract

To provide a driving support device capable of suppressing occurrences of anxiety and overconfidence of a driver regarding deceleration support by notifying the driver of an end timing of the deceleration support.SOLUTION: A driving support device executes deceleration support of a self vehicle when a relative situation between a deceleration target in front of the self vehicle and the self vehicle satisfies a preset deceleration support start condition. The driving support device includes: an end timing estimation unit that estimates an end timing of deceleration support based on at least one of the relative situation between the deceleration target and the self vehicle, and the vehicle speed of the self vehicle, during execution of the deceleration support, and a notification unit that notifies the driver of the self vehicle of the end timing of deceleration support estimated by the end timing estimation unit. The notification unit indicates to the driver one of the remaining time until the end of the deceleration support, the remaining mileage of the self vehicle until the end of the deceleration support, and the difference between the target vehicle speed at which the deceleration support ends and the current vehicle speed, to provide notification of the end timing of deceleration support.SELECTED DRAWING: Figure 2

Description

Technical Field

[0004] , , , ,

[0005] , , , , , , , When the relative situation between the vehicle and the object being decelerated meets the conditions for initiating deceleration support, deceleration support is initiated for the object being decelerated. The conditions for initiating deceleration support are changed according to the type of object being decelerated.

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

Background Art

[0002] Conventionally, as a technical document related to a driving support device, Japanese Unexamined Patent Application Publication No. 2013-218429 is known. In this publication, in a driving support device that supports deceleration of a vehicle when vehicle stop is predicted at a predetermined stop position, deceleration support (deceleration control) is performed when the distance to the stop position and the vehicle speed of the vehicle do not satisfy predetermined conditions, and deceleration support is not performed when the predetermined conditions are satisfied.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in deceleration support for decelerating a vehicle, it is desirable that the driving operation (such as an accelerator operation) of the driver smoothly follows from the end of the deceleration support. In this regard, in the above-described conventional driving support device, since the driver does not know how far the deceleration support is performed, there is a risk of giving the driver a sense of uneasiness or causing the driver's overconfidence in the deceleration support.

Means for Solving the Problems

[0006] According to one aspect of the present invention, The vehicle's display shows information about the position where it is expected to stop due to deceleration assistance. It is possible. [Brief explanation of the drawing]

[0007] [Figure 1] This is a block diagram showing a driver assistance device according to one embodiment. [Figure 2] (a) A diagram showing an example of how the termination timing notification is displayed. (b) A diagram showing another example of how the termination timing notification is displayed. (c) A diagram showing yet another example of how the termination timing notification is displayed. [Figure 3] (a) A flowchart showing an example of the deceleration support start process. (b) A flowchart showing an example of the deceleration support end timing notification process. (c) A flowchart showing an example of the deceleration support end process. [Modes for carrying out the invention]

[0008] Embodiments of the present invention will be described below with reference to the drawings.

[0009] As shown in Figure 1, the driver assistance device 100 is installed in a vehicle such as a passenger car (the vehicle itself) and is a device that assists the driver in driving the vehicle. When the driver assistance device 100 detects a vehicle ahead or a traffic light or other object that will cause the vehicle to slow down, it provides deceleration assistance for the vehicle under predetermined conditions.

[0010] A "deceleration target" is a target for deceleration assistance. Deceleration targets include preceding vehicles, traffic lights, stop signs, and stop lines. In addition to preceding vehicles, pedestrians, cyclists, etc., may also be included as deceleration targets, as well as curves, crosswalks, fallen objects, construction equipment, structures, etc.

[0011] Deceleration assistance is a driving assistance system that slows the vehicle down to a pre-set target speed. The target speed is not particularly limited and may be 0 km / h or 10 km / h. The target speed may be determined according to the type of object being decelerated. If the object being decelerated is a traffic light, the target speed of the deceleration assistance may be changed according to the state of the traffic light (green light, yellow light, red light, etc.). If the object being decelerated is a moving object such as a preceding vehicle, the target speed is not limited to the speed of the vehicle itself, but may also be the relative speed between the vehicle and the object being decelerated.

[0012] [Configuration of driver assistance systems] The configuration of a driver assistance device 100 according to one embodiment will be described with reference to the drawings. As shown in Figure 1, the driver assistance device 100 includes a driver assistance ECU [Electronic Control Unit] 10 that comprehensively manages the device. The driver assistance ECU 10 is an electronic control unit having a CPU [Central Processing Unit], ROM [Read Only Memory], RAM [Random Access Memory], etc. The driver assistance ECU 10 realizes various functions, for example, by loading a program stored in ROM into RAM and executing the program loaded into RAM with the CPU. The driver assistance ECU 10 may be composed of multiple electronic units.

[0013] The driver assistance ECU 10 is connected to an external sensor 1, an internal sensor 2, an HMI (Human Machine Interface) 3, and an actuator 4.

[0014] External sensor 1 is a detection device that detects the surrounding conditions of the vehicle. External sensor 1 includes at least one of a camera and a radar sensor. The camera is an imaging device that captures images of the external conditions of the vehicle. The camera is installed, for example, behind the windshield of the vehicle and captures images of the area in front of the vehicle. The camera transmits the image information regarding the external conditions of the vehicle to the driver assistance ECU 10. The camera may be a monocular camera or a stereo camera.

[0015] A radar sensor is a detection device that uses radio waves (e.g., millimeter waves) or light to detect objects around a vehicle. Examples of radar sensors include millimeter-wave radar and LiDAR (Light Detection and Ranging). A radar sensor detects objects by transmitting radio waves or light around the vehicle and receiving the radio waves or light reflected by the object. The radar sensor transmits information about the detected object to the driver assistance ECU 10. Objects include fixed obstacles such as guardrails and buildings, as well as moving obstacles such as pedestrians, bicycles, and other vehicles.

[0016] Internal sensor 2 is a detection device that detects the driving state of the vehicle. Internal sensor 2 includes a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor is a detector that detects the speed of the vehicle. As the vehicle speed sensor, for example, a wheel speed sensor is used, which is installed on the wheel of the vehicle or on a drive shaft that rotates integrally with the wheel, and detects the rotational speed of the wheel. The vehicle speed sensor transmits the detected vehicle speed information (wheel speed information) to the driver assistance ECU 10.

[0017] The acceleration sensor is a detector that detects the acceleration of the host vehicle. The acceleration sensor includes, for example, a longitudinal acceleration sensor that detects the longitudinal acceleration of the host vehicle and a lateral acceleration sensor that detects the lateral acceleration of the host vehicle. The acceleration sensor transmits, for example, the acceleration information of the host vehicle to the driving support ECU 10. The yaw rate sensor is a detector that detects the yaw rate (rotational angular velocity) around the vertical axis of the center of gravity of the host vehicle. For example, a gyro sensor can be used as the yaw rate sensor. The yaw rate sensor transmits the detected yaw rate information of the host vehicle to the driving support ECU 10.

[0018] HMI 3 is an interface for inputting and outputting information between the driving support device 100 and the driver. HMI 3 includes, for example, a display and a speaker. HMI 3 performs image output of the display and voice output of the speaker according to a control signal from the driving support ECU 10. The display may be a HUD [Head Up Display]. The display may be a MID [Multi Information Display] arranged on the meter panel.

[0019] The actuator 4 is a device used for controlling the host vehicle. The actuator 4 includes at least a drive actuator and a brake actuator. The actuator 4 may include a steering actuator. The drive actuator controls the amount of air supplied to the engine (throttle opening) according to a control signal from the driving support ECU 10 and controls the driving force of the host vehicle. When the host vehicle is a hybrid vehicle, in addition to the amount of air supplied to the engine, a control signal from the driving support ECU 10 is input to the motor as a power source and the driving force is controlled. When the host vehicle is an electric vehicle, a control signal from the driving support ECU 10 is input to the motor as a power source and the driving force is controlled. The motor as a power source in these cases constitutes the actuator 4.

[0020] The brake actuator controls the brake system according to a control signal from the driving support ECU 10 and controls the braking force applied to the wheels of the host vehicle. As the brake system, for example, a hydraulic brake system can be used. The steering actuator controls the drive of an assist motor that controls the steering torque in an electric power steering system according to a control signal from the driving support ECU 10. Thereby, the steering actuator controls the steering torque of the host vehicle.

[0021] Next, the functional configuration of the driving support ECU 10 will be described. As shown in FIG. 1, the driving support ECU 10 includes a deceleration target recognition unit 11, a relative situation recognition unit 12, a start condition determination unit 13, a driving support unit 14, an end timing estimation unit 15, and a notification unit 16. Note that a part of the functions of the driving support ECU 10 described below may be executed in a server capable of communicating with the host vehicle.

[0022] The deceleration target recognition unit 11 recognizes a deceleration target in front of the host vehicle based on the detection result of the external sensor 1. The deceleration target recognition unit 11 may recognize the type of the deceleration target (types such as a preceding vehicle, a traffic signal, a stop sign, etc.). The deceleration target recognition unit performs pattern matching using an image pattern for each type stored in advance based on an imaging image in front of the host vehicle captured by, for example, a camera, and thereby detects the deceleration target and recognizes the type. The deceleration target recognition unit 11 may recognize the type of the deceleration target based on the object information of the radar sensor.

[0023] The relative situation recognition unit 12 recognizes the relative situation between the host vehicle and the deceleration target. The relative situation includes at least the distance between the host vehicle and the deceleration target (the distance in the longitudinal direction or the traveling direction of the host vehicle). The relative situation may include the relative speed between the host vehicle and the deceleration target.

[0024] The relative situation recognition unit 12 recognizes the relative situation between the vehicle and the vehicle to be decelerated, for example, based on the detection results of the external sensor 1. If the vehicle to be decelerated is a vehicle capable of vehicle-to-vehicle communication with the vehicle to be decelerated, the relative situation recognition unit 12 may recognize the relative situation between the vehicle and the vehicle to be decelerated using information obtained through vehicle-to-vehicle communication. The relative situation recognition unit 12 may also recognize the relative speed between the vehicle and the vehicle to be decelerated, for example, based on the speed of the vehicle to be decelerated and the speed of the vehicle to be decelerated, obtained through vehicle-to-vehicle communication.

[0025] The start condition determination unit 13 determines whether the deceleration support start conditions for the vehicle to be decelerated have been met. The deceleration support start conditions are conditions that have been set in advance for use in determining when to start deceleration support. The start condition determination unit 13 determines whether the deceleration support start conditions have been met based at least on the distance between the vehicle and the vehicle to be decelerated.

[0026] The deceleration support initiation conditions may be changed depending on the type of vehicle being decelerated. The initiation condition determination unit 13 determines, for example, if the type of vehicle being decelerated is a preceding vehicle, whether the deceleration support initiation conditions for the preceding vehicle have been met based on the relative situation between the vehicle and the vehicle being decelerated (e.g., TTC).

[0027] Let's specifically explain the case where the target of deceleration is a traffic light. If the start condition determination unit 13 determines that the traffic light is not in a pass-permit state (green light), it determines whether the deceleration support start conditions for the traffic light have been met, at least based on the distance between the vehicle and the traffic light. Note that the fact that the traffic light is not in a pass-permit state may be one of the deceleration support start conditions.

[0028] The start condition determination unit 13 determines that the deceleration support start condition has been met, for example, when the distance between the vehicle and the traffic light is less than the distance threshold. The distance threshold is a preset threshold value. Here, the position of the traffic light used to calculate the distance between the vehicle and the traffic light may be the position of the traffic light itself, or the position of the stop line before the traffic light. If the start condition determination unit 13 is unable to detect the stop line before the traffic light by the external sensor 1 due to wear of the white line of the stop line, etc., it may assume that the stop line exists at a certain distance before the traffic light and use this assumption to calculate the distance between the vehicle and the traffic light.

[0029] Furthermore, the start condition determination unit 13 may determine the deceleration support start condition using the TTC (Time To Collision) between the vehicle and the traffic light, rather than the distance between the vehicle and the traffic light. For example, the start condition determination unit 13 determines that the deceleration support start condition for the traffic light has been met when the TTC between the vehicle and the traffic light is less than the TTC threshold. The TTC is calculated by dividing the distance between the vehicle and the traffic light by the vehicle speed. The TTC threshold is a preset threshold value. The start condition determination unit 13 may also determine that the deceleration support start condition has not been met if the driver is operating the accelerator pedal or brake pedal.

[0030] If the start condition determination unit 13 determines that the deceleration support start conditions have been met, the driver support unit 14 starts deceleration support as driver support for its own vehicle. The driver support unit 14 performs deceleration support for its own vehicle by transmitting a control signal to the actuator 4. For example, the driver support unit 14 performs deceleration support so that its own vehicle slows down to a preset target speed based on the distance between its own vehicle and the object to be decelerated and the speed of its own vehicle.

[0031] The driving support unit 14 may, for example, provide deceleration support using a target deceleration rate. The start condition determination unit 13 calculates, for example, the target deceleration rate required to decelerate to the target vehicle speed for deceleration support before the distance between the vehicle and the object to be decelerated reaches a preset distance.

[0032] The value of the set distance is not particularly limited. The set distance may be set according to the type of object being slowed down, for example. If the object being slowed down is a traffic light in a no-passing state (red light), the set distance may be 1m or 0.5m. If the object being slowed down is a stop sign, the set distance may be 0.5m or 0m.

[0033] The target vehicle speed for deceleration assistance may also be set according to the type of deceleration target. For example, if the type of deceleration target is a traffic light or stop sign that prohibits passing, the target vehicle speed for deceleration assistance should be the target vehicle speed for stopping (e.g., 0 km / h). Note that the target vehicle speed for stopping does not necessarily have to be 0 km / h; it may be a value close to 0 km / h.

[0034] The driver assistance unit 14 calculates the target deceleration for deceleration assistance from the set distance and target vehicle speed, based on the relative situation between the vehicle and the vehicle to be decelerated and the vehicle speed of the vehicle. The driver assistance unit 14 performs deceleration assistance for the vehicle by engine braking and / or braking by transmitting a control signal to the actuator 4 according to the target deceleration.

[0035] The driver assistance unit 14 determines whether or not the timing for ending deceleration assistance has been reached. The timing for ending deceleration assistance is the timing at which deceleration assistance is terminated. The timing for ending deceleration assistance will be described later. The driver assistance unit 14 determines whether or not the timing for termination has been reached based on, for example, the relative situation between the vehicle and the vehicle being decelerated, and the speed of the vehicle being decelerated, or at least one of the above. If the driver assistance unit 14 determines that the timing for ending deceleration assistance has been reached, it terminates the deceleration assistance for the vehicle being decelerated.

[0036] In addition, the driver assistance unit 14 terminates deceleration assistance if the driver cancels the deceleration assistance while it is being performed. Cancellation of deceleration assistance includes, for example, turning off the driver assistance function, operating the accelerator pedal by a certain amount or more, or operating the steering wheel by a certain amount or more.

[0037] The termination timing estimation unit 15 estimates the termination timing of deceleration support while it is being performed. The termination timing estimation unit 15 estimates the termination timing of deceleration support based on, for example, the relative situation between the vehicle and the vehicle being decelerated, and the vehicle speed of the vehicle itself, at least one of the above.

[0038] The timing of the end of deceleration assistance may be indicated as the remaining time until the end of deceleration assistance, the remaining distance until the end of deceleration assistance, the distance from the end of deceleration assistance until the end of deceleration assistance, or the difference between the vehicle's current speed and the target speed for deceleration assistance (remaining deceleration amount).

[0039] The remaining time may be the time it takes for the vehicle's speed to reach the target speed for deceleration assistance, or the time it takes for the distance between the vehicle and the object being decelerated to reach a set distance. The remaining distance traveled may be the distance traveled until the vehicle's speed reaches the target speed for deceleration assistance, or the distance traveled until the distance between the vehicle and the object being decelerated reaches a set distance. The remaining deceleration amount is the difference between the vehicle's current speed and the target speed for deceleration assistance.

[0040] The notification unit 16 provides notifications regarding driving assistance to the driver of the vehicle. The notification unit 16 provides notifications that include at least one of the following: image output from the display and sound output from the speaker, by transmitting control signals to the HMI 3.

[0041] The notification unit 16 notifies the driver of the end timing of the deceleration assistance, which has been estimated by the end timing estimation unit 15, while deceleration assistance is being performed. The notification unit 16 provides notification by displaying an image and / or outputting sound via the HMI3. The notification unit 16 may also provide notification by displaying an image and / or text on the display.

[0042] Figure 2(a) shows an example of a display for the completion timing notification. The text display T shown in Figure 2(a) indicates the remaining time until the deceleration assistance ends. The text display T may be displayed on the MID, on a display installed on the dashboard, or projected onto the windshield of the vehicle. In addition to displaying the text display T, the notification unit 16 may also notify the driver of the remaining time by voice at a predetermined timing.

[0043] Figure 2(b) shows another example of the display of the completion timing notification. In Figure 2(b), the position of the moving bar B in the bar display frame H indicates the remaining distance to be traveled until the deceleration assistance ends. The parts that the moving bar B has passed are colored differently from the parts that it has not passed. The number at the top of the bar display frame H indicates the remaining distance to be traveled until the deceleration assistance ends at the start of the deceleration assistance. The number next to the moving bar B indicates the current remaining distance to be traveled. In the display shown in Figure 2(b), the driver is notified of the remaining distance to be traveled until the deceleration assistance ends by the moving bar B rising within the bar display frame H as the vehicle moves.

[0044] Figure 2(c) shows yet another example of the display of the completion timing notification. The meter icon M shown in Figure 2(c) shows a needle Vs corresponding to the vehicle's current speed. The arrow N along the meter icon M indicates the remaining amount of deceleration the vehicle will undergo before the deceleration assistance ends. The base end Na of the arrow N corresponds to the position of the needle Vs (the vehicle's current speed), and the tip Nb of the arrow N corresponds to the target speed for the deceleration assistance. In the display shown in Figure 2(c), the length of the arrow N notifies the driver of the remaining amount of deceleration until the deceleration assistance ends. In the display shown in Figure 2(c), as the vehicle decelerates, the position of the needle Vs changes counterclockwise, and the arrow N shortens (the base end Na of the arrow N approaches the tip Nb), thereby informing the driver of the change in the remaining amount of deceleration.

[0045] Furthermore, the needle Vs of the meter icon M may be fixed, and only the length of arrow N may change. Also, it is not always necessary to use an arrow; a virtual needle corresponding to the target speed for deceleration assistance may be displayed on the meter icon M, and the driver may be notified of the change in the remaining deceleration amount until the end of deceleration assistance as the needle Vs corresponding to the current vehicle speed approaches the virtual needle.

[0046] Alternatively, the driver may be notified of the remaining deceleration amount until the deceleration assistance ends by displaying an image corresponding to the arrow N above around the vehicle's speed meter. In other words, the actual vehicle's speed meter may be used instead of the meter icon M.

[0047] [Processing of driver assistance systems] Next, the processing of the driving support device 100 of this embodiment will be described with reference to the drawings. Figure 3(a) is a flowchart showing an example of the deceleration support start process.

[0048] As shown in Figure 3(a), in the driving assistance ECU 10 of the driving assistance device 100, in S10, the deceleration target recognition unit 11 recognizes a deceleration target in front of the vehicle. The deceleration target recognition unit 11 recognizes the deceleration target based on the detection result of the external sensor 1. In addition to recognizing the deceleration target, the relative situation recognition unit 12 also recognizes the relative situation between the vehicle and the deceleration target.

[0049] In S12, the driver assistance ECU 10 determines, using the start condition determination unit 13, whether or not the deceleration support start conditions for the vehicle to be decelerated have been met. The driver assistance ECU 10 determines whether or not the deceleration support start conditions have been met, for example, based on the distance between the vehicle and the vehicle to be decelerated. If the driver assistance ECU 10 determines that the deceleration support start conditions have been met (S12: YES), it proceeds to S14. If the driver assistance ECU 10 determines that the deceleration support start conditions have not been met (S12: NO), it terminates the current process. After a certain period of time has elapsed, the driver assistance ECU 10 repeats the process from S10 again.

[0050] In S14, the driver assistance ECU 10 initiates deceleration assistance for its own vehicle via the driver assistance unit 14. The driver assistance unit 14 performs deceleration assistance for the vehicle to be decelerated by transmitting a control signal to the actuator 4.

[0051] Figure 3(b) is a flowchart showing an example of the deceleration support termination timing notification process. The deceleration support termination timing notification process is performed while the deceleration support is running.

[0052] As shown in Figure 3(b), the driver assistance ECU 10 estimates the end timing of the deceleration assistance using the termination timing estimation unit 15 as S20. The termination timing estimation unit 15 estimates the end timing of the deceleration assistance based on, for example, the relative situation between the vehicle and the vehicle being decelerated, and the vehicle speed of the vehicle.

[0053] In S22, the driver assistance ECU 10 notifies the driver of the timing to end the deceleration assistance via the notification unit 16. The notification unit 16 notifies the driver of the timing to end the deceleration assistance by displaying an image, such as the one shown in Figure 2(c), on the MID, which is the display of the HMI3. The notification unit 16 may also notify the driver of the timing to end the deceleration assistance by outputting sound.

[0054] Figure 3(c) is a flowchart showing an example of the deceleration support termination process. The deceleration support termination process is performed while deceleration support is being executed.

[0055] As shown in Figure 3(c), in S30, the driver assistance ECU 10 determines whether the timing for ending deceleration assistance has been reached by the driver assistance unit 14. The driver assistance unit 14 makes the above determination based on, for example, the relative situation between the vehicle and the vehicle being decelerated, and the vehicle speed of the vehicle. If the driver assistance ECU 10 determines that the timing for ending deceleration assistance has been reached (S30: YES), it proceeds to S32. If the driver assistance ECU 10 does not determine that the timing for ending deceleration assistance has been reached (S30: NO), it terminates the current process. After that, the driver assistance ECU 10 repeats the process from S30 again after a certain period of time has elapsed. The current process is terminated. After that, the driver assistance ECU 10 repeats the process from S10 again after a certain period of time has elapsed.

[0056] In S32, the driver assistance ECU 10 terminates the deceleration assistance via the driver assistance unit 14. The driver assistance unit 14 terminates the deceleration assistance by stopping the transmission of control signals to the actuator 4 or by transmitting a termination signal.

[0057] According to the driver assistance device 100 of this embodiment described above, the system estimates the timing of the end of deceleration assistance during its execution and notifies the driver of the timing of its end. Compared to conventional cases where the driver is not notified of the timing of the end of deceleration assistance, this system can suppress the occurrence of anxiety and overconfidence in the driver regarding deceleration assistance. Furthermore, the driver can smoothly transition to driving operations such as accelerating their vehicle, taking into account the timing of the end of deceleration assistance.

[0058] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above. The present invention can be implemented in various forms, starting with the embodiments described above, by making various changes and improvements based on the knowledge of those skilled in the art.

[0059] For example, the notification unit 16 may notify the driver of the timing of the end of deceleration assistance by a combination of at least two of the following: a text display as shown in Figure 2(a), a bar display as shown in Figure 2(b), or an icon display as shown in Figure 2(c). [Explanation of Symbols]

[0060] 1...External sensor, 2...Internal sensor, 3...HMI, 4...Actuator, 10...Driving support ECU, 11...Deceleration target recognition unit, 12...Relative situation recognition unit, 13...Start condition determination unit, 14...Driving support unit, 15...End timing estimation unit, 16...Notification unit, 100...Driving support device.

Claims

1. A driver assistance device that performs deceleration assistance for the vehicle when a vehicle to be decelerated is detected in front of the vehicle, The aforementioned objects subject to deceleration include traffic lights, stop lines, or stop signs. When the relative situation between the vehicle itself and the object to be decelerated satisfies the conditions for initiating deceleration support, the deceleration support for the object to be decelerated is initiated. The aforementioned deceleration support initiation conditions are changed according to the type of deceleration target, During the execution of the deceleration assistance, information regarding the position where the vehicle is scheduled to stop due to the deceleration assistance is displayed on the vehicle's display. The driver assistance device sets information regarding the position where the vehicle is scheduled to stop, according to the type of vehicle being decelerated.

2. Based on the distance between the vehicle and the object to be decelerated and the speed of the vehicle, the deceleration support is performed so that the vehicle stops when the distance between the vehicle and the object to be decelerated reaches a set distance. The driving assistance device according to claim 1, wherein the set distance is set according to the type of deceleration target.

3. The driving assistance device according to claim 1, wherein after starting the deceleration assistance for the target to be decelerated, the device starts displaying information on the display regarding the position where the vehicle is scheduled to stop while the vehicle is being decelerated by the deceleration assistance.

4. The driving assistance device according to claim 1, wherein, during the execution of the deceleration assistance, the device estimates the stopping timing at which the vehicle is scheduled to stop based on the vehicle speed of the vehicle, and uses the estimated stopping timing to display information on the display regarding the position at which the vehicle is scheduled to stop, thereby notifying the driver of the vehicle.

5. The driving assistance device according to claim 2, wherein the position where the vehicle is scheduled to stop is the position where the distance between the vehicle and the object to be decelerated is the set distance.

6. The driving assistance device according to claim 5, wherein the information relating to the position where the vehicle is scheduled to stop is information relating to the remaining distance the vehicle will travel until it reaches a position where the distance between the vehicle and the deceleration target becomes the set distance.

7. The driving support device according to claim 1, wherein the information relating to the position where the vehicle is scheduled to stop is the remaining time until the vehicle stops.

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