Driving assistance method and driving assistance device

Abstract

A driving assistance method by a computer according to the present invention is a driving assistance method by a computer comprising: detecting, at an intersection where a first road and a second road intersect with each other, that when a host vehicle enters the intersection from the first road, a signal for vehicles traveling on the first road is green, the host vehicle turns right or left at the intersection, and, at the intersection, a pedestrian signal of a crosswalk crossing the second road is red; and when it is determined that there is a possibility that a pedestrian may walk on the crosswalk on a turning side of the host vehicle at the intersection, causing the host vehicle to decelerate or slow down, or proposing deceleration or slowdown, and when causing the host vehicle to decelerate or slow down, notifying the driver of the deceleration or slowdown.

Description

Driving assistance method and driving assistance device

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

[0002] Patent Document 1 discloses a driving assistance method that performs driving support control such as deceleration or stopping when a pedestrian attempting to cross a crosswalk is recognized at an intersection that the host vehicle is approaching.

[0003] Japanese Unexamined Patent Application Publication No. 2006-244295

[0004] In Patent Document 1, driving assistance control is performed by recognizing a pedestrian walking on a crosswalk when the traffic light is green. However, depending on the pedestrian, there is a possibility that the pedestrian may walk on the crosswalk regardless of the signal display. The present invention has been made to solve the above problem, and an object of the present invention is to provide a driving assistance method and a driving assistance device that can respond to pedestrian behavior unexpected by a driver.

[0005] A first aspect of the present invention is a computer-implemented driving assistance method. When the following (1) to (3) are detected at an intersection where a first road and a second road intersect: (1) a vehicle traffic signal for the first road is green when the host vehicle enters the intersection from the first road; (2) the host vehicle is to turn right or left at the intersection; and (3) a pedestrian traffic signal for a pedestrian crosswalk crossing the second road at the intersection is red, the following processes (4) to (6) are performed: (4) when it is determined that there is a possibility that a pedestrian may walk on the crosswalk located on the turning side of the host vehicle at the intersection; (5) decelerate or slow the host vehicle, or propose deceleration or slowing; (6) when the host vehicle decelerates or slows, notify the driver to that effect.

[0006] The second aspect of the present invention is a computer-assisted driving method, wherein (1) when the vehicle enters an intersection where a first road and a second road intersect from the first road, the signal for vehicles traveling on the first road is green, and (2) the vehicle is to turn right or left at the intersection, the following processing (3) to (5) is performed: (3) If the computer determines that a pedestrian may mistake the pedestrian signal for the crosswalk on the side the vehicle is turning at at the intersection, (4) the computer slows down or slows down the vehicle, or suggests slowing down or slowing down, and (5) if the vehicle slows down or slows down, the computer notifies the driver of this fact.

[0007] According to the present invention, it becomes possible to respond to pedestrian behavior that the driver did not anticipate.

[0008] This is a block diagram showing the vehicle's hardware configuration. This is a block diagram showing the vehicle's software configuration. This is a plan view showing the set route of the vehicle. This is a plan view showing an example where a pedestrian cannot see a pedestrian signal around the set route of the vehicle. This is a flowchart showing an example of a driver assistance method.

[0009] Hereinafter, an autonomous vehicle having a driver assistance method and a driver assistance device according to one embodiment of the present invention will be described with reference to the drawings.

[0010] <1. Vehicle Hardware Configuration> Figure 1 is a block diagram showing the vehicle hardware configuration. As shown in Figure 1, the vehicle 2 comprises an external environment acquisition unit 21, a vehicle control unit 22, a storage unit 23, a drive unit 24, a display unit 25, a speaker 26, a transmitting / receiving unit 27, and a navigation device 28. In this embodiment, the vehicle control unit 22 corresponds to the driver assistance device of this disclosure.

[0011] The external environment acquisition unit 21 includes at least a shooting unit 211, a distance detection unit 212, a position detection unit 213, a direction detection unit 214, and an object detection unit 215, and acquires information regarding the position and orientation of the vehicle 2, captured images (including video) of the area around the vehicle 2, and obstacles around the vehicle 2.

[0012] The imaging units 211 are provided in multiple locations and capture images of the area around the vehicle 2, including the front, rear, and sides of the vehicle 2, and output them as image data. These units are, for example, CCD cameras, CMOS cameras, or HD cameras. The imaging units 211 continuously capture images of the area around the vehicle 2 and output the captured images to the display unit 25 as real-time video showing the area around the vehicle 2.

[0013] The distance detection unit 212 measures the distance to objects in front of and around the vehicle 2, and can use various sensors such as a laser rangefinder or an ultrasonic sensor. Examples of objects to be detected include pedestrians, bicycles, motorcycles, automobiles, and obstacles on the road or sidewalk (construction sites, traffic control materials, median strips, traffic signals, commercial facilities, residential facilities, utility poles, signs, trees, etc.). The state of the objects to be detected is not particularly limited, and they can be detected whether they are moving or stationary.

[0014] The position detection unit 213 detects the current position of the vehicle 2, and can use, for example, a GPS device. The information regarding the current position of the vehicle 2 detected by the position detection unit 213 is output to the vehicle control unit 22.

[0015] The direction detection unit 214 detects the direction of travel of the vehicle 2 (the direction the vehicle is facing), and for example, a gyro sensor can be used.

[0016] The object detection unit 215 detects moving and stationary objects around the vehicle (in front, to the side, and behind), and can use, for example, a camera, laser radar, millimeter-wave radar, optical sensor, or infrared sensor. Examples of objects to be detected include various types of equipment, pedestrians, bicycles, motorcycles, automobiles, obstacles on the road or sidewalk (construction sites, traffic control materials, median strips, traffic signals, commercial facilities, residential facilities, signs, utility poles, trees, etc.), and weather conditions (shading, sunrise, sunset, sunny, cloudy, rain, snow, fog, etc.). The state of the object to be detected is not particularly limited, and it can detect objects that are moving or stationary. In addition, multiple object detection units 215 are provided to detect objects in front of, to the side of, and behind the vehicle 2.

[0017] The vehicle control unit 22 controls the movement of the vehicle 2 through automatic driving. For example, the vehicle control unit 22 controls the vehicle 2 to move along the input driving path based on various environmental information obtained by the external environment acquisition unit 21. It also performs processing based on the software configuration described later. For example, a computer such as an ECU (Electronic Control Unit) can be used as the vehicle control unit 22.

[0018] The vehicle control unit 22 uses various environmental information obtained by the external environment acquisition unit 21 to control the drive unit 24 in accordance with traffic laws and regulations and the surrounding conditions of the vehicle 2, thereby driving the vehicle 2. Specific operations include, for example, braking, turning signal operation, accelerator operation, steering operation, and shift lever operation. The automatic driving functions provided by the vehicle control unit 22 are not particularly limited, and known automatic driving technologies can be appropriately utilized.

[0019] The memory unit 23 is a storage medium for storing various types of information, and can be, for example, ROM, RAM, SRAM, HDD, SSD, or a combination thereof. The memory unit 23 stores various types of information necessary for the vehicle control unit 22 to perform various processes. For example, it stores control programs, map information, and information about the vehicle itself. The road information included in the map information includes information about various objects that restrict the vehicle's movement, such as road intersections, traffic lights, pedestrian crossings, sidewalks, median strips on the road, and guardrails along the road.

[0020] Map information may be provided by a navigation device 28 installed in the vehicle, or by an external server, etc.

[0021] The drive unit 24 includes a drive mechanism such as an electric motor and / or an internal combustion engine that are the driving source for the vehicle, a power transmission device including a drive shaft and an automatic transmission that transmits the output from these driving sources to the drive wheels, and a braking device that brakes the wheels. Based on the control signals input from the vehicle control unit 22, the drive unit 24 generates control signals for each of these drive mechanisms and performs driving control, including acceleration and deceleration of the vehicle. The drive unit 24 may also include other equipment necessary for the vehicle 2 to run, such as headlights, turn signals, hazard lights, and wipers.

[0022] The display unit 25 is a display device such as a screen installed inside the vehicle. The display unit 25 displays, for example, instruments, maps from the navigation system, operation screens for in-vehicle equipment, images of the outside of the vehicle taken by the camera unit 211, and information related to notifications to the driver, which will be described later.

[0023] Speaker 26 is a well-known device installed inside the vehicle, and when the aforementioned notification to the driver is made by voice, it is done through speaker 26. Speaker 26 is also used as an audio output device from audio equipment installed inside the vehicle.

[0024] The transmitting / receiving unit 27 transmits and receives various information and signals to and from devices such as servers outside the vehicle. For example, it can receive map information from a server outside the vehicle. The transmitting / receiving unit 27 includes, for example, a wireless device which is an interface such as a wireless LAN. The wireless device includes, for example, wireless modules such as Wi-Fi® and Bluetooth®. As a result, the server is connected to a network such as a wireless LAN, a public network such as the Internet, or a wireless network such as a mobile phone network including a communication base station.

[0025] The navigation device 28 is a well-known device that displays road information and other data to the input destination on its display unit based on map information. The navigation device 28 may be an in-vehicle unit, or it may use a navigation application provided from an external server or the like.

[0026] <2. Vehicle Software Configuration> Figure 2 is a block diagram showing the software configuration of the vehicle control unit 22 of the vehicle. The program loaded into the RAM of the vehicle control unit 22 is interpreted and executed by the ECU, etc. As a result, as shown in Figure 2, the vehicle control unit 22 functions as a computer equipped with an acquisition unit 221, a route generation unit 222, a determination unit 223, a drive control unit 224, and a notification unit 225.

[0027] <2-1. Acquisition Unit> The acquisition unit 221 acquires external environmental information related to the vehicle 2's movement using the external environment acquisition unit 21. The acquisition unit 221 also acquires the vehicle 2's travel route from the route generation unit 222, which will be described later. External environmental information related to the vehicle 2's movement includes, for example, the road the vehicle 2 is traveling on, the conditions of the intersection the vehicle 2 is about to enter, and information about pedestrians present near the intersection. More specifically, it includes, for example, the status of the traffic signals in the direction the vehicle 2 is traveling at the intersection, and the status of pedestrian signals. The vehicle 2's travel route is, for example, a pre-set route that primarily determines whether the vehicle will go straight, turn right, or turn left when it enters an intersection. The acquisition unit 221 can also acquire the above information from the navigation device 28 or an external server as needed.

[0028] For example, in the situation shown in Figure 3, at the intersection where the first road 51 on which the vehicle 2 is traveling intersects with the second road 52 which is perpendicular to the first road 51, (1) the vehicle 2 is entering the intersection and attempting to make a right turn. At the intersection, (2) the vehicle signal 53 in the direction of travel of the vehicle 2 is showing green, and (3) the pedestrian signal 55 at the crosswalk 54 on the side where the vehicle 2 is turning right is showing red. In other words, the vehicle signal 53 and the pedestrian signal 55 are time-delayed. Also, (4) a pedestrian P is standing on the sidewalk 56 on the vehicle 2 side adjacent to the crosswalk 54. The above information (1) to (4) is acquired by the acquisition unit 221.

[0029] Currently, the pedestrian signal 55 is showing red, and pedestrian P cannot enter the crosswalk 54. However, depending on the surrounding environment and the state of pedestrian P, there is a possibility that pedestrian P may mistakenly enter the crosswalk 54. Therefore, the acquisition unit 221 acquires information about the state of pedestrian P and the surrounding environment that may affect pedestrian P's actions.

[0030] For example, the external environment acquisition unit 21 detects (5) the direction of the pedestrian P's gaze. At this time, it is possible to determine which direction the pedestrian P's gaze is directed by image processing from the captured image of the pedestrian P's eyes. At this time, as shown in Figure 4, if the direction of the pedestrian P's gaze is not directed towards the pedestrian signal 55, it is possible that the pedestrian P has not seen the pedestrian signal 55.

[0031] Furthermore, the external environment acquisition unit 21 acquires (6) the conditions around the pedestrian P and the pedestrian signal 55. For example, as shown in Figure 4, if there are obstacles such as signs, utility poles, or trees near the pedestrian signal 55 that obstruct the view of the pedestrian P, the pedestrian P may not be able to see the pedestrian signal 55. The acquisition unit 221 also acquires the weather conditions at that time. For example, shading, sunrise, sunset, sunny, cloudy, rain, snow, fog, etc., may prevent the pedestrian P from seeing the pedestrian signal 55. In addition, if there is another intersection nearby, the pedestrian P may see the pedestrian signal at that intersection and mistake it for the pedestrian signal 55 in front of them. In this way, the acquisition unit 221 also acquires information related to (5) and (6) above.

[0032] <2-2. Route Generation Unit> The route generation unit can generate a route for the vehicle 2 based on at least one element, such as road conditions including lanes and traffic lights, surrounding objects including other vehicles and pedestrians, and a pre-set route to the vehicle's destination. Such a route can be generated, for example, by a machine learning model trained with each of the above elements as input. It is also possible to obtain a route generated by the server by communicating with the server.

[0033] <2-3. Determination Unit> When the acquisition unit 221 acquires (detects) the information described in (1) to (4) above, the determination unit 223 makes a determination regarding (5) and (6) above. These determinations are not particularly limited, but for example, they can be made using the following criteria.

[0034] Regarding (5), for example, the angle at which pedestrian P's line of sight is deviated from the pedestrian signal 55 can be calculated, and if that angle is greater than or equal to a predetermined angle, it can be determined that pedestrian P is not seeing the pedestrian signal 55. Also, if pedestrian P's line of sight is not directed towards the pedestrian signal for a predetermined time, it can be determined that pedestrian P is not seeing the pedestrian signal 55. The above criteria can also be combined as appropriate.

[0035] Regarding (6), for example, if a predetermined percentage (for example, 50% or more) of the pedestrian signal 55 is obscured by obstacles such as trees when viewed from the perspective of pedestrian P, it can be determined that pedestrian P cannot see the pedestrian signal 55. Also, when making a determination based on weather conditions, for example, thresholds can be set for the intensity of light hitting pedestrian P, the degree of rain, snow, fog, etc., and if these thresholds are exceeded, it can be determined that pedestrian P cannot see the pedestrian signal 55. Alternatively, if a pedestrian signal at another adjacent intersection is within a predetermined range from the pedestrian signal 55 that pedestrian P is facing, it can be determined that pedestrian P may mistake the pedestrian signal 55.

[0036] In the above determination, for example, a determination can be made as to whether or not to perform the drive control described later under the following conditions (a) and (b): (a) For example, when the acquisition unit 221 detects (1) to (4) above, the pedestrian signal 55 is showing red, but even so, for example, in the case of (5), or if the pedestrian signal at another adjacent intersection shown in (6) is green, there is a possibility that pedestrian P will walk across the crosswalk 54. Therefore, in this case, control is performed by the drive control unit 224 as described later.

[0037] (b) For example, when the acquisition unit 221 detects (1), (2), or (4) above, the pedestrian signal 55 is showing green or red. In this case, for example, in the case of (5) or (6), there is a risk that the pedestrian P may misinterpret the pedestrian signal. Therefore, in this case, control is performed by the drive control unit 224 as described later.

[0038] <2-4. Drive Control Unit> When the drive control unit 224 makes a determination as described above in either (a) or (b), it slows down or makes the vehicle 2 move slowly. If there is a risk that the vehicle 2 will come into contact with a pedestrian P walking on the crosswalk 54, it stops the vehicle 2 or the route generation unit 222 generates a new route for the vehicle 2 and controls it to proceed along that route.

[0039] <2-5. Notification Unit> The notification unit 225 notifies at least the occupants, including the driver, that the vehicle 2 will slow down or proceed slowly when the determination unit 223 makes one of the determinations (a) or (b) described above and the drive control unit 224 causes the vehicle 2 to slow down or proceed slowly. The notification method is not particularly limited, but for example, it can be an audio notification from the speaker 26 inside the vehicle, a notification by displaying text, a graphic, etc. indicating proximity to the display unit 25, or a notification by illumination, and multiple combinations of these can also be used. The notification unit 225 can also notify the reason why the vehicle 2 will slow down or proceed slowly. For example, it can notify, "The pedestrian signal is red, but pedestrian P is walking on the crosswalk, so we will slow down."

[0040] <3. Driving Assistance Methods> Next, we will explain the driving assistance methods for the vehicle configured as described above, referring to the flowchart in Figure 5. Here, we will explain the flowchart in Figure 5 with reference to the example in Figure 3.

[0041] The route of the host vehicle 2 is preset by the route generation unit 222, and the host vehicle 2 travels according to this route. In the example shown in FIG. 3, the host vehicle 2 traveling straight on the first road 51 is approaching an intersection. At this time, the acquisition unit 221 recognizes the vehicle traffic signal 53 at the intersection, and when the vehicle traffic signal 53 displays green, it attempts to turn right at the intersection according to the set route (YES in step S11). On the other hand, when the vehicle traffic signal 53 is red (NO in step S11), the host vehicle stops at the stop line, and then attempts to turn right when the vehicle traffic signal 53 turns green.

[0042] When the host vehicle 2 turns right at the intersection, if the pedestrian traffic signal 55 is red (YES in step S12), the acquisition unit 221 recognizes the surrounding environment, and recognizes the presence of a pedestrian P who may cross (or is already crossing) the crosswalk 54 on the right-turn side of the host vehicle 2 (step S13). Then, when the determination unit 223 determines, for example, that there is a possibility that the pedestrian P cannot visually recognize the pedestrian traffic signal 55 according to the above (6) (YES in step S14), the drive control unit 224 decelerates or slows down the host vehicle 2 (step S15). Following this or at the same time, the notification unit 225 notifies the driver that the host vehicle 2 will decelerate or slow down (step S16).

[0043] On the other hand, when the pedestrian traffic signal 55 is not red when the host vehicle 2 turns right (NO in step S12), or when it is determined that the pedestrian P can visually recognize the pedestrian traffic signal 55 (NO in step S14), the host vehicle travels along the preset route without performing deceleration or slowing down according to step S15 (step S17). Even in this case, if the pedestrian P is present on the set route, deceleration, slowing down, or stopping is performed.

[0044] The above describes the pattern (a) mentioned above, and the same applies to the pattern (b).

[0045] <4. Features> According to the driving support method according to the present embodiment, regardless of the display of the pedestrian traffic light 55, when it is determined that there is a possibility that the pedestrian P may walk across the crosswalk 54, or when it is determined that there is a possibility that the pedestrian P may walk across the crosswalk 54 due to misperception, the host vehicle 2 is configured to decelerate or travel at slow speed. In this case, the driver may feel uncomfortable with the deceleration or slow travel caused by the unintended behavior of the pedestrian P. Therefore, when such deceleration or slow travel is performed, the notification unit 225 is configured to issue a notification. As a result, the driver's uncomfortable feeling can be reduced.

[0046] <5. Modifications> One embodiment of the present invention has been described above. However, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, the following modifications are possible. Further, the gist of the following modifications can be appropriately combined with each other, and can also be combined with the above embodiment.

[0047] (1) The behaviors of the host vehicle 2 and the pedestrian P at the intersection shown in the above embodiment are merely examples, and other behaviors may be adopted. For example, when the host vehicle 2 turns left at an intersection, the present invention can also be applied to a case where a pedestrian P walks on the crosswalk on the left turn side. Further, in the above embodiment, the traveling direction of the host vehicle 2 is the same as the traveling direction of the pedestrian P. However, the present invention is also applicable when the traveling direction of the pedestrian P walking on the crosswalk 54 is the opposite direction (from the upper side to the lower side in FIG. 3).

[0048] Further, in the above embodiment, an example is shown in which the vehicle traffic light 53 and the pedestrian traffic light 55 are of a time-difference type, that is, the vehicle traffic light 53 is green but the pedestrian traffic light turns red earlier than that. However, the vehicle traffic light 53 and the pedestrian traffic light 55 may turn red at the same time instead of being of the time-difference type. This case corresponds to the pattern (b) described above.

[0049] (2) In the above embodiment, the vehicle control unit 22, which is the driving assistance device of the present disclosure, is configured with a computer mounted on the vehicle itself. However, the driving assistance device can also be located elsewhere than the vehicle itself. For example, it can be located on a server that can communicate with the vehicle itself or on another vehicle. Alternatively, at least some of the functions of the external environment acquisition unit 21 can be implemented on a server that can communicate with the vehicle itself, on another vehicle, or on infrastructure equipment.

[0050] (3) In the above embodiment, when the vehicle 2 slows down or moves slowly in the pattern of (a) or (b) described above, a notification is given to that effect. However, it is also possible to set cases in which notification is not necessary. For example, when the vehicle 2 is slowing down or moving slowly, a notification may be given if the in-vehicle camera detects a change in at least one of the driver's (or other occupant's) gaze, facial expression, and behavior. In such cases, it is assumed that the driver is concerned about the vehicle 2 slowing down or moving slowly, so a notification is necessary. However, when the above-mentioned change cannot be detected, it is assumed that the driver is not concerned about the slowing down or moving slowly, so a notification may be deemed unnecessary.

[0051] (4) In the above embodiment, the vehicle 2 is slowed down or slowed down in the pattern of (a) or (b) described above, but it is also possible to slow down or slow down after the driver has given permission. For example, when the notification unit 225 notifies that the vehicle needs to slow down or slow down, the vehicle may slow down or slow down only when the driver gives permission using the touch panel or other operation switches on the display unit 25, or when permission is given by voice.

[0052] (5) In the above embodiment, the case in which the vehicle 2 performs autonomous driving has been described, but the present invention can also be applied to vehicles that do not perform autonomous driving. That is, even when a driver is driving, as described above, if pattern (a) or (b) is determined, the vehicle may automatically decelerate or slow down. In addition, the vehicle 2 may suggest decelerating or slowing down before actually doing so.

[0053] 2: Own vehicle 22: Vehicle control unit 51: First road 52: Second road 54: Pedestrian crossing 55: Pedestrian signal 56: Sidewalk 221: Acquisition unit 225: Notification unit P: Pedestrian

Claims

1. A computer-based driving assistance method, wherein, at an intersection where a first road and a second road intersect, when the vehicle enters the intersection from the first road, the computer detects that the traffic light for vehicles traveling on the first road is green, that the vehicle will turn right or left at the intersection, and that the pedestrian traffic light for a crosswalk crossing the second road at the intersection is red, and if the computer determines that there is a possibility of pedestrians walking on the crosswalk on the side the vehicle is turning at the intersection, the computer slows down or slows down the vehicle, or suggests slowing down or slowing down the vehicle, and if the computer slows down or slows down the vehicle, it notifies the driver of this fact.

2. A computer-based driving assistance method, wherein, at an intersection where a first road and a second road intersect, the computer detects that, when the vehicle enters the intersection from the first road, the signal for vehicles traveling on the first road is green, and that the vehicle will turn right or left at the intersection, and if it determines that a pedestrian may mistake the pedestrian signal at the crosswalk on the side the vehicle is turning at the intersection, the computer slows down or slows down the vehicle, or suggests slowing down or slowing down the vehicle, and if the computer slows down or slows down the vehicle, it notifies the driver of this fact.

3. The driving assistance method according to claim 1 or 2, wherein the determination is made when it is determined that the direction of the pedestrian's gaze is deviated from the pedestrian signal facing the pedestrian.

4. The driving assistance method according to claim 1 or 2, wherein the determination is made when the pedestrian signal is obstructed by the surrounding environment.

5. The driving assistance method according to claim 4, wherein the surrounding environment that obstructs the pedestrian signal is an object located around the pedestrian signal.

6. The driving assistance method according to claim 4, wherein the surrounding environment that obstructs the pedestrian signal is weather.

7. The driving assistance method according to claim 1 or 2, wherein the determination is made when there is a pedestrian signal at another intersection within a predetermined range from the pedestrian signal.

8. The driving assistance method according to claim 1 or 2, wherein if the above determination is made, and if the driver gives permission, the vehicle is made to decelerate or move slowly.

9. The driving assistance method according to claim 1 or 2, further comprising: when the vehicle is slowed down or moved slowly, and when a change in at least one of the driver's gaze, facial expression, and behavior is detected, the driver is notified that the vehicle should be slowed down or moved slowly.

10. A driving assistance device comprising: an acquisition unit for acquiring the external environmental conditions of the vehicle and the vehicle's travel path; a vehicle control unit; and a notification unit, wherein the acquisition unit detects that, at an intersection where a first road and a second road intersect, when the vehicle enters the intersection from the first road, the traffic light for vehicles traveling on the first road is green, the vehicle is turning right or left at the intersection, and the pedestrian signal for a pedestrian crossing crossing the second road at the intersection is red; and based on the external environmental conditions acquired by the acquisition unit, the control unit determines that there is a possibility of pedestrians walking on the pedestrian crossing on the side of the vehicle turning at the intersection, the vehicle control unit slows down or slows down the vehicle, or suggests slowing down or slowing down the vehicle; and the notification unit notifies the driver that the vehicle should slow down or slow down.

11. A driving assistance device comprising: an acquisition unit for acquiring the external environmental conditions of the vehicle and the vehicle's travel route; a vehicle control unit; and a notification unit, wherein the acquisition unit detects that, at an intersection where a first road and a second road intersect, the vehicle is entering the intersection from the first road, the signal for vehicles traveling on the first road is green, and the vehicle is turning right or left at the intersection; and based on the external environmental conditions acquired by the acquisition unit, the control unit determines that a pedestrian may mistake the pedestrian signal at the crosswalk on the side the vehicle is turning at the intersection for the pedestrian, the vehicle control unit slows down or slows down the vehicle, or suggests slowing down or slowing down the vehicle; and the notification unit notifies the driver that the vehicle should slow down or slow down.

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