JP2005182753A - Vehicle driving assisting apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle driving assisting apparatus which can speedily determine whether the vehicle can pass through a narrow road. <P>SOLUTION: The number of pixels in each horizontal line (HD) direction at every horizontal line (HD) necessary for traveling of a vehicle is stored, and it is determined whether the vehicle can pass through by a parking vehicle (V<SB>STP</SB>) on the basis of a ratio (SP<SB>VD</SB>) of the number of pixels of the road where no vehicle (V<SB>STP</SB>) is parking to the number of pixels required for traveling in a photographed picture and the ratio (VP<SB>VD</SB>) of the number of pixels in the horizontal line (HD) direction at every horizontal line (HD) based on the width of the vehicle to the number of pixels required for traveling. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vehicle driving support device.

2. Description of the Related Art Conventionally, a vehicle driving support device has been proposed that provides a driver with the possibility of contact between an obstacle and the host vehicle when traveling on a narrow road (see, for example, Patent Document 1). According to the vehicle driving support device disclosed in Patent Document 1, for example, position information of an object existing in front of the host vehicle is detected, and the object detected as the host vehicle is detected based on the position information of the detected object. Is determined to be contactable, and a display signal corresponding to the determined result is output.
JP-A-9-106500

  In the above-described conventional vehicle driving support device, when determining the possibility of contact with the detected object, a future traveling locus of the own vehicle is estimated from the vehicle speed and the steering angle of the own vehicle, and the estimated traveling locus is estimated. Set contact risk judgment line based on. Then, in order to determine the contact possibility from the positional relationship between the set contact risk determination line and the edge of the obstacle, when determining the contact possibility, the vehicle speed and the steering angle of the host vehicle are always acquired. Therefore, it is necessary to set a contact risk determination line based on this, and a quick contact possibility cannot be determined.

  The present invention has been made in view of such a problem, and an object of the present invention is to provide a vehicle driving support device that can quickly determine whether or not a vehicle can pass when traveling on a narrow road.

  The vehicle driving support device according to claim 1 is a pixel in an image of an object existing on a road ahead of the host vehicle and an image on the road ahead of the host vehicle from an imaging unit that captures an image in front of the host vehicle and an image captured by the imaging unit. Object detection means for detecting the position, storage means for storing the number of pixels in the left-right direction of the image according to the pixel position in the vertical direction of the image necessary for traveling of the host vehicle in the image, and detection by the object detection means Extraction means for extracting only pixel positions where no object exists on the road, and for each pixel position in the vertical direction of the image, the ratio of the number of pixels in the horizontal direction extracted by the extraction means to the number of horizontal pixels stored in the storage means A calculating means for calculating, and a determining means for determining whether or not the vehicle can pass when the vehicle travels beside the object based on the ratio of the number of pixels calculated by the calculating means. That.

  As described above, the present invention stores the number of pixels in the left-right direction of the image necessary for traveling of the host vehicle in the image captured by the imaging unit in accordance with the pixel position in the vertical direction of the image, and is necessary for this traveling. Based on the ratio of the number of pixels in the road in which the object does not exist to the number of pixels, the vehicle determines whether or not the vehicle can pass when the vehicle travels beside the object. As a result, it is possible to quickly determine whether or not the vehicle can pass through a narrow road without acquiring the vehicle speed and steering angle of the host vehicle or setting a contact risk determination line based on the vehicle speed. it can.

  According to the vehicle driving support apparatus of the second aspect, the ratio of the number of pixels in the left-right direction extracted by the extraction unit to the number of pixels in the left-right direction stored in the storage unit calculated by the calculation unit is determined by the own vehicle. If the ratio is less than the ratio of the number of pixels based on the vehicle width of the vehicle, it is determined that the host vehicle cannot pass beside the object. As a result, it can be quickly determined that the host vehicle cannot pass the side of the object.

  According to the vehicle driving support apparatus of the third aspect, the calculating means is the extraction means for the number of pixels in the left-right direction stored in the storage means within the range of the vertical pixel positions of the image of the object existing on the road. The ratio of the number of pixels in the left-right direction to be extracted is calculated.

  Since the present invention determines whether or not the vehicle can pass when traveling next to an object existing in front of the host vehicle, the ratio of the number of pixels only in the range of pixel positions in the vertical direction in the image of the object existing on the road Is calculated, it is possible to determine whether or not the vehicle can pass when traveling next to the object. As a result, it is possible to shorten the processing time until the pass / fail determination is performed.

  According to the vehicle driving support apparatus of the fourth aspect, the object detection means is configured to detect the object existing in the left and right own vehicle lanes indicating the travel classification of the own vehicle on the road ahead of the own vehicle and in the own vehicle lane. A pixel position in the image is detected, and the extraction unit extracts only a pixel position where no object exists in the own vehicle lane detected by the object detection unit. Accordingly, it is possible to accurately determine the case where the vehicle cannot pass the side of the object existing in the own vehicle lane in the own vehicle lane.

  According to the vehicle driving support apparatus according to claim 5, the object detection means includes an object existing in the left and right own vehicle lanes, the vehicle lane indicating the traveling section of the own vehicle on the road ahead of the own vehicle, and The pixel position in the image of the object existing in the opposite lane of the host vehicle lane is detected, and the pixel position of the leftmost part of the object present in the opposite lane detected by the object detection means is more than the pixel position of the right host vehicle lane The number of pixels in the horizontal direction of the image between the pixel position of the leftmost part of the object located in the left direction of the image or in the opposite lane and the pixel position of the right host vehicle lane is set in advance. When the number of pixels is equal to or less than the number of pixels in the vertical direction, the extraction means detects the pixel position where no object exists in the own vehicle lane detected by the object detection means, or the object in the opposite lane to the left own vehicle lane. Object between the leftmost part And extracting a nonexistent pixel position.

  For example, when there is a parked parked vehicle along the left host vehicle lane, and the vehicle is about to pass the right side of the parked vehicle, the driver of the host vehicle must move left and right in the opposite lane of the oncoming vehicle traveling in the opposite lane. Depending on the position, it is determined whether to pass the right side of the parked vehicle as it is or whether to wait in front of the parked vehicle until the oncoming vehicle passes.

  That is, when the position of the right host vehicle lane as the center line is far away from the position of the leftmost part of the oncoming vehicle, the driver of the host vehicle generally determines that the oncoming vehicle has the current left-right position in the opposite lane. The distance between the position of the rightmost vehicle lane and the position of the right vehicle lane determined that the vehicle keeps running (in other words, the oncoming vehicle will not exceed the right vehicle lane in a short time) Whether or not the vehicle passes the right side of the parked vehicle.

  On the other hand, when the position of the right own vehicle lane and the position of the leftmost part of the oncoming vehicle are close to each other, the driver of the own vehicle generally exceeds the right own vehicle lane in a short time. Judge that there is a possibility. In such a case, the driver of the own vehicle actually parks the vehicle on the basis that the oncoming vehicle may exceed the right own vehicle lane even if the position of the leftmost part of the oncoming vehicle does not exceed the right own vehicle lane. Whether or not the vehicle passes the right side of the parked vehicle is determined based on the interval between the position of the rightmost end portion of the vehicle and the position of the leftmost end portion of the oncoming vehicle. Therefore, by determining whether to pass according to the positional relationship between the position of the leftmost part of the oncoming vehicle and the position of the right host vehicle lane as the center line, whether to pass according to the vehicle width sensation of the driver of the host vehicle Judgment can be made.

  The vehicle driving support device according to claim 6 is an imaging unit that captures an image of the traveling direction of the host vehicle, and a boundary position on the left and right of the road in the traveling direction of the host vehicle from the image captured by the imaging unit, and the road Object detection means for detecting the positions of the left and right endmost parts of the upper object, required travel width storage means for storing the required travel width required when the host vehicle travels, road detection detected by the object detection means Based on the left and right boundary positions, the positions of the left and right endmost parts of the object, and the necessary travel width stored in the necessary travel width storage means, whether or not the vehicle is allowed to pass when traveling next to the object is determined. And determining means.

  As described above, the vehicle travels beside the object based on the left and right boundary positions of the road, the position of the left and right end portions of the object, and the length relationship of the necessary travel width required when the host vehicle travels. By determining whether or not the vehicle can pass, it is possible to pass quickly when driving on narrow roads without acquiring the vehicle speed and steering angle of the host vehicle or setting a contact risk determination line based on it. It is possible to determine whether it is possible.

  According to the vehicle driving support device according to claim 7, the object detecting means includes a left-side passable width indicating a length from the position of the leftmost end portion of the object to the left boundary position of the road, and the rightmost end portion of the object. Calculation means for calculating at least one length of the right passable width indicating the length from the position of the road to the right boundary position of the road, the passability determination means, the left passable width calculated by the calculation means, and When all of the right passable widths are shorter than the required travel width, it is determined that the host vehicle cannot pass beside the object. As a result, it is possible to accurately determine the case where the host vehicle cannot pass both the left side and the right side of the object on the road in the traveling direction of the host vehicle.

  According to the vehicle driving support apparatus of the eighth aspect, the object detecting means detects the positions of the left and right own vehicle lanes indicating the traveling section of the own vehicle as the left and right boundary positions of the road, and As the position of the end part, the position of the left and right end parts of the object located in the left and right vehicle lanes is detected, and the position of the leftmost part of the object detected by the object detection means to the position of the left vehicle lane A calculating means for calculating at least one of a left-side passable width indicating the length and a right-side passable width indicating the length from the position of the rightmost end portion of the object to the position of the right vehicle lane; The possibility determination means determines that the host vehicle cannot pass beside the object when both the left passable width and the right passable width calculated by the calculation means are shorter than the required travel width. It is characterized by determining. Thereby, in the own vehicle lane in the traveling direction of the own vehicle, it is possible to accurately determine the case where the own vehicle cannot pass either the left side or the right side of the object located in the own vehicle lane.

  According to the vehicle driving support apparatus of the ninth aspect, the object detection means further detects the positions of the left and right endmost parts of the oncoming vehicle traveling in the opposite lane of the host vehicle lane, and the calculation means includes the object detection means. The position of the leftmost part of the oncoming vehicle detected by the vehicle is closer to the center of the own vehicle lane than the position of the right own vehicle lane, or the position of the leftmost part of the oncoming vehicle and the position of the right own vehicle lane When the distance is within a predetermined distance, the length from the position of the rightmost end part of the object to the position of the leftmost end part of the oncoming vehicle is calculated as the right passable width.

  As described above, when the position of the right own vehicle lane and the position of the leftmost end portion of the oncoming vehicle are close to each other, the driver of the own vehicle actually sets the position of the leftmost end portion of the oncoming vehicle to the right side. Based on the distance between the position of the rightmost part of the parked vehicle and the position of the leftmost part of the oncoming vehicle, the right side of the parked vehicle is determined based on the possibility that the oncoming vehicle will exceed the right host vehicle lane even if the vehicle lane is not exceeded. To determine whether or not to pass. Therefore, by determining whether to pass according to the positional relationship between the position of the leftmost part of the oncoming vehicle and the position of the right host vehicle lane as the center line, whether to pass according to the vehicle width sensation of the driver of the host vehicle Judgment can be made.

  According to the vehicle driving support device of the tenth aspect, the object detection means detects the positions of the left and right own vehicle lanes indicating the traveling section of the own vehicle as the left and right boundary positions of the road, and As the position of the end part, the positions of the left and right end parts of the object located in the left and right host vehicle lanes are detected, and a plurality of objects are located at substantially the same distance from the host vehicle in the host vehicle lane by the object detecting means. Is detected, the calculation means for calculating the passable width between the objects indicating the length between the endmost portions of each of the plurality of objects is provided, and the passability determination means is the pass between the objects calculated by the calculation means. When the possible width is shorter than the required travel width, the host vehicle determines that the vehicle cannot pass beside the object.

  Thereby, for example, in a situation where two vehicles are parked along the left and right own vehicle lanes, it is accurately determined whether or not the vehicle can pass between the two parked vehicles. Can do.

  The vehicle driving support device according to claim 11 includes an alerting means for alerting the driver of the host vehicle when the determining unit determines that the host vehicle cannot pass beside the object. It is characterized by that. As a result, it is possible to inform the driver of the host vehicle that the vehicle cannot pass beside the object existing in front of the host vehicle.

  The vehicle driving support apparatus according to claim 12 includes a travel restriction unit that restricts the travel of the host vehicle when the determination unit determines that the host vehicle cannot pass the side of the object. Features. Thereby, contact with an object existing in front of the host vehicle can be prevented in advance, and even when the object is in contact with the object, an impact at the time of contact can be reduced.

  According to the vehicle driving support device of the thirteenth aspect, the travel restricting means restricts an operation to open the accelerator. Thereby, even if it is a case where it contacts with the object which exists ahead of the own vehicle, the impact at the time of the contact can be relieved.

  According to the vehicle driving support apparatus of the fourteenth aspect, the host vehicle includes automatic braking means that automatically drives the braking device, and the travel restriction means performs automatic braking by the automatic braking means. . Thereby, the contact with the object which exists ahead of the own vehicle can be avoided.

  According to the vehicle driving support apparatus of the fifteenth aspect, the object detecting means excludes the preceding vehicle existing on the road ahead of the host vehicle from the detection target object. Thereby, a preceding vehicle can be prevented from being erroneously detected as, for example, a parked vehicle.

  Hereinafter, a vehicle driving support device of the present invention will be described based on the drawings.

(First embodiment)
In FIG. 1, the whole structure of the vehicle driving assistance device in this embodiment is shown. As shown in the figure, the vehicle driving support apparatus 200 includes an accelerator sensor 10, a steering sensor 20, a laser radar sensor 30, a yaw rate sensor 40, a vehicle speed sensor 50, a CCD camera 60, and a brake sensor 70, each of which has a computer 80. Connected to.

  The vehicle driving support device 200 further includes a throttle driver 90, a brake driver 100, a steering driver 110, an automatic transmission controller 120, a display device 130, an input device 140, and an alarm device 150, each of which is a computer. 80.

  The computer 80 includes an input / output interface (I / O) (not shown) and various drive circuits. Since these hardware configurations are general, a detailed description of the configuration will be omitted. The computer 80 determines whether or not the host vehicle can pass when traveling on a narrow road, and executes a narrow road driving support process for performing driving support according to the determination result.

  Further, the computer 80 drives the throttle driver 90, the brake driver 100, the steering driver 110, the automatic transmission controller 120, and the like based on information from each sensor, and maintains the traveling lane of the host vehicle. Lane maintenance traveling control for traveling the vehicle and traveling control processing such as inter-vehicle distance control for traveling while maintaining the inter-vehicle time with the preceding vehicle to be an appropriate inter-vehicle time.

  The accelerator sensor 10 detects whether or not the driver has operated the accelerator pedal (On / Off). The detected accelerator pedal operation signal is sent to the computer 80. The steering sensor 20 detects a change amount of the steering angle of the steering wheel, and a relative steering angle is detected from the value.

  The laser radar sensor 30 irradiates a predetermined range in front of the vehicle with the laser beam, thereby detecting the distance from the reflecting object such as the preceding vehicle that reflects the laser beam, the relative speed, and the direction of the reflecting object with respect to the host vehicle. To do. The object information composed of the detection result is converted into an electrical signal and then output to the computer 80. The laser radar sensor 30 detects an object using laser light, but may detect an object around the vehicle using radio waves such as millimeter waves and microwaves, ultrasonic waves, and the like. Good.

  The yaw rate sensor 40 detects an angular velocity around the vertical direction of the vehicle. The vehicle speed sensor 50 is a sensor that detects a signal corresponding to the rotational speed of the wheel. The brake sensor 70 detects whether or not the driver has operated the brake pedal (On / Off). The detected brake pedal operation signal is sent to the computer 80.

  The CCD camera 60 is an optical camera and is provided at a position where the front of the host vehicle can be photographed. The CCD camera 60 captures, for example, a host vehicle lane, a parked vehicle, and the like that indicate the travel classification of the host vehicle on the road ahead of the host vehicle, as shown in FIG. The CCD camera 60 is configured to be able to adjust a shutter speed, a frame rate, a gain of a digital signal output to the computer 80, and the like according to an instruction from the computer 80. The CCD camera 60 also outputs a digital signal having a pixel value indicating the degree of brightness for each pixel of the captured image to the computer 80 together with the horizontal / vertical synchronization signal of the captured image.

  The throttle driver 90, the brake driver 100, the steering driver 110, and the automatic transmission controller 120 are all driven according to instructions from the computer 80. The throttle driver 90 controls the output of the internal combustion engine by adjusting the opening of the throttle valve. The brake driver 100 adjusts the brake pressure, and the steering driver 110 drives the steering by generating rotational torque in the steering. The automatic transmission controller 120 selects the gear position of the automatic transmission necessary for controlling the speed of the vehicle.

  The display device 130 is configured by a liquid crystal display, for example, and is installed near the center console in the vehicle interior. The display device 130 receives image data or the like for warning display that alerts the driver and is output from the computer 80, and displays an image corresponding to each image data.

  As the input device 140, for example, a touch switch or a mechanical switch integrated with the display device 130 is used, and is used for various inputs such as character input. The alarm device 150 is a device that generates an alarm sound for alerting the driver, and outputs an alarm according to an instruction from the computer 80.

  For example, in the lane keeping traveling control, an alarm is output when the own vehicle departs from the traveling lane. In the inter-vehicle distance control, the own vehicle suddenly approaches the preceding vehicle, and the inter-vehicle distance control is controlled. An alarm is output when the limit is exceeded.

  Next, a control block diagram of the computer 80 is shown in FIG. As shown in the figure, the control process of the computer 80 includes an input / output unit 81, an edge detection unit 82, a pixel position extraction unit 83, a storage unit 84, a calculation unit 85, a passability determination unit 86, and an alarm generation unit 87. Divided into blocks. The input / output unit 81 inputs signals output from various sensors and the like and outputs signals to be output processed by the computer 80.

  The edge detection unit 82 first acquires only the pixel value for each pixel at the angle of view in the preset image from among the pixel values for each pixel of the captured image from the CCD camera 60. For example, as shown in FIG. 4, an angle of view A including the host vehicle lane from several meters to several tens of meters ahead of the host vehicle is set as the field angle from which the pixel value is to be acquired. Only the pixel value for each pixel in the horizontal line (HD) / vertical line (VD) is acquired. In addition, the numerical value which the pixel value in this embodiment can take is the range (256 gradations) from 0 to 255, for example.

  Next, the edge detection unit 82 compares the pixel value of each pixel within the acquired angle of view with a preset edge threshold value, and performs edge detection that extracts a pixel position that indicates a pixel value equal to or greater than the edge threshold value. . The edge threshold is set based on pixel values corresponding to each object such as a road normally photographed by the CCD camera 60, a vehicle lane provided on the road, a vehicle such as a parked vehicle, an oncoming vehicle, etc. By using the set edge threshold value, pixel positions corresponding to the road, the own vehicle lane, and the object on the road are extracted. This edge detection is repeatedly performed from the leftmost pixel to the rightmost pixel of the vertical line (VD), for example, from the top to the bottom of the horizontal line (HD) in the angle of view A.

  In the present embodiment, the preceding vehicle existing in front of the host vehicle is excluded from the objects to be detected. For example, the pixel position of the object detected by the edge detection unit 82 is stored, a vehicle that travels in the same direction as the traveling direction of the host vehicle is specified as a preceding vehicle from the stored history, and the specified preceding vehicle is detected. Exclude it from the target. Thereby, a preceding vehicle can be prevented from being erroneously detected as, for example, a parked vehicle.

The pixel position extraction unit 83 extracts a pixel position in the host vehicle lane excluding pixels corresponding to an object between pixel positions corresponding to the left and right host vehicle lanes extracted by the edge detection unit 82. Thereby, for example, as shown in FIG. 5, the pixel position in the host vehicle lane excluding the parked vehicle V _STP as an object existing in the host vehicle lane between the left host vehicle lane LLH and the right host vehicle lane LCT. A region B consisting of is extracted.

Here, it is not necessary to extract all the pixel positions of the region B, it may be extracted pixel position serving as the lateral boundary of the region B of each horizontal line (HD), further, the parked vehicle V _STP Only the pixel position that is the boundary in the horizontal direction of the region B for each horizontal line (HD) corresponding to the height may be extracted. That is, the driving support device 200 according to the present embodiment determines whether or not the vehicle can pass when traveling next to an object existing in front of the host vehicle. Therefore, the driving support device 200 for each horizontal line (HD) corresponding to the height of V _STP. By extracting only the pixel position that becomes the horizontal boundary of the region B, it is possible to shorten the processing time until the pass / fail determination is made.

  The storage unit 84 stores the number of pixels in the horizontal line (HD) direction for each horizontal line (HD) required for traveling of the host vehicle at the angle of view A. The number of pixels is set as the number of pixels by converting a width (VW) obtained by adding a predetermined margin to the vehicle width of the host vehicle into the angle of view A as shown in FIG. For example, as shown in FIG. 7, the number of pixels converted into the angle of view A is set so that the number decreases as the position is higher on the horizontal line (HD).

For example, as illustrated in FIG. 8, the calculation unit 85 may calculate a horizontal line (HD) necessary for traveling of the host vehicle stored in the storage unit 84 for each horizontal line (HD) corresponding to the height of the parked vehicle V _STP. ) Calculate the ratio (SP _VD ) of the number of pixels in the horizontal line (HD) direction of the region B to the number of pixels in the direction.

The pass / fail judgment unit 86 determines the number of pixels in the horizontal line (HD) direction for each horizontal line (HD) in which the ratio (SP _VD ) for each horizontal line (HD) calculated by the calculation unit 85 corresponds to the vehicle width of the host vehicle. Or less (VP _VD ) or less. Then, the determination result is sent to the alarm generation unit 87.

The alarm generation unit 87 determines from the pass / fail determination unit 86 that the ratio (SP _VD ) for each horizontal line (HD) is the number of pixels in the horizontal line (HD) direction for each horizontal line (HD) corresponding to the vehicle width of the host vehicle. If it is determined that the ratio is less than or equal to (VP _VD ), an alarm is generated to alert the driver of the host vehicle. For example, an alarm indicating that the vehicle cannot pass by a parked vehicle in front of the host vehicle is generated. As a result, it is possible to inform the driver of the host vehicle that the vehicle cannot pass beside the parked vehicle.

  Next, a narrow road driving support process by the vehicle driving support apparatus 200 related to the characteristic part of the present embodiment will be described with reference to the flowchart shown in FIG. First, in step (hereinafter referred to as S) 10 shown in FIG. 9, pixel positions corresponding to the vehicle lane and the object are extracted by edge detection. In S20, the pixel position in the own vehicle lane excluding the object in the own vehicle lane detected in S10 is extracted.

In S30, the number of pixels in the horizontal line (HD) direction in the own vehicle lane excluding objects in the own vehicle lane with respect to the number of pixels in the horizontal line (HD) direction for each horizontal line (HD) required for traveling of the own vehicle. _Is calculated (SP _VD ).

In S40, it is determined whether or not the ratio (SP _VD ) calculated in S30 is equal to or less than the ratio (VP _VD ) of the number of pixels in the horizontal line (HD) direction for each horizontal line (HD) based on the vehicle width of the host vehicle. . If the determination is affirmative, the process proceeds to S50. If the determination is negative, the process proceeds to S10, and the above-described process is repeated. In S50, an alarm for alerting the driver is generated.

As described above, the vehicle driving support apparatus 200 according to the present embodiment stores the number of pixels in the horizontal line (HD) direction for each horizontal line (HD) necessary for traveling of the host vehicle, and the number of pixels necessary for the traveling. The ratio (SP _VD ) of the number of pixels on the road where no object exists in the photographed image and the ratio of the number of pixels in the horizontal line (HD) direction for each horizontal line (HD) based on the vehicle width of the host vehicle (VP _VD ), Whether or not the vehicle can pass when the vehicle travels beside the object is determined. As a result, it is possible to quickly determine whether or not the vehicle can pass through a narrow road without acquiring the vehicle speed and steering angle of the host vehicle or setting a contact risk determination line based on the vehicle speed. it can.

(Modification 1)
In the present embodiment, in S40 shown in FIG. 9, the ratio (SP _VD ) calculated in S30 is the ratio of the number of pixels in the horizontal line (HD) direction for each horizontal line (HD) based on the vehicle width of the host vehicle ( If it is determined that VP _VD ) or less, an alarm is generated in S50. At the same time as the alarm is generated, for example, a limit may be imposed on the traveling of the host vehicle.

  For example, as shown in FIG. 10, a host vehicle travel control unit 88 is added as a function of a computer 80 that constitutes the vehicle driving support device 200 of the present embodiment. In order to limit the operation to the open side of the accelerator, the throttle driver 90 is controlled so that the driver's operation on the open side of the accelerator becomes invalid, or the driver is automatically driven by driving the brake driver 100. Automatic braking is performed.

  As a result, contact between an object located in the own vehicle lane and the own vehicle can be prevented in advance, and even if the object comes into contact with the own vehicle, the impact at the time of contact can be reduced. Can do.

(Modification 2)
This embodiment is applicable even when a plurality of objects are detected. For example, as shown in FIG. 11, the pixel position of the host vehicle lane between the, this parked vehicle V _STP and an oncoming vehicle V _OP if parked vehicle V _STP facing the vehicle V _OP is detected in the single path A region B consisting of is extracted. Then, the ratio (SP _VD ) of the number of pixels in the horizontal line (HD) direction of the extracted area B to the number of pixels in the horizontal line (HD) direction necessary for traveling of the host vehicle stored in the storage unit 84. By calculating the above, it is possible to finally determine whether or not the host vehicle can pass. Thereby, for example, in a situation where two vehicles are parked on the left and right of the road, it can be accurately determined whether or not the vehicle can pass between the two parked vehicles.

(Modification 3)
The vehicle driving support device 200 of the present modification detects the position of the leftmost part of the oncoming vehicle, and determines whether or not to pass according to the positional relationship between the detected position of the leftmost part of the oncoming vehicle and the right host vehicle lane. I do.

For example, as shown in FIG. 12, when there is a parked vehicle V _{STP that} is parked along the left host vehicle lane LLH and attempts to pass the right side of the parked vehicle V _STP , the driver of the host vehicle is the lateral position in the oncoming lane of the oncoming vehicle V _OP traveling lane, you should be passed through the right side of the parked vehicle V _STP, or determining whether to wait in front of the parked vehicle V _STP until passing oncoming vehicle V _OP To do.

That is, when the position of the right host vehicle lane LCT as the center line and the position of the leftmost end portion V _OP L of the oncoming vehicle V _OP are separated to some extent (distance L _OP S is a certain length), the driving of the host vehicle is performed. In general, an oncoming vehicle V _OP travels while maintaining the current left-right position in the opposite lane (in other words, the oncoming vehicle V _OP does not exceed the right vehicle lane LCT in a short time). It is determined and based on the interval between the right side position of the parked vehicle V _STP and the position of the right host vehicle lane LCT, it is determined whether to pass the right side of the parked vehicle V _STP .

On the other hand, when the position of the right host vehicle lane LCT and the position of the leftmost end portion V _OP L of the oncoming vehicle V _OP are close (the distance L _OP S is short), the driver of the host vehicle Generally, it is determined that the corresponding vehicle V _OP may exceed the right host vehicle lane LCT in a short time. In such a case, the driver of the own vehicle actually has the oncoming vehicle V _OP in the right own vehicle lane even if the position of the leftmost end portion V _OP L of the oncoming vehicle V _OP does not exceed the right own vehicle lane LCT. or given that may exceed the LCT, based on the distance between the position of the leftmost portion V _OP L of the right position and the oncoming vehicle V _OP of the parked vehicle V _STP, it passes through the right side of the parked vehicle V _STP Judge whether or not.

Therefore, by determining whether or not the vehicle can pass through according to the positional relationship between the position of the leftmost end portion V _OP L of the oncoming vehicle and the position of the right host vehicle lane LCT as the center line, the vehicle width sensation of the driver of the host vehicle can be obtained. It is possible to determine whether or not the passage is matched.

  In order to realize this modified example, in S20 shown in FIG. 9, the pixel position of the leftmost part of the object existing in the opposite lane is positioned to the left of the image from the pixel position of the right vehicle lane. Or, depending on the pixel position in the vertical direction of the image in which the number of pixels in the horizontal direction of the image between the pixel position of the leftmost part of the object in the opposite lane and the pixel position of the right vehicle lane is preset If the number of pixels is less than or equal to the number of pixels, the pixel position where no object exists in the host vehicle lane or the pixel position where no object exists between the left host vehicle lane and the leftmost part of the object in the opposite lane is extracted. That's fine.

(Second Embodiment)
Since the vehicle driving support apparatus 200 according to the present embodiment has many parts in common with the vehicle driving support apparatus 200 according to the first embodiment, differences from the first embodiment will be described below.

  FIG. 13 shows a control block diagram of the computer 80 constituting the vehicle driving support apparatus 200 in the present embodiment. As shown in the figure, the control process of the computer 80 of this embodiment includes an input / output unit 81, an image processing unit 82, a position detection unit 83, a passable width calculation unit 84, a necessary travel width storage unit 85, and a passability determination. It is divided into each block of the part 86 and the alarm generation part 87. The input / output unit 81 inputs signals output from various sensors and the like and outputs signals to be output processed by the computer 80.

  The image processing unit 82 acquires only the pixel value for each pixel at the preset angle of view from the pixel value for each pixel of the captured image from the CCD camera 60. For example, as shown in FIG. 4, the angle of view A including the host vehicle lane from several meters to several tens of meters ahead of the host vehicle is set as the field angle from which the pixel value is to be acquired. Only the pixel value for each pixel in the horizontal line (HD) / vertical line (VD) is acquired.

  Next, the image processing unit 82 compares the pixel value of each pixel within the acquired angle of view with a preset edge threshold value, and performs edge detection that extracts a pixel position that indicates a pixel value equal to or greater than the edge threshold value. . Thereby, pixel positions corresponding to lanes and objects within the angle of view are extracted. This edge detection is repeatedly performed from the leftmost pixel to the rightmost pixel of each horizontal line, for example, from the uppermost horizontal line in the angle of view to the lowermost horizontal line. Then, the image processing unit 82 performs processing such as linear interpolation on the extracted pixel position to generate a contour image of the lane and the object, and the lane and the object are detected from the generated contour image.

  In the present embodiment, the preceding vehicle existing in front of the host vehicle is excluded from the detection target. For example, the position of the object detected by the image processing unit 82 is stored, a vehicle that proceeds in the same direction as the traveling direction of the host vehicle is specified as a preceding vehicle from the stored history, and the specified preceding vehicle is detected. Exclude from the target. Thereby, it is possible to prevent the preceding vehicle from being erroneously detected as a parked vehicle or the like.

  The position detection unit 83 detects the position of the lane and the positions of the left and right end portions of the object from the lane and the contour image of the object finally generated by the image processing unit 82. Note that the center position of the lane is calculated from the positions of the detected right end and left end of the lane. Thereby, the position of the lane (own vehicle lane) positioned on the left and right of the host vehicle and the positions of the left and right end portions of the object positioned in the host vehicle lane are detected. Hereinafter, the center position of each of the left and right host vehicle lanes will be described as the position of the lane.

  The passable width calculation unit 84 calculates the passable width in the host vehicle lane based on the positions of the left and right host vehicle lanes detected by the position detection unit 83 and the positions of the left and right end portions of the object. . For example, as shown in FIG. 14A, when the positions of the left vehicle lane LLH, the right vehicle lane LCT, the leftmost end VL of the parked vehicle, and the rightmost end VR are detected, The right passable width RS, which is the length from the position of the right end VR to the position of the right vehicle lane LCT, is calculated.

  As shown in FIG. 5A, when the position of the leftmost end VL of the parked vehicle is substantially equal to the position of the left host vehicle lane LLH, or when the position of the leftmost end VL of the parked vehicle is the left host vehicle lane. When it is located further to the left than the LLH position, only the length of the right passable width RS is calculated. For example, as shown in FIG. 14B, the position of the leftmost end VL of the parked vehicle is the left host vehicle. When the vehicle is located on the right side of the position of the lane LLH, the left passable width LS that is the length from the position of the leftmost end VL of the parked vehicle to the position of the left host vehicle lane LLH may be added.

  The required travel width storage unit 85 stores a travel width in the vehicle width direction that is necessary when the host vehicle travels. For example, as shown in FIG. The required running width VW with a margin added to each is stored.

  The passability determination unit 86 compares the right passable width RS calculated by the passable width calculation unit 84 or the left and right passable width LS with the required travel width VW, and compares the right passable width RS or left side. It is determined whether or not the passable width LS is shorter than the required travel width VW. Then, the determination result is sent to the alarm generation unit 87.

  When the alarm generation unit 87 receives a determination result from the pass / fail determination unit 86 that the right passable width RS or the left passable width LS is shorter than the required travel width VW, the driving of the host vehicle is performed. A warning to alert the user. For example, an alarm indicating that the vehicle cannot pass by a parked vehicle in front of the host vehicle is generated. As a result, it is possible to inform the driver of the host vehicle that the vehicle cannot pass beside the parked vehicle.

  Next, narrow road driving support processing by the vehicle driving support device 200 relating to the characteristic part of the present embodiment will be described with reference to the flowchart shown in FIG. First, in S10a shown in FIG. 15, image processing is executed to detect the own vehicle lane or an object located in the own vehicle lane. In S20a, the position of the own vehicle lane detected in S10a and the position of an object located in the own vehicle lane are detected. In S30a, the passable width is calculated from the position of the host vehicle lane detected in S20a and the position of the object.

  In S40a, it is determined whether the passable width calculated in S30a is less than the required travel width (the passable width is shorter than the required travel width). If an affirmative determination is made here, the process proceeds to S50a. If a negative determination is made, the process proceeds to S10a, and the above-described process is repeatedly executed. In S50a, an alarm for alerting the driver is generated.

  As described above, the vehicle driving support device 200 according to the present embodiment detects the positions of the left and right own vehicle lanes and the positions of the left and right end portions of the object located in the own vehicle lane, and detects the detected own vehicle. Based on the position of the lane and the endmost part of the object, the passable width from the left and right endmost parts of the object to the position of the host vehicle lane is calculated, and the calculated passable width is shorter than the required travel width. An alarm is issued to alert the driver when leaving.

  Thereby, in the own vehicle lane in the traveling direction of the own vehicle, it is possible to accurately determine the case where the own vehicle cannot pass either the left side or the right side of the object located in the own vehicle lane. And when it cannot pass, it can call a driver | operator's driver's attention by generating a warning.

(Modification 4)
In this embodiment, when it is determined in S40a shown in FIG. 15 that the passable width is less than the required travel width, an alarm is generated in S50a. You may make it add a restriction | limiting to.

  For example, as shown in FIG. 16, a host vehicle travel control unit 88 is added as a function of a computer 80 constituting the vehicle driving support apparatus 200 of the present embodiment, and the host vehicle travel control unit 88 allows, for example, In order to limit the operation to the open side of the accelerator, the throttle driver 90 is controlled so that the driver's operation on the open side of the accelerator becomes invalid, or the driver is automatically driven by driving the brake driver 100. Automatic braking is performed.

  As a result, contact between an object located in the own vehicle lane and the own vehicle can be prevented in advance, and even if the object comes into contact with the own vehicle, the impact at the time of contact can be reduced. Can do.

(Modification 5)
In the present embodiment, as shown in FIG. 14A, the host vehicle lane used as a reference when calculating the right passable width RS is the right host vehicle lane LCT. When traveling, the right vehicle lane LCT corresponding to the center line is often not installed. In such a case, for example, as shown in FIG. 17, the right passable width RS that is the length from the position of the rightmost end VR of the parked vehicle to the position of the single-lane right vehicle lane LRH is calculated. Good. Thereby, in the single lane of the traveling direction of the own vehicle, the case where the own vehicle cannot pass both the left side and the right side of the object in the lane can be accurately determined.

(Modification 6)
For example, as shown in FIG. 18, when the parked vehicle V _STP and the oncoming vehicle V _OP are detected at substantially the same distance from the host vehicle when the host vehicle travels on a single road, this parked vehicle V the magnitude of the most between to the position of the left end portion calculates the passable width CS as the length, passable width CS and the required traveling width VW that this calculation of the oncoming vehicle V _OP from the position of the rightmost region VR with _STP What is necessary is just to determine a relationship. Thereby, for example, in a situation where two vehicles are parked on the left and right of the road, it can be accurately determined whether or not the vehicle can pass between the two parked vehicles.

(Modification 7)
In the present embodiment, as shown in FIG. 14 (a), the passable width is calculated based on the position of the lane indicating the road travel section. For example, a relatively wide road such as an agricultural road or a residential road is used. On narrow roads, lanes are often not installed. In such a case, the right and left boundary positions of the road are detected, and the passable width may be calculated from the detected left and right road boundary positions and the positions of the left and right end portions of the object on the road. This makes it possible to accurately determine when the vehicle cannot pass either the left side or the right side of the object on the road, even on a road in which the vehicle is traveling, even on a road where no lane is installed. it can.

(Modification 8)
The vehicle driving assistance device 200 of the present embodiment detects the position of the leftmost part of the oncoming vehicle, and passes the right side according to the positional relationship between the detected position of the leftmost part of the oncoming vehicle and the right vehicle lane. The position that is used as a reference when calculating the possible width is changed to the position of the leftmost part of the right host vehicle lane or the oncoming vehicle.

For example, as shown in FIG. 19, when there is a parked vehicle V _{STP that} is parked along the left host vehicle lane LLH and attempts to pass the right side of the parked vehicle V _STP , the driver of the host vehicle is opposite the position in the oncoming lane of the oncoming vehicle V _OP traveling lane, right as it should be passed through the parked vehicle V _STP, or to determine whether to wait in front of the parked vehicle V _STP until passing oncoming vehicle V _OP .

That is, when the position of the right vehicle lane LCT as the center line and the position of the leftmost end portion V _OP L of the oncoming vehicle V _OP are separated to some extent (the length of the distance L _OP S is a certain length) , the driver of the vehicle is generally the opposite vehicle V _OP other words traveling holding the current lateral position in the oncoming traffic lane (the opposing vehicle V _OP exceeds the right vehicle lane LCT a short period of time Based on the length from the position of the rightmost end portion VR of the parked vehicle V _STP to the position of the right host vehicle lane LCT and the necessary travel width necessary for the host vehicle to travel, the parked vehicle V Determine if you can pass the right side of the _STP .

On the other hand, when the position of the right host vehicle lane LCT and the position of the leftmost end portion V _OP L of the oncoming vehicle V _OP are close (the distance L _OP S is short), the driver of the host vehicle Generally, it is determined that the corresponding vehicle V _OP may exceed the right host vehicle lane LCT in a short time. In such a case, the driver of the vehicle is actually located leftmost portion V _OP L of the oncoming vehicle V _OP need not exceed the right vehicle lane LCT, light of possibility of contact between the oncoming vehicle V _OP , and the required traveling width VW required for the driving of the right passable width RS and the vehicle indicating the length to the position of the leftmost portion V _OP L of the oncoming vehicle V _OP from the position of the rightmost region VR of the parked vehicle V _STP Based on this, it is determined whether or not the right side of the parked vehicle V _STP can be passed.

  In order to realize this modification, in S20a shown in FIG. 15, the position of the oncoming vehicle in the opposite lane is detected together with the position of the own vehicle lane and the object in the own vehicle lane, and in S30, When calculating the right passable width, the position of the leftmost part of the oncoming vehicle is closer to the center of the own vehicle lane than the position of the right own vehicle lane, or the position of the leftmost part of the oncoming vehicle and the right vehicle When the distance from the position of the vehicle lane is within a predetermined distance, the length from the position of the rightmost end portion of the object in the host vehicle lane to the position of the leftmost end portion of the oncoming vehicle is calculated as the right passable width. That's fine.

  In this way, by changing the position used as the reference when calculating the right passable width to the position of the right host vehicle lane or the position of the leftmost end part of the oncoming vehicle according to the position of the leftmost part of the oncoming vehicle The passable width that matches the vehicle width sense of the driver of the host vehicle can be set.

It is a block diagram which shows the whole structure of the vehicle driving assistance device 200 of this invention. It is a control block diagram of the computer 80 which comprises the vehicle driving assistance apparatus 200 in 1st Embodiment. It is the image figure which showed the lane on the road ahead of the own vehicle image | photographed with the CCD camera 60, a parked vehicle, etc. FIG. It is a figure which shows the angle of view A set on the image image | photographed with the CCD camera. Is a diagram showing a region B composed of a pixel position of the host vehicle lane, except for parking the vehicle V _STP as an object existing in the host vehicle lane between the left vehicle lane LLH and right vehicle lane LCT. It is the figure which showed the width | variety (VW) which added the predetermined | prescribed margin to the vehicle width of the own vehicle. It is an image figure which showed the pixel count of the horizontal line (HD) direction for every horizontal line (HD) required for driving | running | working of the own vehicle. Ratio of the number of pixels in the horizontal line (HD) direction of the region B to the number of pixels in the horizontal line (HD) direction required for traveling of the host vehicle for each horizontal line (HD) corresponding to the height of the parked vehicle V _STP It is explanatory drawing in the case of calculating ( _SPVD ). It is a flowchart which shows the flow of the narrow road driving assistance process concerning 1st Embodiment. It is a control block diagram of the computer 80 which comprises the vehicle driving assistance apparatus 200 in the modification 1 of 1st Embodiment. In Modification 3 of the first embodiment is an image view showing a case where the vehicle between the parked vehicle V _STP facing the vehicle V _OP in the single path is to pass. In the modified example 3 of the first embodiment, when there is a parked vehicle V _STP parked along the left host vehicle lane LLH, and there is an oncoming vehicle V _OP in the opposite lane, the parked vehicle V _OP between the _STP and the oncoming vehicle V _OP is an image diagram where the vehicle shows the case to be passed. It is a control block diagram of the computer 80 which comprises the vehicle driving assistance device 200 in 2nd Embodiment. (A) is the figure which showed the case where the position of the leftmost edge part VL of a parked vehicle is located in the left side of the position of the left own vehicle lane LLH, (b) is the position of the leftmost edge part VL of a parked vehicle. It is the figure which showed the case where it is located in the right side of the position of the left own vehicle lane LLH. It is a flowchart which shows the flow of the narrow road driving assistance process concerning 2nd Embodiment. It is a control block diagram of the computer 80 which comprises the vehicle driving assistance apparatus 200 in the modification 4 of 2nd Embodiment. It is a figure which shows the position of the right own vehicle lane LRR used as the reference | standard at the time of calculating the right passable width | variety RS in the modification 5 of 2nd Embodiment when the own vehicle drive | works a single road. In Modification 6 of the second embodiment is an image view showing a case where the vehicle between the parked vehicle V _STP facing the vehicle V _OP in the single path is to pass. In a modified example 8 of the second embodiment, there are parked vehicle V _STP parked along the left vehicle lane LLH, image diagram on the right side of the parked vehicle V _STP host vehicle exhibited when attempting to pass It is.

Explanation of symbols

DESCRIPTION OF SYMBOLS 81 Input / output part 82 Edge detection part 83 Pixel position extraction part 84 Memory | storage part 85 Calculation part 86 Passability determination part 87 Alarm generation part 200 Vehicle driving assistance device

Claims (15)

Imaging means for capturing an image in front of the host vehicle;
An object detection means for detecting a pixel position in the image of a road ahead of the host vehicle and an object existing on the road from an image captured by the imaging means;
Storage means for storing the number of pixels in the left-right direction of the image according to the pixel position in the up-down direction of the image necessary for traveling of the host vehicle in the image;
Extraction means for extracting only pixel positions where the object does not exist on the road detected by the object detection means;
A computing means for computing a ratio of the number of pixels in the left-right direction extracted by the extracting means to the number of pixels in the left-right direction stored in the storage means for each pixel position in the vertical direction of the image;
A vehicle driving support apparatus comprising: a determining unit that determines whether or not the vehicle can pass when the vehicle travels beside the object based on a ratio of the number of pixels calculated by the calculating unit.   In the determination means, the ratio of the number of pixels in the left-right direction extracted by the extraction means to the number of pixels in the left-right direction stored in the storage means calculated by the calculation means is the number of pixels based on the vehicle width of the host vehicle. 2. The vehicle driving support device according to claim 1, wherein when the ratio is equal to or less than the ratio, the host vehicle determines that the vehicle cannot pass beside the object.   The computing means is the number of pixels in the left-right direction extracted by the extracting means with respect to the number of pixels in the left-right direction stored in the storage means within a range of vertical pixel positions of the image of the object existing on the road. The vehicle driving support device according to claim 1, wherein the ratio of the vehicle is calculated. The object detection means detects a pixel position in the image of an object existing in the left and right own vehicle lanes indicating a traveling section of the own vehicle on a road ahead of the own vehicle, and the own vehicle lane,
The vehicle driving support device according to any one of claims 1 to 3, wherein the extraction unit extracts only pixel positions where the object does not exist in the own vehicle lane detected by the object detection unit. The object detection means is present in a left and right own vehicle lane indicating a traveling section of the own vehicle on a road ahead of the own vehicle, an object existing in the own vehicle lane, and an opposite lane of the own vehicle lane. Detecting pixel positions in the image of the object;
The pixel position of the leftmost part of the object existing in the opposite lane detected by the object detection means is located in the left direction of the image relative to the pixel position of the right host vehicle lane, or exists in the opposite lane The number of pixels in the left-right direction of the image between the pixel position of the leftmost part of the object and the pixel position of the right host vehicle lane is equal to or less than the number of pixels corresponding to the preset pixel position in the vertical direction of the image. In this case, the extraction means is a pixel position where the object does not exist in the own vehicle lane detected by the object detection means, or an object between the left own vehicle lane and the leftmost part of the object in the opposite lane 4. The vehicle driving support apparatus according to claim 1, wherein a pixel position where no exists is extracted. Imaging means for capturing an image of the traveling direction of the host vehicle;
Object detection means for detecting left and right boundary positions of the road in the traveling direction of the host vehicle, and positions of left and right endmost parts of the object on the road, from an image captured by the imaging means;
A required travel width storage means for storing a required travel width required when the host vehicle travels;
Based on the left and right boundary positions of the road detected by the object detection means, the positions of the left and right end portions of the object, and the required travel width stored in the required travel width storage means, A vehicle driving support device comprising: passage permission / non-permission determining means for determining whether or not the vehicle can pass when traveling next to the vehicle. The object detection means includes a left-passable width indicating a length from the position of the leftmost end portion of the object to the left boundary position of the road, and from the position of the rightmost portion of the object to the right boundary position of the road. Calculating means for calculating at least one length of the right passable width indicating the length of
The passability determining means determines that the host vehicle is located on the side of the object when both the left passable width and the right passable width calculated by the calculating means are shorter than the required travel width. The vehicle driving support device according to claim 6, wherein it is determined that the vehicle cannot pass. The object detecting means detects a position of a left and right own vehicle lane indicating a traveling section of the own vehicle as a left and right boundary position of the road, and a position of the left and right own vehicle as a position of a left and right endmost part of the object. Detect the position of the left and right endmost parts of the object located in the vehicle lane,
The left-side passable width indicating the length from the position of the leftmost end portion of the object detected by the object detecting means to the position of the left host vehicle lane, and the position of the rightmost end portion of the object to the position of the right host vehicle lane Calculating means for calculating at least one length of the right passable width indicating the length of
The passability determining means is configured such that when both the left passable width and the right passable width calculated by the calculating means are shorter than the required travel width, the host vehicle is placed next to the object. The vehicle driving support apparatus according to claim 6, wherein it is determined that the vehicle cannot pass. The object detection means further detects the positions of left and right endmost parts of an oncoming vehicle traveling in the opposite lane of the host vehicle lane;
The calculating means is such that the position of the leftmost portion of the oncoming vehicle detected by the object detecting means is closer to the center of the own vehicle lane than the position of the right own vehicle lane, or the leftmost end of the oncoming vehicle If the distance between the position of the part and the position of the right host vehicle lane is within a predetermined distance, the right passable width is a length from the position of the rightmost end part of the object to the position of the leftmost end part of the oncoming vehicle. The vehicle driving support device according to claim 8, wherein the vehicle driving support device calculates the height. The object detecting means detects a position of a left and right own vehicle lane indicating a traveling section of the own vehicle as a left and right boundary position of the road, and a position of the left and right own vehicle as a position of a left and right endmost part of the object. Detect the position of the left and right endmost parts of the object located in the vehicle lane,
When a plurality of objects are detected at substantially the same distance from the host vehicle in the host vehicle lane by the object detection means, the distance between the objects indicating the length between the endmost parts of the plurality of objects A calculation means for calculating the passable width;
The passability determination unit determines that the host vehicle cannot pass beside the object when the inter-object passable width calculated by the calculation unit is shorter than the required travel width. The vehicle driving support device according to claim 6.   2. The apparatus according to claim 1, further comprising an alerting unit that alerts a driver of the host vehicle when the determining unit determines that the host vehicle cannot pass beside the object. The vehicle driving assistance device according to any one of 10 to 10.   11. A travel restriction unit that restricts travel of the host vehicle when the determination unit determines that the host vehicle cannot pass beside the object. The vehicle driving support device according to any one of the above.   The vehicle driving support device according to claim 12, wherein the travel restriction unit restricts an operation to open the accelerator. The host vehicle includes automatic braking means for automatically driving a braking device,
The vehicle driving support device according to claim 12, wherein the travel restriction means performs automatic braking by the automatic braking means.   15. The vehicle driving support device according to claim 1, wherein the object detection unit excludes a preceding vehicle existing on a road ahead of the host vehicle from the detection target object.

Images