JP2005125953A - On-vehicle object recognition system and driving assistance system using the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide "an on-vehicle object recognition system and a driving assistance system using the same" imparting inherent sound/voice to an object such as an obstacle and capable of recognizing the object by auditory sense by outputting the sound/voice. <P>SOLUTION: The on-vehicle object recognition system 10 has an object detection device 20 for detecting the object existing in a constant distance relative to a vehicle and outputting the detection information 22; an object discrimination part 32 for discriminating the object based on the detection signal 22; a sound/voice information imparting part 34 for imparting the inherent sound/voice information relative to the object discriminated by the object discrimination part 32; and a sound/voice output part 40 for carrying out sound/voice outputting of the sound/voice information imparted by the sound/voice information imparting part 34. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an on-vehicle object identification system, and more particularly to an on-vehicle object identification system that can give a specific voice to an identified object and urge the driver to be alerted by hearing, and a driving support system using the same.

  Conventionally, a system for detecting an obstacle outside a vehicle using an infrared radar, a millimeter wave radar or the like and displaying the detected result on a display has been developed to alert the driver. For example, the object detection apparatus shown in Patent Document 1 detects an obstacle on the rear side of a vehicle by a radar, displays its outline on a display, and generates an alarm when the obstacle enters the alarm range. To do.

  In addition to the above, when the distance between vehicles is below a certain level using a laser, a warning is sounded to prevent a collision, or when the distance to an obstacle such as a wall is below a certain level when parking Generated systems have also been developed.

JP 7-229961

  However, the conventional obstacle detection system notifies the driver of the presence of the obstacle through visual information such as letters and figures through the display. When watching, there was a problem that it was difficult to recognize the presence of obstacles. In particular, there is no room for viewing the display, such as when there is a high-traffic main road, a narrow narrow street, or when making a right turn at an intersection, and viewing the display may adversely affect safety.

  Therefore, the present invention solves the above-described conventional problems, gives a unique voice to an object such as an obstacle, and outputs this voice to recognize the object by hearing and an on-vehicle object recognition system. An object is to provide a driving support system used.

  An in-vehicle object recognition system according to the present invention detects an object around a vehicle, outputs an detection result, an identification means for identifying the object based on the detection result, and an identified object Voice information providing means for giving unique voice information and voice output means for outputting voice corresponding to the voice information given by the voice information giving means.

  The driving support system according to the present invention includes the vehicle-mounted object recognition system, a determination unit that determines a risk level of an object recognized by the vehicle-mounted object recognition system, and the risk level based on a determination result of the determination unit. Audio output control means for controlling the audio output means. Preferably, when a plurality of objects are recognized around the vehicle, the determination unit determines that the risk of the object existing in the blind spot of the driver is high, and the voice output control unit outputs a voice output for the high risk object. Emphasize.

  According to the vehicle-mounted object recognition system of the present invention, an object can be recognized by hearing by giving a specific sound to the identified object. The recognition of external obstacles that move the line of sight in driving a vehicle overlaps with the act of cognitively collecting information related to driving operations, and it is difficult to recognize many things at the same time. By utilizing, multi-directional information can be acquired simultaneously with the driving operation, and it is not as detailed as visual information, but it has great effectiveness in determining the situation. Further, by determining the danger level of the object recognized by the vehicle-mounted object recognition system, it is possible to prevent the occurrence of an accident such as a collision in advance by notifying the presence of a useful obstacle dangerous to the driver.

  Hereinafter, embodiments of the present invention will be described in detail. Although the vehicle-mounted object recognition system according to the present invention can be used alone, it is preferably used by being connected to a vehicle-mounted navigation device.

  FIG. 1 is a block diagram showing the configuration of an in-vehicle object recognition system according to the first embodiment of the present invention. The vehicle-mounted object recognition system 10 receives an object detection device 20, an identification control unit 30 that receives a detection signal 22 detected by the object detection device 20 and performs processing such as object identification, and a command from the identification control unit 30. An audio output unit 40 that generates an audio signal and a speaker 50 that outputs the audio signal from the audio output unit 40 as an audible sound are configured.

  The object detection device 20 detects an object such as an obstacle within a range of 360 degrees around the vehicle, and outputs a detection signal 22. For example, the shape, size, etc. of the object are detected by emitting an infrared radar or a millimeter wave radar and receiving a reflected wave from the object. At this time, the position where the object exists, that is, the relative direction with respect to the vehicle is also detected by periodically scanning the radar at an angle of 360 degrees. Apart from this, it is also possible to detect the shape, size, etc. of an object by imaging the periphery of the vehicle with an imaging device such as a CCD and analyzing the captured image data. Furthermore, a detection device combining such a radar and an imaging device may be used.

  The identification control unit 30 controls the system, and includes an object identification unit 32 for identifying an object, and a voice information adding unit 34 for adding voice information unique to the object. . When the identification control unit 30 receives the detection signal 22 from the object detection device 20, the object identification unit 32 identifies the object. The object identification unit 32 extracts the height, width, reflectance, and the like of the object from the reflected wave information included in the detection signal 22, for example, and compares this with data stored in advance in the object data storage unit 60, Identify objects. In the present embodiment, such data is matched and at least the vehicle, the motorcycle, and the person can be identified from the similarity. Of course, the vehicle can be identified in more detail as a sedan, a one-box car, a truck, or the like.

  Next, the audio information adding unit 34 adds specific audio information to the identified object. The voice data storage unit 70 stores a table in which voice information unique to an object is assigned in advance, and the voice information of the corresponding object is read from the table to give the unique voice information. For example, as shown in FIG. 2, different gradation sounds and different tone colors (piano style and trumpet style) are assigned to each object. For example, gradation A or timbre a is assigned to a vehicle, gradation B or timbre b is assigned to a motorcycle, gradation C or timbre c is assigned to a person, and gradation D or timbre d is assigned to an object other than the above. Is assigned. The voice information giving unit 34 gives tone or timbre voice information to the identified object. Or you may give both a gradation and a timbre.

  The audio output unit 40 receives the audio control signal 36 from the identification control unit 30, generates an audio signal corresponding to the audio information of the identified object, and outputs the signal to the speaker 50. For example, as shown in FIG. 3, when the identified object is a vehicle 80, a tone A or tone a unique to the vehicle is output as a sound, and when the two-wheeled vehicle 82 is identified, tone B or tone When b is output as sound and the person 84 is identified, the tone C or tone color c is output as sound.

  In this way, by outputting a sound unique to the identified object, a user such as a driver can recognize the object through hearing.

  Next, a second embodiment of the present invention will be described. In the second embodiment, the number and direction of objects are recognized by a vehicle-mounted object recognition system. FIG. 4 is a diagram showing the configuration of the vehicle-mounted object recognition system 12 according to the second embodiment. The difference from the first embodiment is that the identification control unit 30 includes a quantity / direction identification unit 38. It is a point.

  When there are a plurality of objects around the vehicle, the object identification unit 32 identifies the plurality of objects, and the result is provided to the quantity / direction identification unit 38. The quantity / direction identifying unit 38 controls the voice information adding unit 34 so that a plurality of objects can be easily recognized. Further, the quantity / direction identifying unit 38 controls the voice information adding unit 34 based on the direction information indicating the direction of the object included in the detection signal 22 so that the direction of the object can be easily recognized.

  When a plurality of objects are identified, the audio information providing unit 34 changes the period of the intermittent sound generated according to the number of objects. For example, if the number of objects is large, the period of the intermittent sound is shortened. Conversely, if the number of objects is small, the period of the intermittent sound is lengthened. Alternatively, when timbre sound is given to an object, the tone gradation is increased as the number of objects increases, and conversely, the tone gradation is decreased as the number of objects decreases. May be. As a result, the user can easily recognize a plurality of objects.

  Furthermore, the voice information giving unit 34 gives directionality to the sound by the stereo function of the in-vehicle acoustic system in order to recognize the direction in which the object exists. FIG. 5 is a diagram for explaining the operation when the stereo function of the in-vehicle acoustic system is used. When the vehicle 100 to which the vehicle-mounted object recognition system 12 is attached enters the intersection, the vehicle 102 and the two-wheeled vehicle 104 are detected on the left side of the vehicle 100, the vehicle 106 is detected on the oncoming lane, and the human is on the right side. Assume that 108 and 110 and the vehicle 112 are detected.

  In the vehicle 100, a speaker 120 is attached to the front center, speakers 122 and 124 are attached to the left and right sides of the front, and speakers 126 and 128 are attached to the left and right sides of the rear. The audio information providing unit 34 controls the speaker according to the direction in which the object is detected. From the speaker 122, intermittent sounds specific to the vehicle 102 and the two-wheeled vehicle 104 are generated, and from the speaker 120, sound specific to the vehicle 106 is generated, and from the speaker 124, intermittent sounds specific to the people 108 and 110 and the vehicle 112 are generated. Generated. As described above, by generating sound from the speaker corresponding to the direction in which the object is present, the driver can easily recognize the direction in which the object is present.

  By using hearing as in this system, it is possible to recognize an object without relying on vision, and in particular, it is possible to recognize an object with auditory information at the same time as visual information that should be watched during driving operations. It is very useful for judgment.

  Next, a driving support system using a vehicle-mounted object recognition system will be described with reference to FIG. The driving support system 200 according to the third embodiment incorporates the vehicle-mounted object recognition system 12 according to the second embodiment in a vehicle-mounted navigation device. Therefore, the driving support system 200 has a function of supporting the driver's safe driving using the voice information of the object recognized by the object recognition system 12 in addition to the function of performing navigation.

  The driving support system 200 includes a GPS receiver 210 that detects the position of the vehicle using GPS, a self-contained navigation sensor 220 that detects the position of the vehicle by a gyro sensor or a vehicle speed sensor when communication with the GPS signal is not possible, An operation input unit 230 for inputting an instruction from a user, a communication control unit 240 for performing wireless communication to a network and inter-vehicle communication with other vehicles, and a storage unit 250 for storing map data and the like necessary for navigation An audio output unit 260 that supplies an audio signal for outputting an audio signal from the speaker 262, a display control unit 270 that supplies an image signal for drawing a map and a vehicle position on the display 272, and a driving support system Related to the operation of the program memory 280 for storing a program for defining the operation to be performed and the direction indicator A vehicle state input unit 290 for inputting that information, configured to include a control unit 292 for controlling the respective units in accordance with the programs.

  The vehicle-mounted object recognition system 12 includes the audio output unit 40 and the speaker 50 as shown in FIG. 4, and these are substituted by the audio output unit 260 and the speaker 262 of the driving support system 200. Further, the object detection device 20 preferably uses an infrared radar and an imaging device in combination, in addition to analyzing the characteristics of the reflected wave from the object, by analyzing image data obtained by imaging the object, from the vehicle to the object. The distance of the vehicle, the state of the vehicle (the presence or absence of a blinker), etc. can be identified. These pieces of information are supplied from the object recognition system 12 to the control unit 292 as a recognition result 38 including the voice control signal 36 from the voice information adding unit 34, and the control unit 292 controls the voice output unit 40 based on the recognition result 38. . Further, in order to give directionality to the sound, a plurality of speakers 260 are arranged in the front and rear of the vehicle in the same manner as in FIG. 5 to form a space having a stereo function.

  The program memory 280 includes a route search program 282 for searching for an optimum route from the current location to the destination, and a guidance guide program 284 for guiding to the destination along the searched route. In the example, the degree of danger of an object around the vehicle is determined based on the recognition result 38 from the object recognition system 12, and the degree of danger judgment program 286 for appropriately giving this to the driver, or for customizing the voice output by the user. Program 288 and the like.

  Next, the operation of the driving support system 200 will be described. The driving support system 200 executes a navigation function such as a search for a route to the destination and a guidance guidance to the destination when an instruction is given from the user via the operation input unit 220. At the same time, when an object such as an obstacle around the vehicle is recognized by the object recognition system 12, the control unit 292 controls the audio output unit 260 based on the recognition result 38 and is specific to the object recognized from the speaker 262. Output audio. When the recognition result 38 is received during the navigation voice guidance, the control unit 292 interrupts the navigation voice guidance and prioritizes the voice output of the recognized object.

  The object recognition system 12 is capable of recognizing all obstacles around the vehicle. However, if the sound is output without any restriction on all obstacles, it is difficult for the driver to recognize the obstacles. It is expected to be. Therefore, it is desirable that a driver recognizes obstacles with a high degree of danger preferentially when performing safe driving. For this reason, the control unit 292 refers to the position where the vehicle is traveling, road information, traveling direction, accident factor data, weather conditions, etc., determines an obstacle with a high degree of danger, and uses the voice of this as another obstacle. Emphasizes the sound of objects and gives priority warnings. An example will be described below.

(1) When turning right at an intersection When a vehicle makes a right turn at an intersection, there are many accidents that collide with an oncoming straight vehicle or an oncoming motorcycle, so the sound of these objects is emphasized and a warning is given to the driver. The control unit 292 determines whether or not the vehicle turns right at the intersection from the own vehicle position supplied from the GPS receiver 210 and the operation information of the direction indicator input from the vehicle state input unit 290, and is recognized. From the result 38, the presence / absence of an oncoming straight vehicle and an oncoming motorcycle is determined. For the enhancement of voice, for example, the volume is increased or the gradation is changed. Further, in order to be able to recognize the direction of the obstacle, sound is output from the speaker on the right front side in the vehicle.

(2) When crossing a pedestrian crossing When a vehicle crosses a pedestrian crossing, it emphasizes the voice of the person approaching from the side outside the driver's field of view, not the current driver. . If the driver is an immediate driver, the driver notices the presence of the driver, but may not be aware of the driver who is blind spot. For example, the driver's field of view can be set at a certain angle from the left and right of the driver's position.

(3) Obstacles behind the vehicle As for obstacles approaching from the rear of the vehicle, in the case of obstacles that are likely to affect safe driving from the approaching speed and distance, the sound output is emphasized and an alarm is issued. . For example, select an object that has an abnormally fast approach speed relative to the distance to the vehicle, an object that is closer than the inter-vehicle distance that is considered safe for the traveling speed, or a two-wheeled vehicle. Is output. The approach speed of the obstacle can be obtained from a change in the distance to the object included in the recognition result 38, for example.

(4) Intersections and junctions without traffic lights At intersections and junctions without traffic lights, when the vehicle enters the intersection, select a blind spot or an object that is difficult to visually check and approaches it. Emphasize and output sound.

(5) When many obstacles are detected When many obstacles are detected, the voices of the obstacles are transmitted in the order in which they are encountered according to the movement of the vehicle.

(6) Approaching status of obstacles As mentioned above, when an approaching speed of an object may affect safe driving, an alarm for that object is preferentially sounded. You may be made to inform the situation in more detail. For example, when the object approaches rapidly from the time point when it is detected, the pitch is continuously changed from the pitch given first, and the approach situation is recognized. Conversely, when moving away from the vehicle, the pitch is continuously lowered to provide the driver with a sense of security.

(7) Directionality detection When detecting an obstacle from a certain direction, in addition to the above, priority is given to an obstacle from a direction in which the driver's visual perception is low. It may be configured not to output. This is because when a plurality of voices are output, it is expected that it is difficult for the driver to identify the voices. The direction of the obstacle to be prioritized can be set as follows, for example.
Diagonal rear blind spot area> rear area> side area> oblique front area> front area

  For example, when the host vehicle 300 is about to turn right at an intersection with a traffic signal as shown in FIG. 7A, priority is given to recognition of the straight vehicle 304 hidden behind the right-turn vehicle 302 visible in the oncoming lane. The voice output of the straight vehicle 304 is emphasized and generated. When the vehicle 302 does not become an obstacle to the radar, the straight vehicle 304 can be detected by the radar. When the vehicle 302 is an obstacle to the radar, for example, the position of the vehicle 304 is determined by the inter-vehicle communication. May be transmitted directly to the vehicle 300, or may be transmitted to the host vehicle 300 via the vehicle 302.

  In addition, when the host vehicle 300 passes through the center of the intersection as shown in FIG. 7B, priority is given to the recognition of an obstruction of a blind spot outside the visual field range over the visual field range 306 heading in the traveling direction. In this example, when the own vehicle 300 passes the intersection, there is a pedestrian 308 that crosses the pedestrian crossing within the field of view 306, but there is a pedestrian 310 that is difficult to recognize by the blind spot on the side that becomes the blind spot. Therefore, the voice output of the pedestrian 310 is emphasized.

  As shown in FIG. 8A, when the own vehicle 300 is going to turn right at an intersection where there is no signal, there is a vehicle 312 that enters the intersection from the left side, an oncoming straight vehicle 314, and a vehicle 316 that enters the intersection from the right side. In this case, since the vehicle 316 can encounter the danger with respect to the own vehicle 300 the earliest, the vehicle 316 is given priority to emphasize the sound output. Further, as shown in FIG. 8B, when there is a vehicle 312 from the left side and an opposite straight vehicle 314, the left vehicle 312 has low visibility, so that the audio output is emphasized with priority given to the vehicle 314.

  Further, the risk determination program 286 sets a contact danger warning range around the host vehicle, and determines that the risk of an object existing in the range is high. For example, as shown in FIG. 9A, when the host vehicle 330 travels on a straight road, a contact danger warning range 340 is set around the host vehicle, and when the following vehicle 350 enters the warning range 340, A sound indicating object recognition is output from the rear speaker, and when the front vehicle 352 enters the warning range 340, the sound is output from the front speaker. The contact danger warning range 340 is set such that the distance between the front and rear of the host vehicle is larger than the side. This range is variable according to the traveling speed of the vehicle, the road type, the traffic situation, and the like. For example, if the speed increases, the warning range 340 is set to be larger in proportion thereto. Also, in the case of an expressway, since the vehicle speed increases, the warning range 340 is set to be larger in proportion thereto. Further, as shown in FIG. 9B, the warning range 340 is set small when the road is congested or when traveling at a low speed. Further, even when the own vehicle 330 changes lanes by monitoring the operating state of the blinker from the vehicle state input unit 290, an alarm is notified by voice when an object exists in the warning range 340.

  The contact danger warning range 340 is preferably set corresponding to an area recognizable by the object recognition system 12. When the object recognition system 12 can recognize an object over an angle of 360 degrees around the host vehicle, the contact danger warning range 340 can be set to the entire circumference of the host vehicle. When the object recognition system 12 is provided in a part of the vicinity of the vehicle, for example, in a range where the blind spot of the driver is present, a contact danger warning range 340 is set in the range.

  In addition, it is possible to detect the occurrence of rain, fog, etc. by providing a rain senna or the like in the vehicle. In such a weather situation, the road surface easily slips and the visibility becomes worse, so the contact danger warning range 340 is set large. You may make it do.

  Furthermore, it is possible for the user to customize the audio output for recognized obstacles (people, motorcycles, vehicles, etc.). As described in the first and second embodiments, the recognition result 38 from the object recognition system 12 is given voice information unique to the object. In this embodiment, the user inputs the operation input unit 230. The setting of the audio information may be arbitrarily changed via

  Next, some examples will be described with reference to FIG. FIG. 10A shows a case where a pedestrian 402 is present in the right turn direction when the own vehicle 400 makes a right turn at an intersection. In this case, a sound indicating that a pedestrian is present is output from the right speaker in front of the host vehicle 400. Moreover, the number of intermittent sounds corresponding to the number of people is continuously output so that the presence of a plurality of pedestrians can be easily recognized. For example, different sounds such as de, le may be output continuously. The combination of pitches can customize a pattern that can be easily recognized by the user.

  FIG. 10B shows a case where a plurality of vehicles 404 come from the left side of the intersection. A sound indicating that there are a plurality of vehicles 404 is output from the left speaker in front of the host vehicle 400, and a number of intermittent sounds corresponding to the vehicles are continuously output. At this time, since the object is different from that in FIG. 10A, a different voice or timbre pattern is output.

  FIG. 10C shows a case where the two-wheeled vehicle 408 is behind the oncoming vehicle 406. The sound of the presence of the vehicle 406 and the two-wheeled vehicle 408 is output from the right speaker in front of the host vehicle 400. Since the visibility of the two-wheeled vehicle 408 behind the vehicle is not good, the sound is emphasized so that the two-wheeled vehicle 408 can be recognized. In this case, for example, the first output tone is emphasized. When the two-wheeled vehicle 408 cannot be detected by the radar, the position information of the two-wheeled vehicle 408 can be acquired from the vehicle 406 by inter-vehicle communication.

  FIG. 10D shows a case where the oncoming vehicle 410 exists in the front and the two-wheeled vehicle 412 exists in the rear. Since the visibility of the rear two-wheeled vehicle 412 is not good, the sound indicating the presence of the two-wheeled vehicle 412 is prioritized and the sound is output from the rear speaker. The sound about the oncoming vehicle ahead may be made after that, or may be omitted because it is highly visible.

  10 (e) shows a case where there are pedestrians 414 and 416 in the traveling direction and backward of the own vehicle 400, respectively. In this case, priority is given to emphasizing the voice indicating the presence of a pedestrian in the back with poor visibility.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific embodiments, and various modifications can be made within the scope of the gist of the present invention described in the claims. Deformation / change is possible.

  In the above embodiment, the on-vehicle object recognition system and the driving support system using the same are exemplified, but the “system” here is not necessarily limited to a combination of a plurality of devices, It is used in a broad concept including equipment. Furthermore, although the example which applied the vehicle-mounted object recognition system to the navigation apparatus was shown, it is not restricted to this, It is also possible to apply to audio apparatuses and audio systems, such as vehicle-mounted television and radio.

  The vehicle-mounted object recognition system and the driving support system using the same according to the present invention can be preferably used in a vehicle-mounted navigation device or navigation system. The navigation device and the navigation system can be configured by an electronic device such as a personal computer, and such an electronic device may be mounted on a vehicle as necessary.

It is a block diagram which shows the structure of the vehicle-mounted object recognition system which concerns on 1st Example of this invention. It is a figure which shows an example of an audio | voice data storage part. It is a figure explaining the audio | voice information provided uniquely to the object. The vehicle-mounted object recognition system which concerns on 2nd Example of this invention. It is a figure explaining the operation | movement by the stereo function of the acoustic system which concerns on a 2nd Example. It is a figure which shows the structure of the driving assistance system which concerns on 3rd Example of this invention. It is a figure explaining the example of determination of the risk in the 3rd Example. It is a figure explaining the example of determination of the risk in the 3rd Example. It is a figure explaining the contact danger warning range in a 3rd Example. It is a figure explaining the example of determination of the risk in the 3rd Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10, 12: Vehicle-mounted object recognition system 20: Object detection apparatus 30: Identification control part 32: Object identification part 34: Audio | voice information provision part 38: Quantity / direction identification part 40: Audio | voice output part 50: Speaker 60: Object data storage Unit 70: Audio data storage unit 200: Driving support system 210: GPS receiver 220: Autonomous navigation sensor 260: Audio output unit 262: Speaker 280: Program memory

Claims (11)

Object detection means for detecting an object around the vehicle and outputting the detection result;
Identification means for identifying the object based on the detection result;
Voice information giving means for giving unique voice information to the identified object;
An in-vehicle object recognition system comprising: an audio output unit that outputs an audio corresponding to the audio information provided by the audio information providing unit. The vehicle-mounted object recognition system according to claim 1, wherein the detection result includes direction information of an object with respect to a vehicle, and the sound output unit gives direction to sound output based on the direction information. 3. The vehicle-mounted object recognition system according to claim 1, wherein when the object detection unit detects a plurality of objects, the sound output unit outputs a sound unique to each of the plurality of objects. The in-vehicle object recognition system according to any one of claims 1 to 3, wherein the unique audio information has a gradation sound that differs for each object. The vehicle-mounted object recognition system according to claim 1, wherein the unique voice information has a different timbre for each object. The audio output means includes a plurality of speakers arranged in the space of the vehicle, and when receiving the direction information, the audio output means outputs audio from a speaker corresponding to a direction in which an object exists based on the direction information. The vehicle-mounted object recognition system according to any one of claims 1 to 5. An in-vehicle object recognition system according to any one of claims 1 to 6,
A determination means for determining a risk level of an object recognized by the vehicle-mounted object recognition system;
A driving support system comprising voice output control means for controlling the voice output means according to the degree of danger based on the determination result of the determination means. When a plurality of objects are recognized around the vehicle, the determination unit determines that the risk of the object existing in the blind spot of the driver is preferentially high, and the sound output control unit determines the sound of the object with a high risk. The driving assistance system according to claim 7, wherein the output is emphasized. The driving support system according to claim 7, wherein the determination unit sets a contact risk warning range around the vehicle and determines that the risk level of an object recognized in the contact risk warning range is preferentially high. The driving support system according to claim 9, wherein the contact danger warning range is variable according to a vehicle speed. The driving assistance system according to claim 9, wherein the contact danger warning range is variable according to a road type on which the vehicle travels.

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