JP4840351B2 - Stop guidance device - Google Patents

Description

  The present invention relates to a stop guidance device that guides a stop position when there is an intersection where the host vehicle is predicted to stop.

  Conventionally, there are technologies described in Patent Literature 1 and Patent Literature 2 as devices that support the stop position of a vehicle at an intersection. Patent Document 1 describes a configuration in which a front vehicle is recognized by a camera provided in the host vehicle and the position of a stop line is detected according to the position of the front vehicle.

Patent Document 2 describes a configuration in which the position of a stop line around the vehicle is detected by a camera provided in the vehicle.
JP 2002-190100 A JP 2005-341153 A

  By the way, when the vehicle stops at the intersection, as shown in FIG. 11, the own vehicle B is located in the traveling area of a right / left turn vehicle (hereinafter, the right / left turn vehicle is a right turn vehicle and / or a left turn vehicle) A. Sometimes. However, in Patent Documents 1 and 2, the vehicle cannot be guided so as not to enter the traveling area of the vehicle turning right or left.

  The present invention has been made in view of the above circumstances. The purpose of the present invention is to stop the vehicle so that the stop position can be guided so that the vehicle does not enter the travel area of the vehicle turning right or left when the vehicle is about to stop at the intersection. It is to provide a guide device.

  In order to achieve the above object, according to claim 1, the stop intersection presence / absence determination means determines whether or not there is an intersection where the host vehicle is predicted to stop when the host vehicle travels, and this stop intersection presence / absence determination is made. When it is determined that there is an intersection where the vehicle is predicted to stop, the size information acquisition unit acquires the size information of the right / left turn vehicle at the intersection from the information supply unit, and the vehicle travels right / left turn The area estimation means estimates the right / left turn vehicle travel area from the size information of the right / left turn vehicle acquired by the size information acquisition means and the intersection form, and the stop position guide means determines the right / left turn vehicle travel area. Guidance is made so as to stop traveling at a position before the boundary of the traveling area estimated by the estimating means.

  Therefore, in this claim 1, when there is an intersection where the own vehicle is predicted to stop, the traveling area of the vehicle turning right and left is estimated, and the traveling stops at a position before the estimated traveling area boundary. Therefore, when the host vehicle tries to stop at the intersection, the stop position can be guided so that the vehicle does not enter the traveling area of the vehicle turning right or left.

In this case, stop line presence / absence determining means for determining the presence or absence of a stop line at the intersection, and stop line position acquisition for acquiring the position of the stop line at the intersection when the stop line presence / absence determination means determines that there is a stop line. And a travel area / stop line position relationship determining means for determining the positional relationship between the boundary of the travel area estimated by the right / left turn vehicle travel area estimating means and the stop line position acquired by the stop line position acquiring means. ,
When the stop line presence / absence determining means determines that there is no stop line, the stop position guiding means guides the vehicle to stop at a position before the boundary of the travel area estimated by the right / left turn vehicle travel area estimating means. When the stop line presence / absence determining means determines that there is a stop line, the travel area / stop line position relationship determining means determines that the boundary of the travel area is closer to the vehicle side than the stop line. It is determined that the distance of the boundary of the travel area with respect to the stop line is indexed and guided to stop at a position before the index distance from the stop line, and the travel area boundary is on the far side of the stop line. In such a case, it may be guided to stop at the stop line position (invention of claim 2).

  According to the second aspect of the present invention, even if there is no stop line, it is possible to guide the vehicle to stop at a position before the boundary of the traveling area. If there is a stop line, the stop line is used as a guide. Thus, it is possible to guide the vehicle to stop at the stop line or stop at a position before the boundary of the travel area, and the stop position can be easily determined.

In this case, the information supply means may be constituted by a database of storage means provided in the own vehicle (invention of claim 3). According to the third aspect of the present invention, the size information of the right / left turn vehicle at the intersection can be quickly acquired, and the control speed can be increased.
Further, the information supply means may be a roadside device (invention of claim 4). According to the fourth aspect of the present invention, the size information of the right-left turn vehicle at the latest latest intersection can be acquired successively, and the control accuracy is improved.

  Further, the vehicle is provided with a stopped vehicle determining means for determining whether or not there is a stopped vehicle in front of the own vehicle, and when the stopped vehicle determining means determines that there is a stopped vehicle in front of the own vehicle, the stop position guiding means It is also possible not to perform the guidance according to (Invention of claim 5). According to the fifth aspect of the present invention, the influence of the traveling of the right / left turn vehicle is the leading vehicle of the stopped vehicle. Therefore, when the host vehicle is not the leading vehicle, the stop position guidance can be omitted, which is convenient. .

Further, when the position of the stop line at the intersection where the vehicle is predicted to stop by the stop intersection presence / absence determination means is set so as not to cover the travel area of the large right / left turn vehicle, the stop position guide means The guidance by may not be performed (claim 6).
According to the sixth aspect of the present invention, when the position of the stop line at the intersection where the own vehicle is predicted to stop is set so as not to cover the travel area of the large right / left turn vehicle, Since it is not necessary, the stop position guidance can be omitted, and waste of control and guidance can be eliminated, which is convenient.
Further, stop control means for controlling the vehicle to stop at the stop position guided by the stop position guide means may be provided (invention of claim 7). According to the invention of claim 7, not only the guidance but also the actual position can be stopped, and the safety is further improved.

  Hereinafter, based on FIG. 1 thru | or FIG. 7, the stop guidance apparatus by the 1st Example of this invention is demonstrated. FIG. 1 is a block diagram illustrating a configuration of the stop guidance device 1. A vehicle-mounted device (in this embodiment, a car navigation device) 2 includes a control device 3 mainly composed of a microcomputer, a position detector 4 for detecting the current position of the vehicle, a map data input device 5, and an operation switch. A group 6, an external memory 7, a display device 8 including a color liquid crystal display, a voice controller 10 to which a speaker 9 as a notification unit is connected, a voice recognition device 12 for recognizing a voice input from a microphone 11, and a remote controller 13. It includes a remote control sensor 14 that transmits and receives commands and the like, and an in-vehicle camera 15 that images the front of the vehicle.

  The position detector 4 is a gyroscope 16 that detects the rotational angular velocity of the vehicle, a vehicle speed sensor 17 that detects the travel distance of the vehicle, and a GPS (Global Positioning) that detects (positions) the current position of the vehicle based on radio waves transmitted from an artificial satellite. GPS receiver 18 for Positioning System). Each sensor 18-20 has an error with a different property. For this reason, the control device 3 detects the current position, traveling direction, speed, travel distance, current time, and the like of the vehicle with high accuracy by using the detected values of the sensors 18 to 20 while interpolating. Yes. Depending on the accuracy, the position detector 4 may be constituted by only a part of the sensors 18 to 20 described above. Further, a steering rotation sensor, a wheel sensor of each rolling wheel, or the like may be used.

  The map data input device 5 is a map data recording medium that records various data such as road map data, landmark data, map matching data, destination data (facility database), and table data for converting traffic information into road data. For example, a rewritable large-capacity hard disk drive device for reading data from the computer. The map data input device 5 may use a DVD drive device using a large-capacity storage medium such as a DVD or a memory card.

  Road map data includes intersections, the size and shape of intersections, presence / absence of stop lines (stop white lines) at intersections, stop line positions, right / left turn vehicle information data such as the size of right / left turn vehicles at intersections, Data on whether or not the position of the stop line at the intersection is set so as not to be in the traveling area of the large right / left turn vehicle is included.

This map data input device 5 also serves as an information supply means and corresponds to a database of storage means provided in the vehicle.
The operation switch group 6 as setting means includes a mechanical switch provided in the vicinity of the screen of the display device 8 and a touch panel provided on the screen of the display device 8. The driver uses the operation switch group 6 to input a destination, information necessary for searching for the destination (destination search conditions), a passing point, and the like, and switching the screen and display mode of the display device 8 (changing the map scale). , Menu display selection, route search, route guidance start, current position correction, volume adjustment, etc.) are input. The remote controller 13 is provided with a plurality of operation switches, and various command signals are transmitted from the remote controller 13 to the control device 3 via the remote control sensor 14 by the switch operation. Note that the operation switch group 6 and the remote controller 13 can cause the control device 3 to execute the same function by any operation.

The external memory 7 is composed of a flash memory card or the like. The external memory 7 stores specific data, for example, data on a route to a destination set by the control device 3 at the time of route guidance, data on a route through which the vehicle has passed, and the like.
On the screen of the display device 8, a map around the position of the vehicle is displayed at various scales, and a current location mark (pointer) indicating the current position and the traveling direction of the vehicle is superimposed on the display. In addition, a route guidance screen is displayed when route guidance to the destination is executed. Further, an input screen for inputting information necessary for the driver to search for the destination, searching for the destination, and setting, various messages, and the like are also displayed.

  The voice recognition device 12 collates the voice inputted through the microphone 11 with the dictionary data for recognition stored therein, and recognizes the inputted voice. The voice controller 10 controls the voice recognition device 12 to output a voice recognition result to the control device 3, and the recognized voice is talkback output via the speaker 9. In addition, an audio output signal is output to the speaker 9 based on an audio output command from the control device 3. The sound output from the speaker 9 is a sound related to guidance, a sound related to operation explanation, a sound notifying that the anti-theft function is in operation, a talkback sound corresponding to a sound recognition result, and the like.

The in-vehicle camera 15 is composed of a CCD camera that can identify the color of the signal, and images the vehicle ahead and the intersection signal.
The microcomputer constituting the control device 3 includes a CPU, memory (RAM, ROM, EEPROM, flash memory, etc.), I / O, and the like, and controls the configuration of the in-vehicle device 2 such as the display device 8 and the voice controller 10. is doing. When the CPU executes a program stored in the ROM (or flash memory), the control device 3 operates as a destination setting function, a route search function, a display control function, and a route guidance function as a navigation device. The route search function automatically calculates a recommended travel route from the starting point (current position) of the vehicle to the destination. For example, the Dijkstra method is used.

  The route guidance function displays a road map around the current location on the screen of the display device 8 so as to be movable along the travel route, and superimposes a current location mark indicating the current position and traveling direction of the vehicle on the road map. It is a function to display. In this case, the display of the current location moves on the map as the vehicle travels, and the map is scrolled according to the position of the vehicle. At this time, map matching is performed in which the current location of the vehicle is placed on the road.

  Further, the control device 3 includes stop intersection presence / absence determination means, size information acquisition means, right / left turn vehicle travel area estimation means, stop position guidance means, stop line presence / absence determination means, stop line position acquisition means, travel area / stop line. It functions as a positional relationship determination means and a stopped vehicle determination means. The stopped vehicle judging means is constituted by the in-vehicle camera 15 and the control device 3.

Now, the above-described functions of the control device 3 will be described with reference to the flowcharts of FIGS.
The flowchart of FIG. 2 is started, for example, when a switch operation for stop guidance is performed. It may be started by starting the engine. Further, when this flowchart is being executed, it is assumed that the position of the vehicle is always detected by the position detector 4. In step S1, it is determined whether or not the host vehicle is traveling based on the vehicle speed pulse from the vehicle speed sensor 17. If the host vehicle is traveling, the process proceeds to step S2, and the host vehicle is determined from the host vehicle position information and the map data. It is determined whether there is an intersection within a predetermined distance in the traveling direction.

  If it is determined that there is an intersection, a stop necessity determination process at the intersection in step S3 is executed. The control contents of the stop necessity determination process at this intersection are shown as a subroutine in FIG. In step T1 of FIG. 3, it is determined whether or not there is a law for temporary stop at the intersection based on the map data. If "YES" is determined here, the process proceeds to step T2 and it is determined that the vehicle needs to be stopped.

  If “NO” is determined in Step T1, the process proceeds to Step T3 to determine whether or not route guidance is being executed. If “NO”, the process proceeds to Step T4 and the imaging signal from the in-vehicle camera 15 is detected. Based on this, it is determined whether or not the signal is blue. If the color is not blue, the process proceeds to the stop necessity determination in step T2 according to “YES”.

If “YES” in the step T3, the process shifts to a step T5 to determine whether or not the arrow signal other than the blue color and the guide direction is not lit.
If the signal is blue in step T4, the process proceeds to step T6 according to “NO”, and it is determined that the vehicle is not stopped.

  After Step T2 or Step T6, the process proceeds to Step S4 in FIG. 2, and the stoppage necessity determination result determines whether the stop is necessary. If the stop necessity determination result is “no stop”, the process returns to step S1 according to “NO”. If it is determined that the stop is necessary, the process proceeds to the stop guidance control of step S5 according to “YES”.

  This stop guidance control is shown as a subroutine in FIG. In FIG. 4, in step U1, it is determined whether there is another traveling vehicle in front of the host vehicle based on the imaging signal of the in-vehicle camera 15, and if there is, the process moves to step U2 and guidance is unnecessary. judge. If “NO” in step U1 (if the host vehicle is the leading vehicle), the process proceeds to step U3, and the size of the vehicle turning right or left is obtained from the map data database of the map data input device 5 serving as information supply means. To do. In this case, the database stores the size of the right / left turn vehicle for each month and date (data contents are shown in FIG. 5), and the size of the right / left turn vehicle corresponding to the current month and date is allocated from this database. put out.

  In step U4, the traveling area of the right / left turn vehicle is estimated from the calculated size and the intersection form acquired from the map data input device 5. For example, the area is indicated by E in FIG. In the next step U5, if the route guidance is being performed, the traveling lane being guided is set as the predicted stop lane of the own vehicle. For example, if the guidance direction is straight, a lane that can go straight is set as a predicted stop lane, if it turns right, a lane that can turn right is set as a predicted stop lane, and if it turns left, a lane that can turn left is set as a predicted stop lane. If route guidance is not in progress, the travel lane is set as the predicted travel lane from the right.

  In the next step U6, it is acquired from the map data database of the map data input device 5 whether or not there is a stop line (white line indicating stop) at the intersection. If it is determined in step U7 that there is no stop line, the process proceeds to step U8 according to “NO”, and a boundary Ek (see FIG. 6) of the travel area E with the travel lane Lj of the host vehicle J is detected. The distance from the vehicle position to the boundary Ek is predicted. In step U9, notification (guidance) is performed. In this case, for example, a message “Please stop at xxm ahead” is output to the speaker 9. In this case, “xxm” is a position in front of the boundary Ek of the traveling area E of the right / left turn vehicle.

  If it is determined in step U7 that there is a stop line, the process proceeds to step U10, where the intersection is safe from the map data database of the map data input device 5 (the position of the stop line at the intersection is normally predicted). If it is “YES”, it is determined that guidance is unnecessary, and if “NO”, it is determined that guidance is unnecessary. The process proceeds to step U12.

  In step U12, a boundary Ek (see FIG. 7) between the traveling area E and the traveling lane Lj of the vehicle J is detected. In the next step U13, the boundary Ek of the traveling area E is closer to the stop line. If it is before, the process proceeds to step U14, where the distance to the boundary Ek of the travel area E with respect to the stop line is calculated (in this case, the calculated distance is set as OOm), and the next step In U15, for example, a message such as “There is a vehicle turning right or left. Please stop at ** m before the stop line” is notified (guided) from the speaker 9. In this case, “**” m is “OO + α” m, and α is a distance in anticipation of safety. This message is intended to guide the vehicle to stop at a position before the index distance OOm from the stop line.

  If it is determined in step U13 that the boundary Ek is not in front of the stop line (the other side of the stop line), the process proceeds to step U16 and a message “Please stop at the stop line” is notified ( invite.

  According to the present embodiment described above, it is determined by the stop intersection presence / absence determining means (steps S2 and S3) of the control device 3 whether there is an intersection where the host vehicle is predicted to stop when the host vehicle travels. When it is determined by the stop intersection presence / absence determination means that there is an intersection where the vehicle is predicted to stop, the size information acquisition means (step U3) provides information on the size information of the right / left turn vehicle at the intersection. Obtained from the map data input device 5 serving as the supply means, the right / left turn vehicle travel area estimation means (step U4) estimates the travel area E of the right / left turn vehicle from the size information of the right / left turn vehicle and the intersection form. Then, the vehicle stops at a position before the estimated boundary Ek of the travel area E by the stop position guide means (step U9, step U15, step U16). Guide to so that.

  Therefore, in this embodiment, when there is an intersection where the vehicle is predicted to stop, the traveling area E of the vehicle turning right or left is estimated, and at a position before the estimated boundary Ek of the traveling area E. Since the vehicle is guided so as to stop traveling, the stop position can be guided so that the vehicle does not enter the traveling area E of the vehicle turning right or left when the host vehicle tries to stop at the intersection.

  Further, according to this embodiment, the stop line presence / absence determining means (step U7) of the control device 2 determines the presence or absence of a stop line at the intersection, and when it is determined that there is a stop line, the stop line position acquiring means (step U10). ) To acquire the position of the stop line at the intersection and determine the positional relationship between the estimated boundary Ek of the travel area E and the acquired stop line position as travel area / stop line position relationship determining means (step U13, step U14). When the stop line presence / absence determining means (step U7) determines that there is no stop line, the stop position guiding means (step U9) takes a position before the estimated boundary Ek of the travel area E. When it is determined that there is a stop line and the boundary Ek of the travel area E is closer to the vehicle side than the stop line The distance of the boundary Ek of the travel area E with respect to the stop line is calculated (step U14) and is guided to stop at a position before the index distance from the stop line (step U15), and the travel area boundary stops. When it is determined that the vehicle is located beyond the line ("NO" in step U13), guidance is provided to stop at the stop line position (step U16), so even if there is no stop line, It can be guided to stop at a position before the boundary Ek of the travel area E, and if there is a stop line, use this stop line as a guide to stop at the stop line or the position of the boundary of the travel area It is possible to guide the vehicle to stop at a nearer position, and the stop position can be easily determined.

Further, according to this embodiment, the information supply means for supplying the size information of the right / left turn vehicle is constituted by the map data input device 5 which is a storage means provided in the own vehicle, so that the size of the right / left turn vehicle at the intersection is determined. Information can be acquired quickly and control speed can be increased.
Here, since the influence of the traveling of the right-left turn vehicle is the leading vehicle of the stopped vehicle, guidance may be omitted when the own vehicle is not the leading vehicle, and according to this embodiment in consideration of this point, When it is determined that there is a stopped vehicle judging means (on-vehicle camera 15 and control device 3) for judging whether or not there is a stopped vehicle ahead of the host vehicle, and the stopped vehicle judging means determines that there is a stopped vehicle ahead of the own vehicle ( Since the guidance is not performed at “YES” in step U1, the stop position guidance can be omitted when the host vehicle is not the leading vehicle, which is convenient.

  Further, according to the present embodiment, when the position of the stop line at the intersection where the own vehicle is predicted to stop is set so as not to cover the traveling area of the large right / left turn vehicle ("YES" in step U11). Since no guidance is provided, it is safe because it does not cover the travel area of the vehicle turning left or right. By eliminating the stop position guidance, the stop position guidance can be omitted and control or It is convenient because it eliminates the waste of guidance.

  8 to 10 show a second embodiment of the present invention. In this second embodiment, as a roadside device corresponding to the information supply means, an information center 19 and a plurality of roadside monitoring devices 22A and 22B are shown. This is different from the first embodiment in that it is configured to use. In order to communicate with the information center 19, a transmitter / receiver 20 that performs wireless communication via a wide-area communication network including a mobile phone network is provided, and a road-to-vehicle distance for communicating with the roadside monitoring devices 22A and 22B. A communication device 21 is provided. The road-vehicle communication device 21 is for performing data communication (for example, DSRC (Dedicated Short Range Communication), etc.) with a plurality of roadside monitoring devices 22A, 22B.

  On the other hand, since the plurality of roadside monitoring devices 22A and 22B have the same configuration, the roadside monitoring device 22A will be described as a representative. The roadside monitoring device 22A includes a roadside camera 23A, a road-to-vehicle communication device 24A, a control unit 25A capable of controlling the roadside-vehicle communication device 24A, and a memory 26A connected to the control unit 25A. The other roadside monitoring device 22B is shown by adding the subscript “B” to the same components as those of the roadside monitoring device 22A.

As shown in FIG. 9, the roadside cameras 23 </ b> A and 23 </ b> B are provided at positions where a right-left turn vehicle can be imaged when viewed from the traveling lane Lj.
Although not shown, the information center 19 is provided with a large capacity storage device (storage means) that stores a database relating to traffic information. In the database, information relating to the size of the right / left turn vehicle at the intersection is stored every month, day, and time. It is classified.

  In this embodiment, the control contents are slightly different from those in the first embodiment. The different points (step V3, step V4, step V6) will be described with reference to FIG. 10 corresponding to FIG. 4 of the first embodiment. That is, in step V3 of the second embodiment, right / left turn vehicle size information at the current time is acquired from right / left turn vehicle size information in the database of the large capacity storage device of the information center 19, and imaging from the roadside cameras 23A and 23B is performed. The size of the vehicle turning right and left is acquired based on the signal, and the larger size of both acquisition results is selected. In step V4, the traveling area of the right-left turn vehicle is estimated from the selected vehicle size and the intersection form acquired from the information center 19.

In Step V6, the presence / absence of a stop line is determined based on the information from the information center 19 or the imaging signals of the roadside monitoring devices 22A and 22B.
According to the second embodiment, since the information supply means is constituted by the roadside devices such as the information center 19 and the roadside monitoring devices 22A and 22B, the size information of the right and left turn vehicles at the latest intersection can be acquired sequentially. Thus, the control accuracy is improved. Moreover, it can contribute to the memory capacity reduction in the vehicle side.

  In each of the above embodiments, only stop guidance is performed. However, stop control means for controlling a brake device and the like of the vehicle is provided so that the vehicle stops at the stop position guided by the stop position guide means. It is good also as a structure to control. Further, as the stop position guide means, not only the speaker but also the display device 8 may be used as the notification means.

1 is a block diagram of a functional configuration showing a first embodiment of the present invention. Flow chart showing control contents The flowchart which shows the control contents of stop necessity judgment processing at an intersection Flowchart of stop guidance control Diagram showing data contents of vehicle size for turning left and right Plan view of intersection situation for explanation of action when there is no stop line Plan view of intersection situation for explanation of action when there is a stop line FIG. 1 equivalent view showing a second embodiment of the present invention. Plan view of intersection for explaining roadside monitoring device 4 equivalent diagram Plan view of intersection situation to explain conventional problems

Explanation of symbols

  In the drawings, 1 is a stop guidance device, 2 is an on-vehicle device, and 3 is a control device (stop intersection presence / absence judgment means, size information acquisition means, right / left turn vehicle travel area estimation means, stop position guidance means, stop line presence / absence judgment means, stop Line position acquisition means, travel area / stop line position relationship judgment means, stop vehicle judgment means), 4 is a position detector, 5 is a map data input device (information supply means), 8 is a display device, 9 is a speaker, 15 is An in-vehicle camera (stopped vehicle determination means), 19 is an information center (roadside device), and 22A and 22B are roadside monitoring devices (roadside devices).

Claims (7)

A stop intersection presence / absence judging means for judging whether or not there is an intersection where the vehicle is predicted to stop when the vehicle travels,
Size information acquisition means for acquiring, from the information supply means, the size information of the right / left turn vehicle at the intersection when it is determined by the stop intersection presence / absence determination means that the vehicle is predicted to stop.
Right / left turn vehicle travel area estimation means for estimating the travel area of the right / left turn vehicle from the size information of the right / left turn vehicle acquired by the size information acquisition means and the intersection form,
A stop guidance device comprising: stop position guidance means for guiding the vehicle to stop traveling at a position before the boundary of the travel area estimated by the right / left turn vehicle travel area estimation means. Stop line presence / absence judging means for judging presence / absence of a stop line at the intersection;
Stop line position acquisition means for acquiring the position of the stop line at the intersection when it is determined by the stop line presence / absence determination means that there is a stop line;
A travel area / stop line positional relationship determining means for determining a positional relationship between the boundary of the travel area estimated by the right / left turn vehicle travel area estimating means and the stop line position acquired by the stop line position acquiring means;
The stop position guide means includes
When it is determined that there is no stop line by the stop line presence / absence determination means, the vehicle is guided to stop at a position before the boundary position of the travel area estimated by the right / left turn vehicle travel area estimation means,
When it is determined by the stop line presence / absence determining means that the stop line is present, the stop line is determined when the travel area / stop line position relationship determining means determines that the boundary of the travel area is closer to the vehicle side than the stop line. When the distance of the boundary of the travel area is determined and guided to stop at a position before the index distance from the stop line, and it is determined that the travel area boundary is on the far side of the stop line The stop guidance apparatus according to claim 1, wherein guidance is provided so as to stop at the stop line position.   3. The stop guidance apparatus according to claim 1 or 2, wherein the information supply means is configured by a database of storage means provided in a vehicle.   The stop guidance device according to claim 1 or 2, wherein the information supply means is a roadside device. A stop vehicle judging means for judging whether or not there is a stop vehicle ahead of the host vehicle;
5. The stop guidance according to claim 1, wherein when the stop vehicle determination means determines that there is a stop vehicle ahead of the host vehicle, the stop position guide means does not perform guidance. apparatus.   When the position of the stop line at the intersection where the vehicle is predicted to stop by the stop intersection presence / absence judging means is set so as not to reach the traveling area of the large right / left turn vehicle, guidance by the stop position guide means is performed. The stop guidance device according to any one of claims 1 to 5, which is not performed. The stop guidance device according to any one of claims 1 to 6, further comprising stop control means for controlling the vehicle to stop at the stop position guided by the stop position guide means.

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