JP2011108175A - Driving support system, driving support method and driving support program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a "driving support system, driving support method and driving support program" for arousing attention to travel regulation existing in front of its own vehicle. <P>SOLUTION: The driving support system has: a receiver for receiving information about temporary stops 60 and 62 existing ahead of a road on which its own vehicle M travels from a distribution device 30 by radio; an imaging camera for performing imaging the front of its own vehicle; a determinator for determining the quality of a visual field in front of its own vehicle on the basis of imaged data; and a presenting means for presenting an alarm notifying that a temporary stop exists when it is determined that the visual field in front of its own vehicle is bad. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a driving support device for supporting safe driving using traffic information from outside the vehicle.

  Research on a safe driving support system that detects automobiles, motorcycles, and pedestrians that are difficult for the driver to visually recognize with various sensors and provides the detected information to the vehicle-mounted device to alert the driver. It is being advanced. One of the safe driving support systems is DSSS (driving safety support systems) that provides traffic information to an in-vehicle device using an optical beacon capable of two-way communication using infrared rays. DSSS uses the optical beacon used in the VICS (Vehicle Information Communication System), which is a traffic information providing service, so the beacon unit of the vehicle-mounted device can be used as it is, and the communication distance is about 3.5 m. Since it is short, there is an advantage that individual information for each lane can be provided.

  With regard to such driving assistance, for example, Patent Literature 1 obtains information outside the vehicle related to the temporary stop position wirelessly even when the in-vehicle camera cannot recognize the stop line, and information for causing the driver to temporarily stop based on the information outside the vehicle. Output. Patent Document 2 detects the distance from the position of the vehicle to the limit position of the stop position before the intersection, and predicts the travel state at the limit position based on the distance and the travel state, so that the current travel state is appropriate. It is determined whether or not, and a warning is given to the driver of the determination result.

Japanese Patent Laid-Open No. 11-53686 JP 2008-262481 A

The vehicle-mounted device using the driving support system such as DSSS receives the information about the temporary stop from the optical beacon, etc., and then determines that the vehicle cannot stop at the temporary stop line ahead. Gives warnings such as deceleration. However, the driver may not be able to clearly recognize the temporary stop line and may not be able to stop in front of the temporary stop line in a situation where there is poor visibility in front of the vehicle as follows. .
1) When it is not possible to see the stop sign in front of the vehicle due to bad weather such as heavy rain or storm;
2) When the temporary stop line on the road surface cannot be seen due to obstacles on the road surface such as snowfall;
3) This is the case where there is a large vehicle with a high vehicle height in front of the host vehicle, and the stop sign and stop line in front of the host vehicle cannot be seen.

  Furthermore, in addition to information related to pause, when the information about traffic lights is received, if the front view is poor, the display status of the traffic lights when received and the display status when the traffic lights are actually viewed are different. This can be confusing for the driver. Furthermore, if you can't see the signal ahead when you follow the previous car on the right turn lane, you can drive to see if the previous car is driving with a right turn signal or a normal green signal. Do not know. If the preceding car is turning right with a green light, there is a risk that the oncoming car will go straight ahead, and it is very dangerous to proceed following the movement of the front car.

  An object of the present invention is to solve the above-described conventional problems and to provide a driving support device, a driving support method, and a driving support program that call attention to travel regulations existing ahead of the host vehicle.

  The driving support device according to the present invention performs driving support using traffic information from outside the vehicle, and receives by radio the traffic information related to travel regulations existing ahead of the road on which the vehicle is traveling. Means, imaging means for imaging the front of the host vehicle, and providing the imaging data, image processing for the imaging data, and determination unit for determining the quality of the field of view ahead of the host vehicle based on the processing result; Presenting means for presenting an alarm based on the received traffic information when it is determined that the field of view ahead of the vehicle is not good.

  Preferably, the determination means determines that the field of view is poor when the contrast ratio between the contour of the object imaged in front of the host vehicle and the background is less than a threshold value. Preferably, the determination means determines that the field of view is poor when there is an obstacle that blocks the field of view ahead of the host vehicle. Preferably, the determination means determines that the field of view is poor when the sign or signal in front of the host vehicle cannot be recognized. Preferably, when the character or figure displayed on the road surface ahead of the host vehicle cannot be recognized as an image, the determination means determines that the field of view is poor. Preferably, the driving support device further includes a compliance determination unit that determines whether the vehicle can comply with the travel regulation based on the received traffic information and the traveling state of the vehicle, Even if it is determined by the compliance determination means that the vehicle can comply with the travel regulations, the warning is presented if the determination means determines that the field of view is poor. Preferably, the traffic information includes information related to a temporary stop existing in front of a road on which the host vehicle is traveling, and the presenting means presents an alarm indicating that there is a temporary stop by voice or an image. Preferably, the traffic information includes information related to a traffic light existing ahead of the road on which the host vehicle is traveling, and the presenting means presents an alarm indicating the light color state of the traffic light as an image. Preferably, the alarm includes a remaining time of the lamp color. Preferably, the lamp color state includes information of a blue arrow in which the traffic light is displayed in red and can turn right. Preferably, the presenting means presents an alarm that the traffic light is a blue light color when the vehicle is traveling in a right turn lane.

  The driving support method according to the present invention performs driving support using traffic information from outside the vehicle, and wirelessly receives traffic information related to travel regulations existing ahead of the road on which the vehicle is traveling. And image processing the imaging data obtained by imaging the front of the host vehicle, determining whether the visibility ahead of the host vehicle is good based on the processing result, and determining that the visibility ahead of the host vehicle is poor, Presenting an alarm based on the received traffic information.

  The driving support program according to the present invention is executed by a driving support device that performs driving support using traffic information from outside the vehicle, and is traffic information related to travel regulations existing ahead of the road on which the vehicle is traveling. Wirelessly, image processing of imaging data obtained by imaging the front of the vehicle, determining whether the visibility ahead of the vehicle is good based on the processing result, and determining that the visibility ahead of the vehicle is not good And a step of presenting an alarm based on the received traffic information.

  According to the present invention, since the warning is presented when it is determined that the field of view ahead of the host vehicle is not good, the driver is alerted to the travel regulations existing in front of the host vehicle, and safe driving is performed. Prompted.

It is a figure explaining the example of rear-end collision prevention / signal oversight prevention using DSSS. It is a figure explaining the example of temporary stop regulation oversight prevention / encounter collision accident prevention using DSSS. It is a block diagram which shows the structure of the driving assistance apparatus which concerns on the Example of this invention. It is a top view which shows the example of mounting of an imaging camera. It is a block diagram which shows the functional structure of a control part. It is a flowchart explaining operation | movement of the driving assistance device of a present Example. It is a flowchart which shows the example of the quality determination of a visual field. It is a figure which shows an example when the information regarding a temporary stop is received. It is an example of a display at the time of warning about information about suspension. It is a figure which shows an example when the information regarding a traffic signal is received. It is a figure which shows an example when the information regarding a traffic signal is received.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The driving support apparatus according to the present embodiment uses DSSS. DSSS is one of safe driving support systems that provide a signal information service, a regulation information service, an obstacle detection information use service, and a road surface information use service. In order to realize the service by DSSS, the following traffic information is provided from the distribution device to the vehicle-mounted device.
"System information": Consists of date, service route status, etc.
“Road alignment information”: Expresses the road structure from the information provision point to the target, intersection, and section.
“Signal information”: indicates the scheduled number of seconds of the signal.
“Signal event expression information”: represents a stop line position corresponding to signal information.
“Regulation information”: The contents of regulation and the target period.
“Obstacle detection information”: represents a range corresponding to the obstacle detection information.
“Obstacle detection event expression information”: Indicates an obstacle sensor detection state.
“Road surface information”: road surface state.
“Road surface event expression information”: A range corresponding to road surface information.

  FIG. 1 is a diagram for explaining rear-end collision prevention / signal oversight prevention using DSSS. In the example of the figure, an example is shown in which the host vehicle M is traveling toward the intersection where the traffic signal 10 is installed. The traffic light 10 provides the signal display information regarding the current display status to the distribution device 30. The imaging camera 20 installed on the road side captures an intersection, and provides traffic congestion tail information including the position of the vehicle P at the tail of the traffic jam to the distribution device 30 when traffic jam occurs at the intersection.

  The distribution apparatus 30 transmits signal display information and traffic jam end information to the own vehicle M passing there through an optical beacon. The distribution device 30 can also distribute road alignment information related to the road shape up to the intersection. The vehicle-mounted device of the own vehicle M decodes the received traffic information and if it judges that it collides with the vehicle P at the end of the traffic jam, it will warn of deceleration or stop at the stop line at the intersection even though it is a red signal If it is determined that there is not, a warning is given for deceleration. Typically, if the driver is decelerating the vehicle M, no warning is issued.

  FIG. 2 is a diagram for explaining temporary stop regulation oversight prevention / encounter collision prevention using DSSS. In the example of the figure, the priority road 40 and the non-priority road 50 intersect, and the non-priority road 50 is provided with a stop sign 60 and a temporary stop line 62. The vehicle M is traveling on the non-priority road 50, and both vehicles are approaching the intersection.

  The distribution device 30 distributes information related to the temporary stop line to the host vehicle M traveling on the non-priority road 50. The vehicle-mounted device of the own vehicle M decodes that there is a temporary stop line ahead from the received information, and if it is determined that it cannot be stopped at the temporary stop line from the traveling state of the own vehicle M, it warns the deceleration. . If the driver is typically decelerating, no warning is given.

  In addition, the roadside imaging camera 20 images the vicinity of the intersection and provides the distribution apparatus 30 with vehicle information regarding the host vehicle M traveling on the non-priority road 50. The distribution device 30 provides the vehicle information related to the own vehicle M to the other vehicle P1 traveling on the priority road 40, and the vehicle-mounted device of the other vehicle P1 interprets the information and the vehicle M on the non-priority road 50. If it is determined that it will be encountered, a warning is given for deceleration. If the driver is typically decelerating, no warning is given.

Hereinafter, a driving support device using DSSS according to an embodiment of the present invention will be described. FIG. 3 is a block diagram illustrating a configuration of the driving support apparatus according to the present embodiment. The driving support apparatus 100 according to the present embodiment includes a traffic information acquisition unit 110 that acquires traffic information from the outside, an imaging camera 120 that images at least the front of the host vehicle, and a vehicle that acquires information related to the traveling state of the host vehicle. A state acquisition unit 130;
An input unit 140 that receives input from a user, a navigation unit 150 that guides a road map around the vehicle position, a storage unit 160 that stores various information, an image output unit 170 that displays image information on a display, The sound output unit 180 outputs sound information from the speaker, and the control unit 190 controls each unit.

  The traffic information acquisition unit 110 receives traffic information distributed from DSSS via an optical beacon. The traffic information acquisition unit 110 may have a function of acquiring VICS and other traffic information by radio in addition to DSSS.

  The imaging camera 120 is configured using, for example, a CCD or a CMOS image sensor. As shown in FIG. 4, the imaging camera 120 is attached to the center of the front part of the host vehicle in the vehicle width direction, and images the road surface state in front of the host vehicle, signs, signs, traffic lights, buildings, front vehicles, and the like. The horizontal angle of view θ of the imaging camera 120 is appropriately selected depending on the lens used. Imaging data captured by the imaging camera 120 is provided to the control unit 190, where image processing is performed.

  The vehicle state acquisition unit 130 acquires information related to the traveling state of the host vehicle. Information on the running state includes own vehicle position information by a GPS receiver, running information by a self-contained navigation sensor, speed information from a vehicle speed sensor, brake on / off information, turn signal information, and the like. The input unit 140 receives an input from the user via a mouse, a keyboard, a voice input, a touch panel, and the like, and transmits this to the control unit 190.

  The navigation unit 150 maps the host vehicle position on the road map based on the host vehicle position information acquired by the vehicle state acquisition unit 130 and provides map guidance or guides the guidance route to the destination. The storage unit 160 stores road map information required for the navigation unit 150, program data executed by the control unit 190, and the like.

  The image output unit 170 displays a road map on the display when the navigation unit 150 is executed, or displays an alarm or the like when traffic information is received. The voice output unit 180 outputs voice guidance from a speaker when the navigation unit 150 is executed, or outputs an alarm or the like when traffic information is received.

  The control unit 190 is configured using, for example, a microprocessor, a microcomputer, an image processing processor, and the like, and can execute a driving support operation by executing a program stored in a ROM or a RAM. However, the control unit 190 may be realized by software, hardware, or a combination of software and hardware.

  Next, a functional block of the control unit 190 of the present embodiment is shown in FIG. As shown in the figure, the control unit 190 includes a traffic information analysis unit 200 that analyzes the traffic information acquired by the traffic information acquisition unit 110. The traffic information distributed from the DSSS includes information related to travel restrictions such as a temporary stop regulation, a traffic light display display, a traffic jam, etc. existing ahead of the road on which the vehicle is traveling. The traffic information analysis unit 200 analyzes the type of regulation, the position to the regulation target, the contents of the regulation, and the like from the received traffic information.

  The image processing unit 210 receives imaging data in front of the host vehicle imaged by the imaging camera 120, and performs image processing such as distortion correction processing of imaging data, and edge (contour) detection processing of an object imaged in the imaging data. By this edge processing, contour information such as roads, signs, signboards, traffic lights, buildings, and vehicles ahead is extracted.

  The forward visibility determination unit 220 determines the quality of visibility in front of the host vehicle from the image data processed by the image processing unit 210. The visibility is judged using, for example, the contrast ratio or contrast ratio between the edge of the extracted object and the background, and if the ratio is equal to or greater than a threshold, it is determined that the visibility is good and is less than the threshold. If so, it is determined that the field of view is poor. At this time, the above-described determination is performed for all the captured objects or a certain number of objects, and if the contrast ratio or light / dark ratio of more than a majority of objects is equal to or greater than a threshold value, it is determined that the field of view is good. Good.

  Further, the forward visibility determination unit 220 can also use as a determination criterion whether or not a specific captured image can be recognized. In this case, reference data for identifying the contour of the object to be image-recognized is stored in the storage unit 160, and the reference data is matched with the edge information of the object extracted by the image processing. Preferably, image recognition of an object related to travel regulation, for example, a sign indicating a temporary stop, a traffic light, a “stop” character or a stop line written on the road surface is performed. If there is a match, the field of view is determined to be good, and if there is no match, the field of view is determined to be poor.

  By determining the visibility in this way, for example, when it is not possible to clearly recognize signs or traffic lights in front of the vehicle due to bad weather such as heavy rain or storm, When the upper pause line cannot be clearly recognized, it is determined that the field of view is poor.

  Further, when the object having a certain height or more is imaged in front of the host vehicle, the front field determination unit 220 determines that the field of view is poor because the field of view in front of the host vehicle is blocked. For example, when a large vehicle such as a bus or a truck is present in front of the host vehicle, it is impossible to see a sign or a traffic light in front of the host vehicle. In such a case, it is determined that the field of view is poor. Preferably, the image processing unit 210 and the forward visibility determination unit 220 can operate in response to the traffic information being analyzed by the traffic information analysis unit 200.

  When it is analyzed from the traffic information that there is a travel restriction ahead of the vehicle, the compliance determination unit 230 determines whether the vehicle can comply with the travel restriction based on the traveling state of the vehicle, the distance to the travel restriction, and the like. Determine whether. For example, when it is impossible to stop without crossing the temporary stop line, when the intersection is reached within the remaining time of the red light, the regulation cannot be observed. The alarm creating unit 240 alerts the driver when the forward visibility determining unit 220 determines that the field of view ahead of the host vehicle is poor, or when the compliance determining unit 230 determines that the travel regulations cannot be observed. Create an alert to alert.

  Next, the operation of the driving support apparatus of this embodiment will be described with reference to the flowchart of FIG. The navigation unit 150 is operated as the host vehicle starts to travel (step S101). The navigation unit 150 receives vehicle position information from a GPS receiver or a self-contained navigation sensor, and the image output unit 170 displays a road map around the vehicle position and a synthesized vehicle position mark on the display. If the destination is set, the guidance route to the destination is also synthesized and displayed.

  The traffic information acquisition unit 110 monitors whether or not traffic information from the DSSS has been received (step S102). When the traffic information is received, the traffic information is analyzed by the traffic information analysis unit 200 (step S103). By this analysis, the type, position, and content of travel regulations existing in front of the host vehicle are extracted (step S104).

  Next, the forward visibility determination unit 220 determines whether the visibility in front of the host vehicle is good (step S105). When the field of view determination unit 220 determines that the field of view is poor (step S106), the alarm generation unit 240 moves forward in accordance with the type, position, and content of the travel restriction extracted by the traffic information analysis unit 200. An alarm for notifying that there is a travel restriction is created, and this alarm is presented (step S107). As a presentation method, the image output unit 170 can synthesize and display a warning screen on a road map displayed on the display, or the voice output unit 180 can notify a warning to that effect by voice. For example, an alarm such as “There is a temporary stop 100 meters ahead” is presented. The presentation of the alarm may be performed for a certain period of time or intermittently.

  Next, the compliance determination unit 230 determines whether or not the host vehicle can comply with the travel regulation based on the travel state of the host vehicle and the distance to the travel regulation (step S108). If it is determined that it cannot be observed, the alarm creation unit 240 creates a warning that prompts deceleration or the like, and presents this (step S109). As a method of presentation, an alarm is displayed on the display or the alarm is notified by voice. On the other hand, if it is determined that the regulations can be observed, no warning is presented.

  In this way, when it is determined that the visibility in front of the host vehicle is poor, a warning regarding the driving regulation existing in front of the host vehicle is always presented regardless of whether or not the driving regulation can be observed. Even in situations where the person cannot clearly recognize the forward driving regulations, attention is drawn and safe driving is forced.

  Next, a preferable example in which the quality of the field of view is determined by recognizing an object related to the travel restriction extracted from the traffic information will be described with reference to the flowchart of FIG. When traffic information based on DSSS is received (step S201), the traffic information analysis unit 200 extracts a distance to a travel regulation (for example, a temporary stop or a traffic light) existing in front of the host vehicle. Let this distance be La. On the other hand, the image recognition using the imaging data is desirably performed when the imaging camera 120 reaches a position where the object can be sufficiently imaged. That is, if the distance to the target is too far, there is a risk of poor visibility due to that. Here, a distance at which image recognition can be sufficiently performed from the captured data is Lb (step S202).

  When La> Lb (step S203), the forward visibility determination unit 220 determines that the image is too far for image recognition, does not yet perform visibility determination by image recognition, and waits for the vehicle to further approach the travel regulation. (Step S204). When La = Lb is reached (step S205), the forward visual field determination unit 220 recognizes images such as travel restriction signs and traffic lights based on the image data captured at the distance Lb (step S206). The front view determination unit 220 determines that the field of view is good when the target can be recognized (step S207), and determines that the field of view is poor when the target cannot be recognized. (Step S209).

  Note that the above-described field of view determination is used when an image of a target such as a sign in the vicinity of the travel regulation position is recognized as an image, and when image recognition is performed for other targets, FIG. Regardless of the flow, the imaging data immediately after receiving the traffic information can be image-recognized to determine the visibility.

  Next, a description will be given with reference to a specific example. FIG. 8 shows an example in which information related to a temporary stop is received as traffic information. At time T1, the vehicle M receives traffic information from the distribution device 30 and analyzes the information. Assume that at time T2, the visibility is determined in response to receiving the traffic information, and as a result, it is determined that the visibility is poor. In response to determining that the field of view is poor at time T3, an alarm is provided to inform that there is a temporary stop restriction. FIG. 9 shows an example in which an alarm 310 is displayed on the road screen 300 of the display. If it is determined at time T4 that the vehicle cannot stop at the temporary stop line 62, an alarm for prompting deceleration or the like is presented.

  FIG. 10 shows an example in which information relating to traffic lights is received as traffic information. The own vehicle M receives information related to the traffic light 10 existing ahead from the distribution device 30. The forward visibility determination unit 220 calculates the height of the traffic light 10 or the direction in which the traffic light 10 can be seen based on the distance when the distance at which the traffic light can be seen from the host vehicle is reached, and the direction in which the vehicle M and the traffic light 10 can be seen. It is determined whether or not the vehicle is being imaged. As shown in FIG. 10 (a), when there is a vehicle P1 that is an obstacle to visually confirm the traffic light 10, it is determined that the field of view is poor, and the display 300 of the host vehicle M shows the light color information of the traffic light 10 and The alarm 310 for the remaining seconds (in the example of the figure, the remaining 20 seconds with a red signal) is displayed. On the other hand, as shown in FIG. 10B, when there is no obstacle vehicle, the field of view is determined to be good and the alarm is not displayed on the display, but the driver can see the traffic light 10. As usual, fulfill the obligation of forward confirmation.

FIG. 11 shows another example when information relating to a traffic light is received as traffic information.
When the own vehicle M receives the information on the traffic light and there is a vehicle P1 that obstructs the traffic light in front of the own vehicle, the field of view is determined to be poor. Then, on the display 300 of the host vehicle M, the light color information of the traffic light and a warning 310 whether or not a blue arrow that can be turned right is lit are displayed. In the example of FIG. (A), the light color information of a green signal is shown. Normally, a green signal is not a warning target, but is a warning target when the light color display pattern of the traffic light includes a blue arrow and when the vehicle passes a right turn lane. Even when the traffic light is red and blue, an alarm 310 as shown in FIG.

  The front vehicle P1 turns right after confirming the light color of the traffic light 10 and the oncoming vehicle P2, but the driver of the own vehicle M thinks that it has become a blue arrow and does not turn right following the front vehicle P1, but the oncoming vehicle Be careful to turn right after confirming P2.

  In the above embodiment, information related to travel restrictions such as a temporary stop and a traffic light that exist in front of the host vehicle is received, and a warning is presented when it is determined that the field of view is poor. If there is a side road between the vehicle and the travel regulation and a guidance route that runs along the side road is drawn, the vehicle will not pass the travel regulation. Good.

  The preferred embodiment of the present invention has been described in detail above, but the present invention is not limited to the specific embodiment, and various modifications can be made within the scope of the present invention described in the claims. Deformation / change is possible. Although the above-mentioned embodiment shows an example as a vehicle-mounted display device, the vehicle-mounted display device may be included in a system integrated with a navigation device and an audio / video device.

DESCRIPTION OF SYMBOLS 10: Traffic light 20: Imaging camera 30 on the roadside side 30: Distribution apparatus 40: Priority road 50: Non-priority road 60: Temporary low sign 62: Temporary stop line 100: Driving assistance apparatus 110: Traffic information acquisition part 120: Imaging Camera 130: Vehicle state acquisition unit 140: Input unit 150: Navigation unit 160: Storage unit 170: Image output unit 180: Audio output unit 190: Control unit 200: Traffic information analysis unit 210: Image processing unit 220: Front view determination unit 230: Compliance determination unit 240: Alarm creation unit 300: Display screen 310: Alarm M: Own vehicle P: Congested end vehicle P1, P2: Vehicle

Claims (14)

A driving support device that performs driving support using traffic information from outside the vehicle,
Receiving means for wirelessly receiving traffic information relating to travel regulations existing in front of the road on which the vehicle is traveling;
Imaging means for imaging the front of the vehicle and providing the imaging data;
Determination means for performing image processing on the imaging data and determining the quality of the field of view ahead of the vehicle based on the processing result;
Presenting means for presenting an alarm based on the received traffic information when the determining means determines that the field of view ahead of the host vehicle is not good;
A driving support device having The driving support device according to claim 1, wherein the determination unit determines that the field of view is poor when a contrast ratio between an outline of an object captured in front of the vehicle and a background is less than a threshold value. The driving support apparatus according to claim 1, wherein the determination unit determines that the field of view is poor when there is an obstacle that blocks the field of view ahead of the host vehicle. The driving support device according to claim 1, wherein the determination unit determines that the field of view is poor when an image of a sign or a traffic light in front of the host vehicle cannot be recognized. The driving support device according to claim 1, wherein the determination unit determines that the field of view is poor when the character or the graphic displayed on the road surface ahead of the host vehicle cannot be recognized as an image. The driving support device further includes a compliance determination unit that determines whether or not the vehicle can comply with the travel regulation based on the received traffic information and the traveling state of the vehicle, and the presentation unit includes the compliance 6. The alarm is presented if the determination means determines that the vehicle is capable of complying with travel regulations but the determination means determines that the field of view is poor. The driving assistance apparatus as described in one. 6. The traffic information includes information related to a temporary stop existing in front of a road on which the vehicle is traveling, and the presenting means presents an alarm indicating that there is a temporary stop by voice or an image. The driving assistance apparatus as described in any one. 6. The traffic information according to claim 1, wherein the traffic information includes information related to a traffic light existing ahead of the road on which the vehicle is traveling, and the presentation means presents an alarm indicating a light color state of the traffic light as an image. The driving support device according to one. The driving support device according to claim 8, wherein the warning includes a remaining time of the light color. The driving support device according to claim 8, wherein the light color state includes information of a blue arrow in which the traffic light is displayed in red and can turn right. The driving support device according to claim 8, wherein the presenting means presents an alarm that the traffic light is a blue light color when the host vehicle is traveling in a right turn lane. A driving support method that provides driving support using traffic information from outside the vehicle,
Receiving wirelessly traffic information related to travel regulations existing ahead of the road on which the vehicle is traveling;
Image processing of imaging data obtained by imaging the front of the host vehicle, and determining the quality of the field of view ahead of the host vehicle based on the processing result;
Presenting a warning based on the received traffic information when it is determined that the field of view ahead of the host vehicle is poor;
A driving support method. The driving support method further includes a step of determining whether or not the host vehicle can comply with the driving regulation based on the received traffic information and a driving state of the host vehicle, and the step of presenting includes: The driving support method according to claim 12, wherein the warning is presented when it is determined that the field of view is poor even when it is determined that the travel regulation can be observed. A driving support program executed by a driving support device that performs driving support using traffic information from outside the vehicle,
Receiving wirelessly traffic information related to travel regulations existing ahead of the road on which the vehicle is traveling;
Image processing of imaging data obtained by imaging the front of the host vehicle, and determining the quality of the field of view ahead of the host vehicle based on the processing result;
Presenting an alarm based on the received traffic information when it is determined that the field of view ahead of the host vehicle is not good;
A driving assistance program having

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