JP2010191803A - Driving support device and method - Google Patents

Abstract

A driving support device and a driving support method applied therefor that can correctly estimate the traveling direction of the preceding vehicle in any scene regardless of the width of the road, the size of the preceding vehicle, and the like.
When a preceding vehicle turns in one of a right direction and a left direction, a large turning motion estimation unit that estimates the turning by performing a turning motion that turns in the one direction after turning in the other direction. 9 and driving support based on the estimation result of the large turning motion estimation unit 9. By estimating the large turning motion of the preceding vehicle by the large turning motion estimation unit 9, for example, it is possible to perform driving support such as warning the driver or operating the brake, and thereby, The host vehicle is prevented from entering a space temporarily generated by the operation.
[Selection] Figure 1

Description

  The present invention relates to a driving support device that supports driving of a vehicle, and a driving support method that estimates a large turning operation of a preceding vehicle.

  Conventionally, as a driving support device, a future turning trajectory calculation unit that calculates a future turning trajectory of a vehicle based on a steering angle and a vehicle speed, and a danger area where the vehicle passes within a predetermined time based on the calculated future turning trajectory. A device including a dangerous area setting unit to be set, an obstacle detection unit for detecting an obstacle by a radar, and a determination unit for determining whether or not an obstacle exists in the dangerous region is known (for example, a patent) Reference 1). In this driving assistance device, the driving assistance based on the determination result prevents the entrainment at the time of turning left or right.

JP 2000-171560 A

  Such a driving assistance device can avoid interference with obstacles such as the following vehicle on the preceding vehicle side that makes a right or left turn, and further, it is required to improve safety on the following vehicle side as well. It was. In particular, when the preceding vehicle is a large vehicle and the road where the right and left turn is narrow, the operation of turning to the opposite side once to secure the space and then turning in the target direction (large turning operation) However, in such a case, it may be difficult for the following vehicle to accurately estimate the traveling direction of the preceding vehicle.

  The present invention has been made to solve such a problem, and a driving assistance device capable of correctly estimating the traveling direction of the preceding vehicle in any scene regardless of the road width, the size of the preceding vehicle, and the like. It aims at providing the driving assistance method applied for that purpose.

  The driving support apparatus according to the present invention estimates that when a preceding vehicle turns in one direction of the right direction and the left direction, it turns by performing a large turning operation that turns in one direction after turning in the other direction. A large turn motion estimation means and a driving support means for performing driving support based on the estimation result of the large turn motion estimation means are provided.

  In addition, the driving support method according to the present invention performs a turning operation in which the preceding vehicle turns in one direction after turning in the other direction when the preceding vehicle turns in one direction of the right direction and the left direction. It is estimated and driving assistance is performed based on the estimation result.

  In this driving support device and driving support method, when the host vehicle travels behind the preceding vehicle and the preceding vehicle makes a right turn or a left turn, the large turning operation estimation means estimates the turning operation of the preceding vehicle, for example, Driving assistance such as warning the driver and operating the brake can be performed. Therefore, it is possible to correctly estimate that the space temporarily generated by the turning operation of the preceding vehicle is a dangerous area. This makes it possible to correctly estimate the traveling direction of the preceding vehicle in every scene regardless of the width of the road or the size of the preceding vehicle.

  In the driving support device, it is preferable that the large turning motion estimation means estimates based on the size of the vehicle body of the preceding vehicle and the road width in one direction. In addition, the driving support method according to the present invention performs a turning operation in which the preceding vehicle turns in one direction after turning in the other direction when the preceding vehicle turns in one direction of the right direction and the left direction. The estimation is based on the size of the vehicle body of the preceding vehicle and the road width in one direction.

  In this driving support device and driving support method, based on the size of the vehicle body of the preceding vehicle and the road width of the left or right turn destination, for example, by calculating the trajectory of the preceding vehicle, it is estimated that the vehicle turns and turns. be able to.

  Further, in the driving support device, it is preferable that the large turning motion estimation means performs estimation based on past behavior of the vehicle when turning in one direction at the current position. Further, in the driving support method according to the present invention, when the preceding vehicle turns in one direction of the right direction and the left direction, it turns by performing a large turning operation that turns in one direction after turning in the other direction. The vehicle is estimated based on the past behavior of the vehicle when turning in one direction at the current position.

  In this driving support device and driving support method, for example, by searching for data stored in advance, a vehicle whose size is similar to that of the preceding vehicle is searched for among the vehicles that have traveled in the past at the current position, The behavior of the preceding vehicle can be estimated based on the past behavior when these vehicles make a right or left turn at the current position. Thereby, it can be estimated that the preceding vehicle turns by turning around.

  In the driving support device, it is preferable that the large turning motion estimation means estimates based on a sudden turn of the preceding vehicle. Further, in the driving support method according to the present invention, when the preceding vehicle turns in one direction of the right direction and the left direction, it turns by performing a large turning operation that turns in one direction after turning in the other direction. The estimation is based on a sudden turn of the preceding vehicle.

  In this driving support device and driving support method, for example, it can be determined that if the vehicle turns more rapidly than when turning right or left, it can be determined that a large turning operation is performed. Can be estimated.

  In the driving support device, it is preferable that the large turning motion estimation means estimates based on whether or not the preceding vehicle is turning in a direction opposite to the direction of the blinker display. Further, in the driving support method according to the present invention, when the preceding vehicle turns in one direction of the right direction and the left direction, it turns by performing a large turning operation that turns in one direction after turning in the other direction. The vehicle is estimated based on whether or not the preceding vehicle is turning in the opposite direction to the blinker display.

  In this driving support device and driving support method, if the preceding vehicle is turning in the direction opposite to the blinker display, it can be determined that the turning operation is being performed, and the turning operation is performed based on the sudden turning of the preceding vehicle. Can be estimated.

  According to the present invention, it is possible to correctly estimate the traveling direction of the preceding vehicle in every scene regardless of the road width and the size of the preceding vehicle.

It is a block block diagram which shows the structure of the driving assistance device which concerns on 1st embodiment of this invention. It is a figure which shows a mode in case the preceding vehicle is carrying out a large turning operation | movement and is turning left. It is a flowchart which shows the driving assistance process in the driving assistance device which concerns on 1st embodiment of this invention. It is a block block diagram which shows the structure of the driving assistance device which concerns on 2nd embodiment of this invention. It is a flowchart which shows the driving assistance process in the driving assistance device which concerns on 2nd embodiment of this invention. It is a block block diagram which shows the structure of the driving assistance device which concerns on 3rd embodiment of this invention. It is a flowchart which shows the driving assistance process in the driving assistance device which concerns on 3rd embodiment of this invention.

  Hereinafter, with reference to the drawings, preferred embodiments of a driving support apparatus and a driving support method according to the present invention will be described in detail.

[First embodiment]
First, the structure of the driving assistance apparatus 1 which concerns on 1st embodiment of this invention is demonstrated. FIG. 1 is a block configuration diagram showing the configuration of the driving support apparatus 1 according to the first embodiment of the present invention. The driving support device 1 has a function of estimating that the preceding vehicle performs a turning operation and turning left and right when the host vehicle is automatically driving, and performing appropriate driving support based on the estimation result. It is. Here, the large turning operation is a turning method that is performed when a vehicle with a large body turns right or left in a narrow alley, and in the case of turning in one of the right direction and the left direction, once in the other direction on the opposite side. It is to make a big turn in one direction after turning. For example, in the example shown in FIG. 2, when a preceding vehicle M2 with a large vehicle body makes a left turn, a trajectory TR is depicted that turns once to the right and then turns significantly to the right. As a result, the preceding vehicle M2 having a large vehicle body can turn left onto a narrow road. As shown in FIG. 1, the driving support device 1 includes an ECU (Electronic Control Unit) 2, another vehicle information acquisition unit 3, a warning unit (driving support unit) 4, a braking unit (driving support unit) 5, and a storage unit 6. It is configured with.

  Other vehicle information acquisition part 3 has a function which acquires various information on other vehicles. Examples of the information acquired from the other vehicle include the size of the other vehicle, the size of the vehicle body such as the wheel base, the direction of the vehicle body of the other vehicle, the blinker information, and the like. Specifically, the other vehicle information acquisition unit 3 is configured by a camera to analyze the image and acquire information on the other vehicle, or from a communication device or the like to acquire information from the other vehicle by performing communication. It is configured. The other vehicle information acquisition unit 3 has a function of outputting the acquired vehicle information to the ECU 2. This vehicle information may be used for processing in the ECU 2 in real time, or may be stored in the storage unit 6 and accumulated.

  The alerting unit 4 has a function of alerting the driver of the host vehicle, and includes, for example, a display that alerts the user by characters or images, a speaker that alerts the user by sound, and the like. . The alerting unit 4 notifies the driver of an output signal from the ECU 2 when there is a possibility that the preceding vehicle will make a large turning action and turn right or left.

  The braking unit 5 has a function of braking the vehicle, and includes, for example, an electromagnetic valve that adjusts the brake hydraulic pressure and a pump motor that generates the brake hydraulic pressure. The braking unit 5 operates in response to a braking command signal from the ECU 2 and has a function of executing vehicle braking according to the braking command signal.

  The storage unit 6 has a function of storing various data, such as map data, vehicle data related to the size of the body of the preceding vehicle, vehicle data related to a vehicle that has traveled around the host vehicle in the past, The behavior data relating to the behavior of these vehicles when turning left or right in the past can be stored. The storage unit 6 stores data input from the ECU 2 and has a function of outputting data in response to a request from the ECU 2.

  The ECU 2 is an electronic control unit that controls the entire driving support device 1. The ECU 2 is mainly configured by a CPU, for example, and includes a ROM, a RAM, an input signal circuit, an output signal circuit, a power supply circuit, and the like. The ECU 2 includes a route generation unit (driving support means) 7, a safety region determination unit 8, and a large-turn operation estimation unit (large-turn operation estimation unit) 9.

  The route generation unit 7 has a function of generating a travel route that allows the vehicle to travel safely when the vehicle performs automatic driving. The route generating unit 7 decelerates and stops so as to wait for the preceding vehicle to finish the large turning operation behind the preceding vehicle when the preceding vehicle of the host vehicle makes a large turning operation and turns right or left. Can be generated. In addition, the route generation unit 7 can generate a route that enters a space generated by the turn of the preceding vehicle when the preceding vehicle makes a right or left turn without performing a large turning operation.

  The safe area determination unit 8 has a function of determining whether or not the space formed in front of the host vehicle is a safe area even when traveling. For example, when the preceding vehicle performs a turning operation and makes a right or left turn, the safety region determination unit 8 determines that the space temporarily generated in front of the host vehicle is a dangerous region that may be involved, and the preceding vehicle When the vehicle turns right or left without performing a large turning operation, it can be determined that the space generated in front of the host vehicle is a safe area where there is no risk of being caught.

  The large turn motion estimation unit 9 has a function of estimating whether the large turn operation is performed when the preceding vehicle makes a right or left turn. The large turning motion estimation unit 9 includes a right / left turn prediction unit 11, a trajectory prediction unit 12, and a large turning motion determination unit 13.

  The right / left turn prediction unit 11 has a function of predicting whether the preceding vehicle will make a right turn or a left turn. The right / left turn prediction unit 11 can predict whether the preceding vehicle will go straight or make a right / left turn based on information such as the direction of the winker and the vehicle body output from the other vehicle information acquisition unit 3.

  The trajectory prediction unit 12 has a function of predicting a trajectory when the preceding vehicle makes a right turn or a left turn. The trajectory prediction unit 12 determines which trajectory when the preceding vehicle makes a right or left turn based on the road width information of the right or left turn based on the surrounding map data stored in the storage unit 6 and the size of the vehicle body of the preceding vehicle. Can be predicted.

  The large turning motion determination unit 13 has a function of determining whether or not there is a possibility of performing a large turning operation when the preceding vehicle makes a right or left turn based on the prediction result of the track prediction unit 12.

  Next, with reference to FIG. 3, operation | movement of the driving assistance device 1 which concerns on 1st embodiment of this invention is demonstrated. FIG. 3 is a flowchart showing a driving support process in the driving support device 1 according to the first embodiment of the present invention. In the present embodiment, control in the case where a preceding vehicle exists ahead of the host vehicle when the host vehicle is set to the automatic driving mode will be described. This process is repeatedly executed in the ECU 2 at a predetermined timing during driving of the vehicle.

  As shown in FIG. 3, the right / left turn prediction unit 11 of the large turning motion estimation unit 9 of the driving support device 1 predicts whether or not the preceding vehicle makes a right turn or a left turn (step S <b> 10). Specifically, the right / left turn prediction unit 11 predicts that the preceding vehicle makes a right turn or a left turn based on the information related to the preceding vehicle output from the other vehicle information acquisition unit 3. The right / left turn prediction unit 11 predicts that a right turn or a left turn will be performed when the blinker of the preceding vehicle is operating, or when the body direction of the preceding vehicle is inclined at a predetermined angle or more with respect to the straight traveling direction. To do. Next, the right / left turn prediction unit 11 determines whether the preceding vehicle makes a right turn or a left turn based on the prediction result made in S10 (step S12). If it is determined in S12 that the preceding vehicle does not make a right turn or a left turn, the route generation unit 7 continues to generate a route so as to follow the preceding vehicle safely (step S22).

  On the other hand, when it is determined in S12 that the preceding vehicle makes a right turn or a left turn, the track prediction unit 12 predicts a track when the preceding vehicle makes a right turn or a left turn (step S14). Specifically, the trajectory prediction unit 12 reads out the surrounding map data and the vehicle data of the preceding vehicle from the storage unit 6 (the vehicle data may directly use the data output from the other vehicle information acquisition unit 3), and the right Based on the size of the road width of the left turn destination and the size of the vehicle body of the preceding vehicle, it is predicted what trajectory needs to be drawn in order for the preceding vehicle to make a right / left turn. That is, if the road width is sufficiently large relative to the size of the vehicle body, there is little possibility of colliding with the wall on the right or left turn or oncoming vehicle, so turn right and left with a track that does not make a round turn. If the road width is narrow, it is predicted that the vehicle will turn left and right along a trajectory that makes a large turn to avoid colliding with the wall of the right or left turn or oncoming vehicle. In the example shown in FIG. 2, in order for the preceding vehicle M2 to turn left, the road width CL of the left turn destination is narrow and the vehicle body size L1 of the preceding vehicle M2 is large. Then, it can be predicted that a trajectory TR that performs a large turning operation to turn left must be drawn.

  Next, the large turning operation determination unit 13 determines whether or not there is a possibility that the preceding vehicle performs a large turning operation based on the prediction result of S14 (step S16). If it is determined in S16 that there is a possibility of performing a large turning operation, the safe area determination unit 8 determines that the space generated by the turn of the preceding vehicle is a dangerous area (step S18). In the example shown in FIG. 2, a space SP is generated in front of the host vehicle M1 by turning the preceding vehicle M2 to the right side, and the space SP is a temporary space generated due to the large turning operation, and the space SP. If it enters, it will determine with it being a dangerous area | region which may be caught in the preceding vehicle M2. When it is determined that the front space is a dangerous area, the ECU 2 outputs a signal to the alerting unit 4 and alerts that the preceding vehicle performs a large turning motion by a display on the display or a voice notification (step) S20). In this case, the route generation unit 7 generates a route that decelerates and stops so as to wait for the preceding vehicle to finish the turning operation behind the preceding vehicle (step S22). When the route is generated, the process illustrated in FIG. 3 ends, and the process is started again from S10.

  On the other hand, when it is determined in S16 that there is no possibility of performing the large turning operation, the safety area determination unit 8 determines that the space generated by the turn of the preceding vehicle is the safety area (step S24). In other words, since there is a low possibility of a large turning operation, once the preceding vehicle makes a right turn or a left turn, the vehicle makes a right or left turn. Therefore, the space generated in front of the turning of the preceding vehicle is less likely to be involved. It is determined that the area. In this case, the route generation unit 7 generates a route that enters the space generated by the turn of the preceding vehicle (step S22). When the route is generated, the process illustrated in FIG. 3 ends, and the process is started again from S10.

  As described above, according to the driving support device 1 according to the first embodiment of the present invention, when the host vehicle travels behind the preceding vehicle and the preceding vehicle makes a right turn or a left turn, the large turn motion estimation unit 9 performs the preceding. By estimating the turning operation of the vehicle, for example, it is possible to provide driving assistance such as warning the driver or operating a brake. Therefore, it is possible to prevent the host vehicle from entering a space temporarily generated by the large turning operation of the preceding vehicle. This makes it possible to correctly estimate the traveling direction of the preceding vehicle in every scene regardless of the width of the road or the size of the preceding vehicle.

[Second Embodiment]
Next, with reference to FIG. 4, the structure of the driving assistance apparatus 20 which concerns on 2nd embodiment of this invention is demonstrated. The driving support device 20 according to the second embodiment predicts whether there is a possibility that the preceding vehicle may perform a turning operation by referring to the behavior of a vehicle having specifications similar to those of the preceding vehicle based on past data. Therefore, it is mainly different from the driving support device 1 according to the first embodiment.

  FIG. 4 is a block configuration diagram showing the configuration of the driving support device 20 according to the second embodiment of the present invention. The driving support device 20 includes an ECU 2, an other vehicle information acquisition unit 3, an alerting unit 4, a braking unit 5, and a storage unit 6. The ECU 2 includes a route generation unit 7, a safety area determination unit 8, and a large turn operation estimation unit 9, and the large turn operation estimation unit 9 includes an information inquiry unit 21 and a large turn operation determination unit 13. The configuration other than the information inquiry unit 21 is the same as that of the driving support device 1 according to the first embodiment.

  The information inquiry unit 21 has a function of inquiring the current position of the host vehicle with the map data read from the storage unit 6. Moreover, the information inquiry part 21 inquires the vehicle data of the vehicle which has passed the present position in the past among the vehicles in which the vehicle data is stored in the storage part 6, and the vehicle information of the preceding vehicle. The vehicle has a function of searching for a vehicle having specifications similar to those of the preceding vehicle. In addition, the information inquiry unit 21 has a function of inquiring about how the searched vehicle behaves when turning right or left at the current position.

  Next, with reference to FIG. 5, the operation | movement of the driving assistance process of the driving assistance apparatus 20 which concerns on 2nd embodiment of this invention is demonstrated. FIG. 5 is a flowchart showing a driving support process in the driving support device 20 according to the second embodiment of the present invention.

  As shown in FIG. 5, the information inquiry part 21 of the driving assistance apparatus 20 starts a process from the inquiry of the present position of the own vehicle (step S30). Specifically, the information inquiry part 21 reads map data from the memory | storage part 6, and inquires the present position of the own vehicle with map data. Next, the information inquiry part 21 reads the vehicle data stored from the memory | storage part 6, and the vehicle of the vehicle which has passed the present position in the past among the vehicles in which the vehicle data is stored in the memory | storage part 6 By querying the data and the vehicle information of the preceding vehicle, a vehicle having specifications similar to those of the preceding vehicle is searched (step S32). Specifically, the information inquiry unit 21 searches for a vehicle that has passed the current position and that has a difference in the physique or wheelbase of the preceding vehicle within a predetermined range. Next, the information inquiry unit 21 reads past vehicle behavior data from the storage unit 6 and inquires about how the vehicle similar to the preceding vehicle searched in S32 behaves when making a right or left turn at the current position. (Step S34).

  Based on the inquiry result in S34, the large-turn operation determination unit 13 determines whether or not there is a possibility that the preceding vehicle may perform a large-turn operation (step S16). In S34, if an inquiry result is obtained that the majority of vehicles similar to the preceding vehicle have made a round turn at the intersection at the current position and have made a right or left turn, it can be determined that the preceding vehicle is also likely to make a round turn. If an inquiry result is obtained that the majority of vehicles turn left and right without moving, it can be determined that the possibility that the preceding vehicle will make a round turn is low. About the process after S16, the process similar to 1st embodiment is made | formed.

[Third embodiment]
Next, with reference to FIG. 6, the structure of the driving assistance device 30 which concerns on 3rd embodiment of this invention is demonstrated. The driving support device 30 according to the third embodiment is different from the driving support device 1 according to the first embodiment in that the driving support device 30 according to the first embodiment predicts whether there is a possibility that the preceding vehicle may perform a large turning operation based on the behavior of the preceding vehicle. Is different.

  FIG. 6 is a block configuration diagram showing the configuration of the driving support device 30 according to the third embodiment of the present invention. The driving support device 30 includes an ECU 2, an other vehicle information acquisition unit 3, an alerting unit 4, a braking unit 5, and a storage unit 6. The ECU 2 includes a route generation unit 7, a safety region determination unit 8, and a large turn motion estimation unit 9, and the large turn operation estimation unit 9 includes a behavior determination unit 31 and a blinker determination unit 32. The configuration other than the behavior determination unit 31 and the winker determination unit 32 is the same as that of the driving support device 1 according to the first embodiment.

  The behavior determination unit 31 has a function of predicting whether or not the large turning operation is performed based on the behavior of the preceding vehicle. Specifically, the behavior determination unit 31 determines the possibility of a large turning operation based on whether or not the traveling direction of the preceding vehicle has suddenly changed before the intersection. When a large turn is performed, the steering wheel is turned off more rapidly than a normal right / left turn. Therefore, the behavior determination unit 31 can predict that the turning operation is performed when the preceding vehicle changes its traveling direction more rapidly than in the case of a normal right / left turn before the intersection.

  The winker determination unit 32 has a function of predicting whether or not the large turn operation is performed by determining whether or not the preceding vehicle is moving in the opposite direction to the winker displayed. This is because when the traveling direction is opposite to the winker, it can be considered that the vehicle turns right or left by performing a round turn.

  Next, the operation of the driving support process of the driving support device 30 according to the third embodiment of the present invention will be described with reference to FIG. FIG. 7 is a flowchart showing a driving support process in the driving support device 30 according to the third embodiment of the present invention.

  As shown in FIG. 7, the behavior determination unit 31 of the driving support device 30 determines whether or not the traveling direction of the preceding vehicle has changed abruptly (step S40). If it is determined that the advancing direction of the preceding vehicle changes abruptly as compared to a normal right / left turn, it is determined that a large turning operation is performed, and if it does not change, it is determined that a normal right / left turn is performed. In this process, for example, a threshold value such as a turning radius is set in advance, the turning radius of the preceding vehicle is calculated by analyzing the image data output from the other vehicle information acquisition unit 3, and the turning radius is lower than the threshold value. In such a case, it is determined that a large turning operation is performed. If it is determined in S40 that the traveling direction has changed rapidly, the safety area determination unit 8 determines that the front space is a dangerous area (step S18). In addition, the process after S18 is the same process as 1st embodiment.

  On the other hand, if it is not determined in S40 that the traveling direction has changed suddenly, the winker determination unit 32 determines whether or not the preceding vehicle is moving in the opposite direction to the winker displayed (step S42). If the preceding vehicle is moving in the direction opposite to the direction of the winker, it is determined that there is a high possibility that the turning operation will be performed. . If it is determined in S42 that the traveling direction is the reverse of the winker display, it is determined that a large turning operation is performed, and the safety area determination unit 8 determines that the front space is a dangerous area (step S18). In addition, the process after S18 is the same process as 1st embodiment. On the other hand, if it is determined in S42 that the traveling direction is the same as the blinker display, it is determined that the left / right turn is performed as it is, and the safety area determination unit 8 determines that the front space is the safety area (step S42). S24). In addition, the process after S24 is the same process as 1st embodiment.

  The present invention is not limited to the embodiment described above.

  For example, when a preceding vehicle turns at an intersection where one side is a road and the other is a wall, when the preceding vehicle is turning toward the wall side, turning right or left Can be estimated.

  Moreover, although the above-mentioned embodiment demonstrated the case where the own vehicle was performing the automatic driving | operation, you may estimate a large turning operation | movement in the case of a manual driving. For example, when the preceding vehicle is performing a large turning operation, it is possible to alert the driver not to enter the temporarily generated space by notifying the driver accordingly.

  DESCRIPTION OF SYMBOLS 1,20,30 ... Driving assistance device, 4 ... Attention raising part (driving assistance means), 5 ... Braking part (driving assistance means), 7 ... Path | route production | generation part (driving assistance means), 9 ... Large turning motion estimation part (Large turning) Motion estimation means).

Claims (6)

When the preceding vehicle turns in one direction of the right direction and the left direction, a large turning operation estimation means for estimating turning by performing a turning operation that turns in the one direction after turning in the other direction; and
A driving support device comprising driving support means for performing driving support based on the estimation result of the large turn motion estimation means.   2. The driving support device according to claim 1, wherein the large turning motion estimation means estimates based on a size of a vehicle body of the preceding vehicle and a road width in the one direction.   2. The driving support apparatus according to claim 1, wherein the large turning motion estimation means estimates based on a past vehicle behavior when the vehicle turns in the one direction at a current position.   The driving support apparatus according to claim 1, wherein the large turning motion estimation means estimates based on a sudden turn of the preceding vehicle.   The driving support device according to claim 1, wherein the large turning motion estimation means estimates based on whether or not the preceding vehicle is turning in a direction opposite to the direction of the blinker. When the preceding vehicle turns in one direction of the right direction and the left direction, it is estimated that a turn is performed by turning in the one direction after turning in the other direction and turning.
A driving support method, wherein driving support is performed based on the estimation result.

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