JP4494162B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device that supports driving of a vehicle, and more particularly to a driving support device that supports driving operation during curve driving.

  2. Description of the Related Art Conventionally, there has been devised a device that supports driving of a vehicle by collecting information related to vehicle driving and providing information to the driver. For example, in the navigation device disclosed in Patent Document 1, driving is supported by setting a planned route from the current position to the destination and instructing the traveling direction in the vicinity of an intersection or the like.

  Patent Documents 2, 3 and 4 are technologies that support driving operations by detecting or predicting the display state of a traffic light, determining whether or not the own vehicle needs to be stopped, and notifying the driver. Disclosure.

  Further, the curve approaching risk prevention support system disclosed in Patent Document 5 is a device installed on the road surface that memorizes the shape of the curve and monitors the road surface condition, and when the vehicle enters, it safely passes at the speed of the vehicle. A vehicle accident was prevented by determining whether or not it was possible and notifying.

JP 2004-205316 A JP 2000-268294 A JP 2003-44985 A JP 2001-236600 A JP 2002-163791 A

  By the way, the conventional technology is mainly intended to prevent accidents. However, even within the range where no accident occurs, driving operation by an inexperienced driver causes excessive or insufficient driving operation, resulting in unstable behavior of the vehicle and complicated driving operation.

  For example, when an unskilled driver travels a curve, a driving operation such as decelerating after entering the curve or accelerating after excessive deceleration may occur because sufficient deceleration cannot be performed before entering the curve. Similarly, a driving operation in which the steering wheel is adjusted in a constant curvature region where the vehicle should originally travel at a constant rudder angle frequently occurs.

  On the other hand, if you are a skilled driver, you will perform necessary and sufficient deceleration on the straight line before entering the curve, maintain a constant rudder angle and speed in the constant curvature region, moderately accelerate in the clothoid region on the exit side, etc. As described above, the vehicle is efficiently operated with relatively few driving operations.

  Therefore, for unskilled drivers, it is possible to realize stable vehicle behavior similar to when a skilled driver has driven by simple operations by providing advice on driving operations and correcting vehicle behavior. desired.

  That is, conventionally, there has been a demand for a driving support device that assists the driver's driving operation according to the situation, but such a driving support device has not been realized.

  The present invention has been made to solve the above-described problems in the prior art and to solve the problems, and it is an object of the present invention to provide a driving support device that supports driving operation particularly in curve driving.

In order to solve the above-mentioned problems and achieve the object, a driving support device according to the invention of claim 1 is a driving support device that is mounted on a vehicle and supports driving of the host vehicle, and is a curve in the course of the host vehicle. A curve detection means for detecting the curve, a curve information acquisition means for acquiring at least the curvature of the constant curvature region and the clothoid distance on the curve exit side as curve information indicating the shape of the curve detected by the curve detection means; By performing acceleration support to assist acceleration in a range where the lateral acceleration generated during traveling does not exceed the lateral acceleration generated during traveling in the constant curvature region when traveling in the clothoid region on the curve exit side And a support means for supporting a driving operation for passing the curve.

According to the first aspect of the invention, the driving support device acquires at least the curvature of the constant curvature region and the clothoid distance on the curve exit side as curve information indicating the shape when a curve is detected in the course of the host vehicle. Acceleration support for assisting acceleration in a range where the lateral acceleration generated during traveling does not exceed the lateral acceleration generated during traveling in the constant curvature region when the host vehicle is traveling in the clothoid region on the curve exit side To assist the driving operation for passing the curve.

According to a second aspect of the present invention, in the driving support device according to the first aspect, the curve information acquisition means acquires the curve information from a navigation device that performs route setting and route guidance for the host vehicle. It is characterized by.

According to the second aspect of the present invention, when the driving support device detects a curve in the course of the host vehicle, the driving support device acquires the curve information from the navigation device and supports the driving operation related to the passage of the curve.

According to a third aspect of the present invention, in the driving support device according to the first or second aspect, the curve information acquisition means acquires the curve information through communication with the outside of the vehicle.

According to the third aspect of the present invention, when a curve is detected in the course of the host vehicle, the driving support device acquires the curve information through communication with the outside of the vehicle and supports the driving operation for passing the curve.

According to a fourth aspect of the present invention, there is provided the driving support apparatus according to any one of the first to third aspects, wherein the curve information, the state information indicating the state of the host vehicle, and the situation information indicating the surrounding situation. The vehicle is further provided with model calculation means for calculating a travel model of the curve using the support means, and the support means assists the driving operation so that the travel state of the host vehicle approaches the travel model.

According to the fourth aspect of the present invention, the driving support device acquires curve information indicating the shape when a curve is detected in the course of the host vehicle, and uses the curve information, the state of the host vehicle, and the surrounding situation to determine the curve. A driving model is calculated, and driving operation is supported so that the driving state of the host vehicle approaches the driving model.

Further, the driving support device according to the invention of claim 5 is characterized in that, in the invention according to any one of claims 1 to 4 , the support means supports a driving operation by display and / or voice output. And

According to the fifth aspect of the present invention, the driving support device acquires curve information indicating the shape when a curve is detected in the course of the host vehicle, and provides advice and information regarding driving operation by display and voice output.

According to a sixth aspect of the present invention, there is provided the driving support device according to any one of the first to fifth aspects, wherein the support means is a deceleration required until the vehicle reaches the clothoid region on the entrance side. It is characterized by performing deceleration support so as to realize the above.

According to the sixth aspect of the present invention, the driving support device acquires curve information indicating the shape when a curve is detected in the course of the own vehicle, and the deceleration required until the vehicle reaches the clothoid region on the entrance side. To help.

The driving support device according to a seventh aspect of the present invention is the driving support device according to any one of the first to sixth aspects, wherein the support means controls the steering angle while the host vehicle is traveling in a constant curvature region. It is characterized in that steering assistance is performed to maintain a constant value.

According to the seventh aspect of the invention, the driving assistance device obtains curve information indicating the shape when a curve is detected in the course of the host vehicle, and supports the steering angle to be kept constant while traveling in the constant curvature region. I do.

According to an eighth aspect of the present invention, there is provided the driving support device according to any one of the first to seventh aspects, wherein the support means is a travel speed while the host vehicle is traveling in a constant curvature region. It is characterized in that acceleration / deceleration suppression support is performed to maintain a constant value.

According to the eighth aspect of the present invention, when the driving support device detects a curve in the course of the host vehicle, the driving support device acquires curve information indicating the shape of the vehicle and keeps the traveling speed constant while traveling in the constant curvature region. Provide deceleration suppression support.

According to a ninth aspect of the present invention, there is provided the driving support apparatus according to any one of the first to eighth aspects, wherein the support means controls the behavior of the vehicle when a deceleration operation by the driver is detected. It is characterized by starting. According to the ninth aspect of the invention, the driving support device acquires curve information indicating the shape when a curve is detected in the course of the host vehicle, and further controls the behavior of the vehicle when a deceleration operation by the driver is detected. To start.

According to a tenth aspect of the present invention, there is provided the driving support apparatus according to any one of the first to ninth aspects, wherein the support means applies a suspension of the vehicle according to a lateral acceleration applied to the host vehicle. It is characterized by controlling. According to the invention of claim 10, the driving support apparatus controls the suspension of the vehicle according to the lateral acceleration applied to the host vehicle.

According to the present invention, the driving support device, when detecting a curve in the course of the host vehicle, as the curve information indicating the shape, the position information of the curve start point, the clothoid distance on the curve entrance side, the curvature of the constant curvature region, Since the distance of the constant curvature region and the clothoid distance on the curve exit side are acquired and the driving operation for passing the curve is supported, it is possible to obtain a driving support device that supports the driving operation during the curve traveling.

Further , according to the present invention, when the driving support device detects a curve in the course of the host vehicle , the driving support device acquires the curve information from the navigation device and supports the driving operation for passing the curve. It is possible to obtain a driving support device that easily obtains and identifies the shape thereof and supports driving operation.

In addition, according to the present invention, when the driving support device detects a curve in the course of the host vehicle , the driving support device acquires the curve information through communication with the outside of the vehicle and supports the driving operation related to the passage of the curve. It is possible to obtain a driving support device that reliably acquires the vehicle shape and identifies its shape and supports the driving operation.

Further , according to the present invention, when the driving support device detects a curve in the course of the host vehicle , the driving support device acquires curve information indicating the shape, and uses the curve information, the state of the host vehicle, and the surrounding situation to drive the curve. Since the model is calculated and the driving operation is supported so that the traveling state of the host vehicle approaches the traveling model, there is an effect that it is possible to obtain a driving support device that performs driving support adapted to the situation.

Further , according to the present invention, when the driving support device detects a curve in the course of the host vehicle , the driving support device acquires curve information indicating the shape, and provides advice and information regarding driving operation by display and voice output. There is an effect that it is possible to obtain a driving support device that easily supports the driving operation during the traveling of the curve.

Further , according to the present invention, when the driving support device detects a curve in the course of the host vehicle , the driving support device acquires the curve information indicating the shape, and supports the driving operation by controlling the behavior of the vehicle. There is an effect that it is possible to obtain a driving support device that reliably brings the traveling state of the vehicle closer to the ideal model.

Further , according to the present invention, when the driving support device detects a curve in the course of the host vehicle , the driving support device acquires curve information indicating the shape of the vehicle, and performs the deceleration necessary for the vehicle to reach the clothoid region on the entrance side. Since it assists, there exists an effect that the driving assistance device which assists the deceleration before approaching a curve can be obtained.

Further , according to the present invention, the driving support device acquires the curve information indicating the shape when the curve is detected in the course of the host vehicle, and supports to keep the steering angle constant while traveling in the constant curvature region. Thus, there is an effect that it is possible to obtain a driving support device that supports the steering operation during traveling in the constant curvature region.

Further , according to the present invention, when the driving support device detects a curve in the course of the host vehicle , the driving support device acquires curve information indicating the shape of the vehicle and keeps the traveling speed constant while traveling in the constant curvature region. Since the suppression support is performed, the driving support device that supports the acceleration / deceleration operation during traveling in the constant curvature region can be obtained.

Further , according to the present invention, when the driving support device detects a curve in the course of the host vehicle , the driving support device acquires curve information indicating the shape, and when the host vehicle is traveling in the clothoid region on the exit side, Since the acceleration in the lateral acceleration is within a predetermined value range, the driving support device that supports the acceleration operation during traveling in the clothoid region can be obtained.

Further , according to the present invention, when the driving support device detects a curve in the course of the host vehicle , the driving support device acquires curve information indicating the shape, and when the host vehicle is traveling in the clothoid region on the exit side, Since the acceleration is supported within a range in which the lateral acceleration does not exceed the value at the time of traveling in the constant curvature region, it is possible to obtain a driving support device that supports a stable acceleration operation during traveling in the clothoid region.

Further , according to the present invention, the driving support device acquires curve information indicating the shape when a curve is detected in the course of the host vehicle, and further controls the behavior of the vehicle when a deceleration operation by the driver is detected. Since it starts, there exists an effect that the driving assistance device which supports driving operation while respecting the driving operation of the driver can be obtained.

  Exemplary embodiments of a driving support apparatus according to the present invention will be described below in detail with reference to the accompanying drawings.

  FIG. 1 is a schematic configuration diagram showing a schematic configuration of a driving support device 1 according to an embodiment of the present invention. As shown in the figure, the driving support device 1 is connected to a navigation device 2, a road information collection device 31, a camera 32, a speed sensor 33, an acceleration sensor 34, an in-vehicle notification system 40, and a vehicle control system 50.

  The navigation device 2 is an in-vehicle device that sets and guides a travel route using the position of the own vehicle specified by communicating with a GPS (Global Positioning System) artificial satellite and the map data 21. Specifically, this route guidance is performed using the in-vehicle notification system 40. The navigation device 2 uses the road information acquired by the road information collection device 31 for route setting and route guidance.

  Further, the map data 21 has detailed information on the road shape such as a curve, and the navigation device 1 supplies the driving support device 1 with information on the position of the host vehicle and information on the road shape.

  The road information collection device 31 receives road traffic information by VICS (Vehicle Information and Communication System) and communicates with the roadside communication device installed on the roadside to determine the shape of the road, the occurrence of traffic jams, the presence of construction and accidents, Collect information such as weather and road conditions. The road information collection device 31 provides the collected information to the navigation device 2 and the driving support device 1.

  The camera 32 is a photographing means for photographing the surroundings of the own vehicle. The speed sensor 33 is a measuring unit that measures the traveling speed of the host vehicle, and the acceleration sensor 34 is a measuring unit that measures an acceleration applied to the host vehicle.

  The in-vehicle notification system 40 is a group of devices that notify the passengers of the host vehicle, and includes a display 41 that performs display notification, a speaker 42 that performs voice notification, and the like. This in-vehicle notification system 40 can be shared by various in-vehicle devices such as an in-vehicle audio device in addition to the driving support device 1 and the navigation device 2.

  The vehicle control system 50 is a group of devices that control the operation of the vehicle, and includes an engine control mechanism 51 that controls the operation of the engine based on an accelerator operation, a brake control mechanism 52 that brakes the vehicle based on an operation of a brake pedal, A steering angle control mechanism 53 that controls the steering angle of the vehicle based on the steering operation, a suspension control mechanism 54 that controls the state of the suspension of the vehicle, and the like are included.

  The driving support apparatus 1 includes a curve detection unit 11, a curve data acquisition unit 12, an ideal model calculation unit 13, and a support processing unit 14 therein. The curve detection unit 11 acquires the shape of the road on which the host vehicle is scheduled to travel from the navigation device 2 and determines whether a curve exists on the course of the host vehicle.

  When the curve detection unit 11 detects a curve, the curve data acquisition unit 12 acquires curve information indicating the shape of the curve. As shown in FIG. 2, the curve has a straight area A0 before the curve, a clothoid area A1 on the entrance side where the curvature gradually increases, a constant curvature area A2 where the curvature has a constant value, and an exit side where the curvature gradually decreases. The clothoid region A3 and the straight region A4 after the end of the curve are formed.

  Therefore, the curve information D1 is “position information of the curve start point (boundary point between the straight line region A0 and the clothoid region A1)”, the curve information D2 is “distance of the clothoid region A1 on the entrance side”, and the curve information D3 is “constant curvature”. By obtaining the curve information D1 to D5 from the navigation device 2 by setting the curvature of the area A2 and the curve information D4 as the “distance of the constant curvature area A2” and the curve information D5 as the “distance of the clothoid area A4 on the exit side”. The shape of the curve can be grasped. In addition, the navigation device 2 can acquire and use the road width, the number of lanes, the inclination state, and the like.

  The ideal model calculation unit 13 includes the curve information D1 to D5 acquired by the curve data acquisition unit 12, the road information collected by the road information collection device 31, the surrounding images taken by the camera 32, and the own vehicle measured by the speed sensor 33. Based on the acceleration of the host vehicle measured by the speed and acceleration sensors 34 and the control state of the host vehicle acquired from the vehicle control system 50, an ideal model that is an ideal travel model when the host vehicle travels in a curve is calculated. .

  As a specific example of this ideal model, FIG. 3 shows an ideal model when traveling on the curve shown in FIG. Assuming that the host vehicle is traveling in the straight line area A0 at the speed V1 at this time, first, the vehicle decelerates to the speed V2 until the curve start point (the boundary point between the straight line area A0 and the clothoid area A1).

  In the clothoid region A1 on the inlet side, the steering wheel operation is performed so that the steering angle of the vehicle increases in accordance with the increase in curvature while maintaining the speed V2. As a result, the acceleration in the lateral direction of the host vehicle indicated by the acceleration sensor 34 increases along with the curvature change.

  Thereafter, in the constant curvature region A2 having the curvature R1, the speed V2 and the turning angle of the steering wheel (the steering angle of the vehicle) are maintained. Therefore, the acceleration sensor 34 holds the lateral acceleration G1 corresponding to the curvature R2.

  In the clothoid region A3 on the exit side, the steering wheel is operated so that the rudder angle decreases as the curvature decreases, and the speed is accelerated to V1. Since the acceleration in the lateral direction is increased by this acceleration, the acceleration amount is adjusted so that the lateral acceleration becomes G1 or less.

  If the vehicle travels according to such an ideal travel model, the vehicle can be efficiently operated with a small number of driving operations, and stable travel can be realized by suppressing the generation of acceleration with respect to the vehicle body.

  Therefore, the support processing unit 14 uses the in-vehicle notification system 40 and the vehicle control system 50 to support the vehicle behavior to be close to the ideal model. Specifically, the assistance using the in-vehicle notification system 40 is a process of notifying the driver of the execution timing of the driving operation (for example, the deceleration start timing or the steering operation start timing) and the amount of operation.

  In the support using the vehicle control system 50, the vehicle behavior caused by the driving operation is corrected to assist the vehicle behavior closer to the ideal model. Note that the support process supports a driving operation in normal driving, and realizes a stable driving state with fewer driving operations. Therefore, when a driving operation is executed with an operation amount equal to or greater than a predetermined threshold, the support process is interrupted and the driving operation by the driver is followed.

  A specific example of assistance using this vehicle control system 50 is shown in FIG. First, when the vehicle position is in the straight line area A0, deceleration support is mainly performed by the engine control mechanism 51 and the brake control mechanism 52. That is, when the deceleration due to the driving operation is insufficient, the engine speed is decreased and the braking force of the brake is increased autonomously, and the deceleration to the speed V2 is realized before entering the clothoid region A1.

  This deceleration support is started when the driver performs a deceleration operation such as decreasing the accelerator pedal force or stepping on the brake pedal. This is to respect the driving operation by the driver and to assist the driving operation within the range of assistance of the driver's own operation.

  Next, in the clothoid region A1, the steering angle of the vehicle is controlled by the steering angle control mechanism 53 to follow the change in curvature of the clothoid region A1. Further, the engine control mechanism 51 and the brake control mechanism 52 suppress acceleration / deceleration, and support traveling at a constant speed.

  Similarly, in the constant curvature region A2, the steering angle control mechanism 53 assists in maintaining the steering angle of the vehicle, and the engine control mechanism 51 and the brake control mechanism 52 assist in traveling at a constant speed.

  Subsequently, in the clothoid region A3, the steering angle of the vehicle is controlled by the steering angle control mechanism 53 to follow the change in curvature of the clothoid region A3. Further, if the driver operates the accelerator pedal, acceleration is supported within a range where the lateral acceleration does not exceed G1.

  Here, the accelerator pedal operation by the driver is set as a start condition for acceleration support in the same way as the deceleration support in the straight line area A0, respecting the driving operation by the driver, and the range of assistance for the driver's own operation. This is to support driving operation.

  Although the main support in each area has been described with reference to FIG. 4, it goes without saying that other support can be implemented together. For example, the suspension control mechanism 54 can be controlled in accordance with the lateral acceleration applied to the host vehicle, and the stability of the host vehicle can be improved. Similarly, handling support may be executed in the straight areas A0 and A4 to support straight travel, or acceleration support may be executed in the straight areas A4.

  Next, the processing operation of the driving support device 1 will be described. FIG. 5 is a flowchart for explaining the processing operation of the driving support apparatus 1, and the processing flow shown in FIG. 5 is repeatedly executed while the driving support apparatus 1 is in operation.

  First, the curve detection unit 11 acquires the travel schedule of the host vehicle from the navigation device 2 (step S101), and determines whether there is a curve on the course of the host vehicle (is approaching the curve) ( Step S102).

  As a result, when the own vehicle is not approaching the curve (step S102, No), the driving support device 1 ends the process. On the other hand, when the host vehicle is approaching the curve (step S102, Yes), the curve data acquisition unit 12 acquires curve information from the navigation device 2 (step S103).

  Thereafter, the ideal model calculation unit 13 uses the output of the road information collection device 31, the camera 32, the speed sensor 33, the acceleration sensor 34, and the vehicle control system 50 in addition to the curve information acquired by the curve data acquisition unit 12. An ideal model, which is an ideal travel model when traveling on a curve, is calculated (step S104).

  Then, the support processing unit 14 monitors the driving operation by the driver based on the output of the vehicle control system 50, and starts the support processing when the driver executes the deceleration operation (Yes in Step S105) (Step S105). S106).

  The support processing unit 14 repeats this support processing while the vehicle is traveling on a curve (No at Step S107), and when the passage of the curve is completed, that is, when the exit from the clothoid region enters the straight region (Step S107, The processing ends at (Yes).

  As described above, when the driving support device 1 according to the present embodiment predicts an approach of a curve of the host vehicle, the driving support device 1 acquires information indicating the shape of the curve, information on the curve, the state of the host vehicle, the surroundings An ideal model for curve driving is calculated from the situation, and the driving state of the host vehicle is assisted to approach the ideal model. For this reason, the driving operation is assisted in accordance with the situation, and a stable vehicle behavior similar to that when a skilled driver drives can be realized with a simple operation.

  In this embodiment, the information indicating the shape of the curve includes “position information of the curve start point”, “distance of the clothoid region on the entrance side”, “curvature of the constant curvature region”, “distance of the constant curvature region”, “exit Five pieces of information of “the distance of the clothoid region on the side” are used, but any information can be used as long as the shape of the curve can be specified.

  In the present embodiment, information indicating the shape of the curve is obtained from the navigation device 2, but information indicating the shape of the curve may be acquired by communication with the outside of the vehicle.

The service scenario is as follows.
(1) As the state notification, the occupant is notified of the static information of the curve entering the instrument panel or the navigation screen before entering the curve.
Static information includes the remaining distance to the curve, the shape of the curve, and the like. When displaying on the navigation screen, it is interrupted on the screen of a normal navigation (such as a map), and this information is divided and displayed on the right half screen, for example. When notifying by voice, implement “Right curve is steep”.

(2) As an advice notification, an occupant is instructed to perform necessary operations for comfortably entering and passing a curve. In addition, the dynamic information in the curve is notified to the occupant before entering.
When displaying on the navigation screen, an advice display including an arrow and a message such as “under construction in curve” and “comfortable speed of curve approach” is performed by interrupting the screen of a normal navigation (such as a map).

  By doing so, the occupant can see the advice screen while referring to the normal map screen, so that the occupant can appropriately enter and pass through the curve. The dynamic information includes “traffic volume in curve”, “road surface condition of curve”, and the like. In the case of notification by voice, “curve comfortable speed is 30 km / h. Please decelerate” is executed.

(3) As a support procedure, it substantially assists the necessary operations to enter and pass comfortably on the curve.
For example, the vehicle is decelerated (shifted down, braked) to the ideal speed when the passenger's accelerator is off. Such treatment contents are displayed on the screen.

  As described above, the driving assistance device according to the present invention is useful for assisting driving of a vehicle, and is particularly suitable for assisting driving operation in curve traveling.

1 is a schematic configuration diagram showing a schematic configuration of a driving support apparatus according to an embodiment of the present invention. It is explanatory drawing explaining specification of the shape of a curve. It is explanatory drawing explaining the ideal model in the case of drive | working the curve shown in FIG. It is explanatory drawing explaining the specific example of the assistance using the vehicle control system 50 shown in FIG. It is explanatory drawing explaining the processing operation of the driving assistance apparatus shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Driving assistance apparatus 2 Navigation apparatus 11 Curve detection part 12 Curve data acquisition part 13 Ideal model calculation part 14 Support processing part 21 Map data 31 Road information collection apparatus 32 Camera 33 Speed sensor 34 Acceleration sensor 40 In-car notification system 41 Display 42 Speaker 50 Vehicle control system 51 Engine control mechanism 52 Brake control mechanism 53 Steering angle control mechanism 54 Suspension control mechanism

Claims (10)

A driving support device mounted on a vehicle and supporting driving of the host vehicle,
Curve detecting means for detecting a curve in the course of the own vehicle;
Curve information acquisition means for acquiring at least the curvature of the constant curvature region and the clothoid distance on the curve exit side as curve information indicating the shape of the curve detected by the curve detection means;
Acceleration support for assisting acceleration in a range where the lateral acceleration generated during traveling does not exceed the lateral acceleration generated during traveling in the constant curvature region when the host vehicle is traveling in the clothoid region on the curve exit side A support means for supporting the driving operation for passing through the curve by performing
A driving support apparatus comprising:   The driving support device according to claim 1, wherein the curve information acquisition unit acquires the curve information from a navigation device that performs route setting and route guidance of the host vehicle.   The driving support apparatus according to claim 1, wherein the curve information acquisition unit acquires the curve information by communication with outside the vehicle.   It further comprises model calculating means for calculating a driving model of the curve using the curve information, the state information indicating the state of the host vehicle, and the situation information indicating the surrounding situation, and the support unit includes the driving state of the host vehicle The driving support device according to any one of claims 1 to 3, wherein the driving operation is supported so as to approach the traveling model.   The driving support apparatus according to any one of claims 1 to 4, wherein the support means supports a driving operation by display and / or voice output.   The driving support device according to any one of claims 1 to 5, wherein the support means performs a deceleration support so as to realize a deceleration required until the vehicle reaches the entrance-side clothoid region.   The driving support device according to any one of claims 1 to 6, wherein the support means performs steering support that keeps the steering angle constant while the host vehicle is traveling in a constant curvature region. .   The driving according to any one of claims 1 to 7, wherein the support means performs acceleration / deceleration suppression support that keeps the traveling speed constant while the host vehicle is traveling in a constant curvature region. Support device.   The driving support device according to any one of claims 1 to 8, wherein the support means starts behavior control of the vehicle when a deceleration operation by a driver is detected.   The driving support device according to any one of claims 1 to 9, wherein the support means controls the suspension of the vehicle according to a lateral acceleration applied to the host vehicle.

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