Driving support device
The driving support device includes a line of sight detection unit that detects a line of sight of an occupant of the first following vehicle on the oncoming lane, a moving person estimation unit that estimates whether or not there is a possibility of a crossing moving person being present around the leading vehicle based on the detected line of sight, and a driving support unit that performs deceleration control of the host vehicle and the like when it is estimated that there is a possibility of a crossing moving person being present.
1 . A driving support device that performs driving support for a host vehicle in a situation in which a line of vehicles is present on an oncoming opposite lane adjacent to a traveling lane, the driving support device comprising:
a camera mounted on the host vehicle; and
a processor configured to
acquire captured images from the camera,
perform an estimation process including
in a situation in which a first oncoming vehicle and a second oncoming vehicle behind the first oncoming vehicle are present on the opposite lane in front of the host vehicle, detecting a line of sight of an occupant of the second oncoming vehicle based on the captured images, and
determining whether there is a possibility that a moving person is present around the first oncoming vehicle, based on the detected line of sight, wherein the determining whether there is a possibility that a moving person is present around the first oncoming vehicle based on the detected line of sight includes
determining whether the detected line of sight is directed forward in a longitudinal direction of the second oncoming vehicle,
determining whether the detected line of sight moves toward a traveling lane side in response to determining that the detected line of sight is directed forward in the longitudinal direction, and
determining whether an angular velocity of a change in a direction of the detected line of sight is within a predetermined range, in response to determining that the detected line of sight moves toward the traveling lane side, and
the determination is made that there is a possibility that the moving person is present, in response to determining that the angular velocity is within the predetermined range, and
perform at least one of notification to an occupant of the host vehicle, steering control of the host vehicle, and deceleration control of the host vehicle, in a case where a determination is made that there is a possibility that the moving person is present.
2 . The driving support device according to claim 1 , wherein the determination is made that there is a possibility that the moving person is present, in a case where a direction of the detected line of sight moves toward a traveling lane side.
3 . The driving support device according to claim 2 , wherein the determination is made that there is a possibility that the moving person is present, in a case in which an angular velocity of a change in a line-of-sight direction in a case where the direction of the detected line of sight moves toward the traveling lane side is within a predetermined angular velocity range.
4 . The driving support device according to claim 2 , wherein the determination is made that there is a possibility that the moving person is present, in a case where the direction of the detected line of sight moves from a blind spot area that is blocked by the first oncoming vehicle and not able to be viewed from the host vehicle, toward the traveling lane side.
5 . The driving support device according to claim 1 , wherein the predetermined range is determined based on a speed of changing a direction of the line of sight of the occupant of the second oncoming vehicle in a case where the occupant of the second oncoming vehicle follows the moving person moving between the first oncoming vehicle and the second oncoming vehicle with eyes of the occupant of the second oncoming vehicle.
6 . The driving support device according to claim 1 , wherein the steering control of the host vehicle is performed to increase a distance between the host vehicle and the opposite lane in a vehicle width-direction.
7 . The driving support device according to claim 1 , wherein the processor is further configured to:
detect a crosswalk in front of the host vehicle based on the captured images;
determine whether the detected crosswalk has a blind spot area that is blocked by the line of vehicles, and
perform at least one of the notification to the occupant of the host vehicle, the steering control of the host vehicle, and the deceleration control of the host vehicle, in a case where a determination is made that the detected crosswalk has the blind spot area.
8 . The driving support device according to claim 7 , wherein the estimation process is performed in a case where a determination is made that the detected crosswalk has no blind spot area.