JP7396123B2 - Driving support control device, parking restriction zone creation method, driving support control program - Google Patents

Description

The present invention provides a driving support control device and a parking restriction area for providing information regarding a parking restriction position and a stopping restriction position in response to a parking request and a stop request on the road as driving support for a vehicle in automatic operation. This article relates to a creation method and a driving support control program.

In recent years, development regarding autonomous driving of automobiles has been progressing. In particular, there is active development of self-driving vehicles in which an in-vehicle system automatically performs all of the vehicle's acceleration, steering, and braking, and the driver manually drives the vehicle only when requested by the system.

With the development of such automated driving vehicles, it is necessary to determine whether it is possible to park and stop at the location requested by the vehicle during automated driving (hereinafter referred to as parking/stopping), regardless of whether it is normal or emergency. may be necessary.

Patent Document 1 discloses that the purpose of parking a vehicle at a suitable location on the road is to collect parking and parking records from probe information including travel trajectories collected from vehicles, including self-driving vehicles, and determine parking and parking areas. It is stated that.

That is, Patent Document 1 is an information processing device that creates map data having parking availability information, which is information on sections on a road where parking is possible, and an acquisition unit includes data around a vehicle detected by a sensor provided on the vehicle. The determination unit acquires the detection information of the vehicle and the position information of the vehicle, and the determination unit determines whether or not the position indicated by the position information or the position around the position indicated by the position information can be parked or stopped based on the detection information, and the setting unit It is described that cost information for parking and stopping is set as parking and stopping possibility information for a section including a position where it is determined that parking and stopping is possible.

Further, Patent Document 1 describes determining parking restricted sections (including parking restricted sections) using feature information such as parking signs included as detection information of an automatically driving vehicle.

JP 2019-132682 Publication

However, with conventional technology, how do you estimate the area in front of a garage or the entrance/exit area of a parking lot where no parking prohibition signs are installed, but where parking is prohibited by law or where parking is substantially restricted? There is no mention of whether it will.

In addition, information on private garages, etc. requires a huge amount of information and costs to manage, so it is rare to keep it on general navigation maps or high-definition maps. None, it is difficult to calculate parking restricted areas.

Furthermore, it is conceivable to use GPS information included in the probe information of general vehicles to calculate the driving trajectory and determine entrances and exits in front of garages and parking lots, but GPS information alone is not accurate without high precision map information. It is difficult to perform map matching.

The present invention makes it possible to appropriately determine whether or not it is possible to park and stop at a location requested by the vehicle during automated driving, regardless of whether the vehicle is in a normal state or in an emergency, by accumulating data on parking and stopping restricted zones. The purpose is to obtain a driving support control device, a method for creating parking/stopping restricted areas, and a driving support control program that can be used.

A driving support control device according to the present invention includes a vehicle analysis unit that analyzes automatic driving information to derive travel trajectories of a plurality of vehicles, and a vehicle analysis unit that analyzes automatic driving information and derives travel trajectories of a plurality of vehicles, an entrance/exit section derivation unit that derives a passage section for each vehicle based on a relative position with a predetermined road boundary line, and derives a composite section obtained by combining passage sections of a plurality of vehicles as an entrance/exit section; and the entrance/exit section. an extraction section that extracts a parking/stopping restricted section for the host vehicle based on the entrance/exit section derived by the derivation section, and the extraction section adds a predetermined section from both ends of the entrance/exit section. The present invention is characterized in that the parking restricted section is extracted .

The method for creating a parking/stopping restricted area according to the present invention is a method for creating a parking/stopping area in order to provide information regarding a parking restricted position and a stopping restricted position in response to a parking request and a stop request on the road as driving support for a vehicle in automatic operation. A parking restriction zone creation method executed by an assistance control device, wherein the driving assistance control device analyzes automatic driving information to derive traveling trajectories of a plurality of vehicles, and calculates the driving trajectories of the plurality of vehicles and the analyzed driving trajectories of the plurality of vehicles. , based on the relative position to a predetermined road boundary line along the roadside, derive a passage section for each vehicle, and derive a composite section that combines the passage sections of multiple vehicles as an entrance/exit section. The parking restriction area for the host vehicle is extracted based on the entrance/exit area, and the extracted information regarding the parking restriction area can be used as a validity judgment element for determining whether to register, discard, or edit. The system is characterized in that it is displayed as a list for each parking and parking restricted section .

The driving support control program according to the present invention is characterized by causing a computer to operate as each part of the driving support control device described above.

According to the present invention, by accumulating parking and stopping restriction zone data, it is possible to appropriately determine whether or not it is possible to park and stop at a position requested by the vehicle during automatic driving, regardless of whether it is a normal situation or an emergency situation. be able to.

1 is a schematic diagram of a driving support system including a driving support control device that supports driving in automatic driving of a vehicle according to the present embodiment. An overview is shown for extracting the parking and parking restricted sections executed by the driving support system according to the present embodiment, in which (A) is a top view while the vehicle is running, and (B) is a top view of the parking and stopping restricted sections in (A) that are set. (C) is an external view of the driving support control device. FIG. 2 is a functional block diagram of a driving support system constructed mainly of a driving support control device that selects parking and stopping restricted sections. The process executed by the vehicle analysis unit of the driving support control device according to the present embodiment is shown, in which (A) is a top view of another vehicle while it is running to explain the vehicle detection process, and (B) is the driving trajectory calculation. FIG. 3 is a top view of another vehicle while it is running to explain the process. The process executed by the entrance/exit section derivation unit of the driving support control device according to the present embodiment is shown, in which (A) is a top view of the incoming vehicle for explaining the intersection frame extraction process, and (B) is a top view of the vehicle passing through the vehicle. A top view of the bounding box used in the section calculation process, and (C) a top view of the vicinity of the vehicle entrance/exit facility used in the vehicle entrance/exit section calculation process. FIG. 3 is a top view of the vicinity of the vehicle entry/exit facility for explaining processing executed by the parking/stopping restriction section extracting section of the driving support control device according to the present embodiment. (A) is a front view of a monitor applied as a user interface of the driving support control device according to the present embodiment, and (B) is a front view of a main screen displayed on the monitor. 7A is a front view of a sub-screen displayed on the monitor of FIG. 7A, in which FIG. 7A is a camera image and FIG. 7B is a top view of a high-precision map. It is a flowchart explaining the flow of processing for parking restriction area extraction control according to the present embodiment.

FIG. 1 is a schematic diagram of a driving support system including a driving support control device 12 that supports driving in automatic driving of a vehicle 10 according to the present embodiment.

The vehicle 10 is equipped with a vehicle control device 14 and an automatic driving control device 20.

The vehicle control device 14 executes control including a drive system (engine control, etc.) and an electrical system (failure diagnosis using state detection sensors of each part, etc.) while the vehicle 10 is running.

The vehicle control device 14 includes a group of cameras (in FIG. 1, as an example, a front camera 16A, a left front camera 16B, a left rear camera 16C, a right front camera 16D, and a right rear camera 16E) that photograph the surroundings of the vehicle 10. , and a rear camera 16F (shown in the figure) are connected (collectively referred to as the "camera group 16"). Further, a radar group 18 including a plurality of millimeter wave radars and LIDAR is connected to the vehicle control device 14 .

The automatic driving control device 20 determines the driving operation to the destination based on information necessary for automatic driving from the vehicle control device 14 (for example, detection information from the camera group 16 and the radar group 18), and 14.

The automatic driving control device 20 is capable of communicating with the driving support control device 12 via the wireless communication device 22A of the network 22.

The driving support control device 12 aggregates driving history information and the like from each vehicle 10 during automatic driving, and allows an operator 23 to instruct driving support as necessary. Therefore, the driving support control device 12 is able to acquire real-time road information from the real-time map management system 24 via the network 22 as necessary.

The real-time map management system 24 aggregates information from infrastructure such as cameras installed on roads, etc., and road information transmitting devices installed on vehicles 10, etc., and displays current road conditions (including road regulations, on-street parking, etc.). It has the ability to analyze.

(Characteristics of this embodiment)

As shown in FIG. 2A, in this embodiment, the photographing range by the camera group 16 of the vehicle 10 during automatic driving (see solid line circle A) and the detection range by the radar group 18 (see dotted line circle B) By acquiring information about the surroundings while driving, and comparing the high-precision map shown in FIG. The front of the garage and the entrance/exit of the parking lot that are not managed on the map are calculated, and as shown in FIG. The feature is that the parking restriction section 26A is extracted from the information.

In this embodiment, the parking/stopping restricted section 26A is mainly extracted using the travel trajectory of the other vehicle 11, but the travel trajectory of the host vehicle 10 may also be used, but the number of , is smaller than that of the other vehicle 11, and therefore will be described below as the travel trajectory of the other vehicle 11.

FIG. 3 is a functional block diagram for executing extraction control of the parking/stopping restricted section 26A.

(Automatic operation control device 20)

A diagnostic code (CAN (Controller Area Network) signal) from the vehicle control device 14 is input to the other vehicle information monitoring unit 50, and the detection information from the camera group 16 or the radar group 18 is detected when the vehicle is running around the own vehicle. Information on other vehicles 11 (other vehicle information) is monitored. The other vehicle information includes current position information, current time information, and detection information on detecting other vehicles 11 in chronological order.

The other vehicle information monitoring section 50 is connected to the other vehicle information transmitting section 52A of the communication I/F 52, and transmits the acquired other vehicle information to the other vehicle information receiving section 56A of the communication I/F 56 of the driving support control device 12. do.

Here, the communication I/F 52 of the automatic driving control device 20 includes an automatic driving information receiving section 52B. The automatic driving information receiving unit 52B receives automatic driving information from the automatic driving information transmitting unit 56B of the communication I/F 56 of the driving support control device 12. As an example, as shown by the dashed line in FIG. 3, there is a case where the operator 23 outputs a driving instruction.

The received automatic driving information is sent to the travel planning section 54, and based on the travel plan planned by the travel planning section 54, the drive system and electrical system of the vehicle control device 14 are controlled to execute automatic driving. .

Note that the feature of this embodiment is that the main purpose is to extract and store the parking/stopping restricted sections 26A (see FIG. 2), so that there is no data transfer from the driving support device 12 side to the automatic driving control device 20 side. Communication is not required.

However, when the accumulated amount of the parking/stopping restricted area 26A becomes necessary and sufficient, information regarding the parking/stopping restricted area 26A is provided as one of the automatic driving information, for example, from the operator 23 on the driving support control device 12 side. It turns out.

(Driving support control device 12)

As shown in FIG. 3, the driving support control device 12 includes a vehicle analysis unit 58, and acquires past automatic driving information from the automatic driving vehicle travel log management database 82.

In the present embodiment, in order to implement extraction control of parking and stopping restricted sections, a huge amount of driving information is required. The automatic driving vehicle travel log management database 82 stores a huge amount of travel log data of automatic driving that has been executed up to now, and it is possible to obtain so-called big data regarding parking and stopping of other vehicles 11 in a short period of time. .

Note that it is also possible to acquire real-time other vehicle information received by the other vehicle information receiving section 56A of the communication I/F 56.

The vehicle analysis section 58 includes a vehicle detection processing section 60 and a travel trajectory calculation processing section 62. Each process of the vehicle analysis unit 58 is executed in chronological order in the order of vehicle detection process (see FIG. 4(A))→travel trajectory calculation process (see FIG. 4(B)).

As shown in FIG. 4A, the vehicle detection processing unit 60 detects a vehicle (here, another vehicle 11) using vehicle detection AI such as deep learning, and detects the bounding of the other vehicle 11. Box 11A is generated.

The travel trajectory calculation processing unit 62 shown in FIG. 4(B) sets the center point of each bounding box 11A of the detected other vehicle 11 running, and calculates the travel trajectory L of the other vehicle 11 at each time. calculate.

As shown in FIG. 3, the travel trajectory calculation result by the vehicle analysis section 58 is sent to the entrance/exit section derivation section 66.

The entrance/exit section derivation section 66 includes an intersection frame extraction processing section 68, a vehicle passage section calculation processing section 70, and a vehicle entrance/exit section calculation processing section 72. Each process of the entrance/exit section derivation unit 66 is as follows: intersection frame extraction process (see FIG. 5(A)) → vehicle passing section calculation process (see FIG. 5(B)) → vehicle entrance/exit section calculation process (see FIG. 5(C)) are executed in chronological order according to the steps of

As shown in FIG. 5A, the intersecting frame extraction processing unit 68 extracts the intersection frame that intersects with the road boundary line 84 out of the bounding box 11A along the travel trajectory calculated by the travel trajectory calculation processing unit 62 of the vehicle analysis unit 58. All bounding boxes 11A that are contained in the bounding box 11A are extracted. This is determined to be the vehicle 11 attempting to enter the facility 90 (parking lot or private garage) facing the road.

In FIG. 5A, the last and second to last bounding boxes (hereinafter referred to as bounding boxes 11A-1 and 11A-2) among the plurality of bounding boxes 11A along the travel trajectory are extracted.

Although FIG. 5A shows the vehicle 11 entering the facility 90 as an example, the vehicle 11 leaving the facility is similarly extracted.

FIG. 5(B) lists points 84A, 84B, 84C, and 84D that intersect with the road boundary line 84 in all the bounding boxes 11A-1 and 11A-2 extracted in FIG. 5(A).

Among all points 84A, 84B, 84C, and 84D, the section defined by the two outermost points (point A and store D in FIG. 5(B)) is defined as the vehicle passing section 86 in the travel trajectory.

As shown in FIG. 5(C), all of the travel trajectories 88A to 88D detected in the vicinity of this road boundary line 84 are subjected to intersecting frame extraction processing (see FIG. 5(A)) and vehicle passing section calculation. The process (see FIG. 5(B)) is repeated. As a result, the widest vehicle passage section 86max can be determined.

As shown in FIG. 6, the parking and parking restricted zone extracting unit 74 adds, for example, a parking prohibited zone (Δ1 , Δ2) is added to extract the parking restriction section 88.

As shown in FIG. 3, the parking restriction section extracting section 74 is connected to the operator operation application control section 76, and sends information regarding the extracted parking and parking restriction section 88 to the operator operation application control section 76.

In the operator operation application control unit 76, the operator 23 who operates the user interface 78 intervenes to determine whether the extracted parking restriction section 88 and the like are appropriate.

The operator operation application control unit 76 is connected to a high-precision map database 80 and an autonomous vehicle travel log management database 82 . The automated driving vehicle travel log management database is configured to sequentially store automated driving information from the vehicle 10 that is currently operating automatically, and reads out the stored information as necessary to check whether the parking/stopping restriction zone 88, etc. is appropriate. This will be used as a basis for deciding whether or not to do so.

If it is determined that the parking/stopping restricted section 88 or the like is appropriate, information regarding the parking/stopping restricted section 88 is sequentially stored in the high-precision map database 80.

(Registration determination process by operator 23)

As shown in FIG. 7(A), the user interface 78 includes an input device 78A (keyboard, mouse, etc.) and an output device 78B (monitor, etc.). The driving status of the vehicle 10 is displayed, and the operator 23 visually confirms the displayed content, and if necessary, the operator 23 inputs the automatic driving information for the vehicle 10 that is currently in automatic driving by performing an input operation using the input device 78A. The notification is made via the operation application control unit 76.

In this embodiment, the information regarding the parking/stopping restricted section 88 is also one piece of automatic driving information, but the operator 23 makes a determination before setting it as automatic driving information.

FIG. 7B shows a main screen 100 when displaying information regarding the parking/stopping restricted section 88, which is displayed on the monitor that is the output device 78B of the user interface 78.

As shown in FIG. 7(B), the main screen 100 is classified into a basic information item field 102, a camera image item field 104, a top view item field 106, and a registered information item field 108. Each item lined up in a strip is considered to be one piece of other vehicle parking information, and the other vehicle parking information can be scrolled and displayed in the row direction (vertical direction).

On the main screen 100, basic information, camera images, top views (bird's eye views may also be used), and registered information are displayed as a list for each point of the results extracted by the parking restriction zone extraction unit 74 (see FIG. 3). .

In the screen frame of the registration information item column 108, there is a registration checkbox 110 that determines whether registration is necessary, and if the operator 23 can determine whether or not registration is possible based on the list, check the registration Operate box 110.

In addition, if the operator 23 is unable to determine whether or not registration is possible based on the list, the operator 23 can operate the registration information edit check box 112 set in the screen frame of the registration information item column 108 (not shown). , a screen can be displayed where the details of the registered content can be edited.

Here, a video confirmation check box 114 is set in the screen frame of the camera video item column 104, and by operating the video confirmation check box 114, the sub screen shown in FIG. 8(A) is displayed from the main screen 100. You can check the video by switching to 116.

The sub-screen 116 shown in FIG. 8(A) displays the corresponding camera image 118 from the log data stored in the autonomous vehicle travel log management database 82 (see FIG. 3) and the travel that intersects with the road boundary line 84. Trajectory images 120A to 120D are displayed.

Further, the sub-screen 116 displays the other vehicle 11, the bounding box 11A, and the estimated parking/stopping restricted section 88.

In the sub-screen 116 of FIG. 8A, the camera image 118 is a moving image (or a still image played frame by frame), and operations such as rewinding, playback, and fast forwarding are possible.

Based on the information displayed on the sub-screen of FIG. 8(A), the operator 23 visually determines whether the vehicle is actually entering or exiting the warehouse and whether the extracted parking/stopping restricted section 88 is appropriate. Based on the result, one of the check boxes 126 and 128 for "It is a vehicle entering and leaving the warehouse" or "It is not a vehicle entering and leaving the warehouse" is operated (it is a vehicle that enters and leaves the warehouse or it is not a vehicle that enters and leaves the warehouse). Furthermore, if the extracted parking/stopping restricted section 88 is incorrect, the user operates the "detection result correction" checkbox 130 to correct the size and position of the bounding box 11A.

As shown in FIG. 7(B), a section edit HD map check box 132 is set in the screen frame of the top view item column 106, and by operating this section edit HD map check box 132, The video can be checked by switching to the sub-screen 134 shown in (B).

On the sub-screen 134 shown in FIG. 8(B), a road data image 136 whose top view is a high-precision map centered on the vehicle 10 during automatic driving is displayed for the operator 23.

Furthermore, the sub-screen 134 includes the vehicle 10 in automatic operation, a travel trajectory image 138 of the vehicle 10, travel trajectory images 120A to 120D of other vehicles 11 when entering and exiting the garage, a camera image range 140, a facility image 90A, and The estimated parking/stopping restricted section 88 is displayed in an overlapping manner. Furthermore, icons 142 and 144 that allow the estimated parking/stopping restricted section 88 to be changed are also displayed.

If the operator 23 visually checks this sub-screen 134 and determines that the parking and parking restriction section 88 is appropriate, he operates the "Register parking and parking restriction section" checkbox 146 to increase the current parking and parking restriction section 88. It is stored in the precision map database 80 (see FIG. 3).

If it is determined that the parking and parking restriction section 88 is not appropriate, the estimated parking and parking restriction section 88 can be changed by operating the "Parking and parking restriction section correction" checkbox 148 and operating the icons 142 and 144. Or, by operating the check box 150 for "Discard parking and parking restricted section", the current parking and parking allowed section is discarded.

The operation of this embodiment will be explained below according to the flowchart of FIG.

FIG. 9 is a flowchart illustrating the flow of processing for parking and parking restricted zone extraction control according to the present embodiment.

In step 200, automatic driving information is acquired. Although the automatic driving information is mainly past automatic driving information stored in the automatic driving vehicle travel log management database 82, real-time automatic driving information may be acquired from the automatic driving control device 20. When the operation of the parking/stopping restricted zone extraction control according to the present embodiment is started, acquiring real-time automatic driving information from the automatic driving control device 20 may be the main focus.

In the next step 202, other vehicles 11 are detected from the acquired automatic driving information (see FIG. 4(A)). Next, in step 204, the detected traveling trajectory of the other vehicle 11 is calculated (see FIG. 4(B)), and the process proceeds to step 206.

In this step 206, the bounding box 11A that intersects with the road boundary line 84 is extracted (see FIG. 5(A)), and then, in step 208, the intersection between the bounding box 11A and the road boundary line 84 is calculated. (See FIG. 5(B)), and the process moves to step 210. In step 210, the two outermost points are defined as the vehicle passing section 86 (see FIG. 5C), and the process proceeds to step 212.

In step 212, it is determined whether the amount of data is sufficient, that is, whether the number of intersecting bounding boxes 11A is sufficient to extract the parking/stopping restricted section.

If a negative determination is made in step 212, the process returns to step 200 and the above steps are repeated. By repeating this process, a plurality of vehicle passage sections 86 can be obtained in step 210.

Further, if an affirmative determination is made in step 212, the process proceeds to step 214, where the maximum width covering the plurality of vehicle passage sections 86 is set as the vehicle entrance/exit section 86max, and the process proceeds to step 214.

In step 214, the parking/stopping prohibited areas Δ1 and Δ2 according to the regulations are added to the vehicle entrance/exit area 86max to extract the parking/stopping restricted area 88 (see FIG. 6), and the process proceeds to step 216.

By registering the extracted information regarding the parking/stopping restricted section 88 in the high-precision map database 80, it will be determined as one piece of automatic driving information.

By the way, in this embodiment, when information regarding the parking and parking restriction section 88 is registered in the high-precision map database 80, it is determined whether or not the parking and parking restriction section 88 is appropriate.

In the next step 218, information regarding the parking restriction section 88 is sent to the operator operation application control section 76, and the process returns to step 200 to repeat the above steps.

The operator operation application control unit 76 determines whether the extracted parking restriction section 88 is appropriate based on the input operation from the user interface 78, and finally stores it in the high-precision map database 80.

As explained above, in the present embodiment, past automated driving information is mainly acquired from the automated driving vehicle travel log management database 82 to detect other vehicles 11, and to detect other vehicles 11 on the road based on the travel trajectory of the other vehicles 11. Other vehicles 11 entering and exiting a facility 90 such as a facing parking lot or private garage are extracted, and the entrance/exit to the facility 90 is extracted as a parking restricted section on the road. Furthermore, by determining the validity of the extracted parking and parking restricted sections and storing them in the high-precision map database 80, it is possible to provide appropriate advice regarding parking and parking requests in future automatic driving.

Note that if separately extracted parking and parking restricted sections are close to each other or overlap, they may be combined to form a single parking and parking restricted section. The determination of whether or not they are approaching depends on the surrounding road environment, for example, but it is preferably determined based on whether or not it poses a problem for vehicles to enter and exit the parking-restricted area before composition.

A solid circle, B dotted circle, 10 vehicle, 11 other vehicle, 11A bounding box, 12 driving support control device, 14 vehicle control device, 16 camera group, 16A front camera, 16B left front camera, 16C left rear camera, 16D right front camera, 16E right rear camera, 16F rear camera, 18 radar group, 20 automatic driving control device, 22 network, 22A wireless communication device, 23 operator, 24 real-time map management system, 50 other vehicle information monitoring unit, 52 Communication I/F, 52A Other vehicle information transmitting unit, 52B Automatic driving information receiving unit, 54 Travel planning unit, 56 Communication I/F, 56A Other vehicle information receiving unit, 56B Automatic driving information transmitting unit, 58 Vehicle analysis unit, 60 vehicle detection processing section, 62 travel trajectory calculation processing section, 66 entrance/exit section derivation section, 68 crossing frame extraction processing section, 70 vehicle passage section calculation processing section, 72 vehicle entrance/exit section calculation processing section, 74 parking/stopping restriction section extraction section, 76 operator operation application control unit, 78 user interface, 78A input device, 78B output device, 80 high-precision map database, 82 automatic driving vehicle travel log management database, 100 main screen, 102 basic information item column, 104 camera image item column, 106 Top view item field, 108 Registration information item field, 110 Registration check box, 112 Registration information editing check box, 114 Video confirmation check box, 116 Sub screen

Claims (6)

a vehicle analysis unit that analyzes automated driving information and derives travel trajectories of multiple vehicles; (58)
Based on the travel trajectories of multiple vehicles analyzed by the vehicle analysis unit and the relative positions of road boundaries predetermined along the roadside, a passage section for each vehicle is derived, and the passage sections for multiple vehicles are synthesized. an entrance/exit section derivation unit that derives the composite section as an entrance/exit section; (66)
an extraction unit that extracts a parking/stopping restricted area for the host vehicle based on the entrance/exit area derived by the entrance/exit area derivation unit ;
The extracting unit is a driving support control device that extracts the parking restricted section by adding a predetermined section from both ends of the entrance/exit section . Setting a bounding box as part of the travel trajectory for the vehicle whose travel trajectory has been derived by the vehicle analysis unit;
The entrance/exit section derivation unit derives, for one vehicle, a section having the longest length of the road boundary line that overlaps with the region of the plurality of bounding boxes along the traveling trajectory as the passing section. The driving support control device according to claim 1. The driving support control device according to claim 1 or 2, further comprising a display section (78B) that displays the information regarding the parking and parking restricted sections extracted by the extraction section as a list for each parking and parking limited section. The information regarding the parking restriction area is
Other vehicle identification information including the location of the vehicle analyzed by the vehicle analysis unit;
An image of a vehicle attempting to enter or leave a parking restriction area, camera video information around the parking restriction area,
Map information and
The driving support control device according to claim 3, comprising : Creation of parking/stopping restricted zones executed by a driving support control device to provide information regarding parking restricted positions and stopping restricted positions in response to requests for parking and stopping on the road as driving support for vehicles operating automatically. A method,
The driving support control device includes:
Analyze autonomous driving information to derive travel trajectories of multiple vehicles,
Based on the analyzed traveling trajectories of multiple vehicles and their relative positions to road boundaries predetermined along the roadside, the section through which each vehicle passes is derived, and a composite section is created by combining the sections through which multiple vehicles pass. Derived as the entrance/exit section,
Based on the derived entrance/exit section, extract a parking restriction section for the own vehicle;
Displaying the extracted information regarding the parking and parking restriction sections as a list for each parking and parking restriction section so that the information can be used as a validity judgment element for determining whether to register, discard, or edit.
How to create parking restricted areas. computer,
Operated as each part of the driving support control device according to any one of claims 1 to 4,
Driving support control program.