JP2009119895A - Vehicle driving support device and vehicle driving support method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To automatically start an on-vehicle apparatus even when the present position of an own vehicle does not completely coincide with a position where the on-vehicle apparatus was operated in the past. <P>SOLUTION: This vehicle driving support device includes a storage part 74 storing positional information on the own vehicle and the operating form of the on-vehicle apparatus when the on-vehicle apparatus was operated in the past; a present position detecting part 71 detecting the present position of the own vehicle; and a start determining part 72 confirming whether the present position of the own vehicle is within a predetermined range set on the basis of the positional information on the own vehicle when the on-vehicle apparatus was operated in the past, starting the on-vehicle apparatus when the present position of the own vehicle is within the predetermined range, and operating the on-vehicle apparatus in the operating form of the on-vehicle apparatus when operated in the past. Even if the present position of the own vehicle does not completely coincide with the position of the own vehicle when the on-vehicle apparatus was started in the past, the on-vehicle apparatus is automatically started when the present position of the own vehicle is within the predetermined range. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle driving support device and a vehicle driving support method that are mounted on a vehicle and support driving of the vehicle.

When the driver operates the in-vehicle device, the location where the in-vehicle device is operated and the operation mode of the in-vehicle device are stored, and when the vehicle reaches the place where the in-vehicle device is operated, Has been proposed that automatically starts up (Patent Document 1).
JP 2005-284877 A

The device disclosed in Patent Document 1 stores a point where a driver starts an in-vehicle camera, and then automatically starts the in-vehicle camera when the host vehicle reaches that point.
However, since the point where the camera is activated is stored, the in-vehicle camera is not automatically activated unless the current position of the host vehicle matches the stored point.
Therefore, for example, in the case of a parking lot having a plurality of parking spaces, the in-vehicle camera is not automatically activated unless the own vehicle reaches a point where the in-vehicle camera has been activated to park the own vehicle.
In other words, unless the parking space has been parked with the on-board camera activated in the past, the driver may feel troublesome about the automatic start-up of the camera because the support from the on-board camera cannot be received automatically. .

  Therefore, an object of the present invention is to automatically start the in-vehicle device even when the current position of the host vehicle does not completely match the position where the in-vehicle device has been operated in the past.

  The present invention identifies the current position of the host vehicle, and whether or not the identified current position of the host vehicle is within a predetermined range set based on the position information of the host vehicle when the in-vehicle device has been operated in the past. When the current position of the host vehicle is within a predetermined range, the in-vehicle device is activated and the in-vehicle device is operated in the operation mode when the in-vehicle device has been operated in the past.

  According to the present invention, even if the current position of the own vehicle does not completely coincide with the position of the own vehicle when the in-vehicle device was activated in the past, the in-vehicle device is automatically activated when it is within a predetermined range. Therefore, the driver does not feel bothered by starting up the in-vehicle device.

Next, embodiments of the present invention will be described by way of examples.
FIG. 1 is a diagram illustrating a configuration of a vehicle driving support device according to an embodiment.
FIG. 2 is a diagram illustrating the arrangement of cameras and sensors in the vehicle.

Hereinafter, the control target of the vehicle driving support device according to the embodiment is an image display device that displays an image obtained by capturing with the camera 10 on the monitor 40, and the vehicle driving support device is configured in combination with the image display device. This will be described as an example.
The vehicle driving support device according to the embodiment includes a camera 10, a screen changeover switch 20, an image generation unit 30, a monitor 40, a GPS sensor 50, a vehicle direction sensor 60, and a vehicle driving support control unit 70. .
Here, the camera 10, the screen changeover switch 20, the image generation unit 30, and the monitor 40 are the parts that function as the image display device.

The camera 10 is provided in the vehicle, images the surroundings of the host vehicle V, and outputs an image obtained by the imaging to the image generation unit 30.
As shown in FIG. 2, the host vehicle V is provided with a plurality of cameras 10 (10 a to 10 d) so that the surroundings of the host vehicle V can be imaged.

  The front camera 10a is provided at the front end of the host vehicle V and images the front area Ra of the host vehicle V. The rear camera 10b is provided at the rear end of the host vehicle V and images the rear region Rb of the host vehicle V. The left camera 10c is provided on the left door mirror of the host vehicle V and images the left front area Rc of the host vehicle V. The right camera 10d is provided on the right side mirror of the host vehicle V and images the right front area Rd of the host vehicle V. Hereinafter, when these cameras 10a to 10d are not particularly distinguished, they are simply referred to as cameras 10.

  The screen changeover switch 20 is an interface that is installed at an operable position in the host vehicle V and inputs a user instruction such as display of an image on the monitor 40 or switching of an image displayed on the monitor 40.

The image generation unit 30 has a display form requested by the user based on an image input from each camera 10 (10a to 10d) and a user instruction (instruction input) input via the screen changeover switch 20. Image data for displaying an image on the monitor 40 is generated.
For example, when there is an instruction input for displaying an image captured by the left camera 10c on the monitor 40, the image generation unit 30 selects the left camera 10c from the images input from the cameras 10 (10a to 10d). The image input from is selected to generate image data.

  The monitor 40 receives the image data generated by the image generation unit 30 and displays the image in a display form defined in the image data. The monitor 40 is, for example, a liquid crystal monitor or a CRT monitor, and is installed at a visible position in the host vehicle V.

The GPS sensor 50 is installed in the host vehicle V, receives radio waves transmitted from a plurality of GPS satellites, and generates coordinate data indicating the absolute position of the host vehicle V.
The vehicle direction sensor 60 is installed in the host vehicle V and generates direction data indicating the direction of the traveling direction of the host vehicle V. The vehicle orientation sensor 60 is realized by an electronic compass, for example.

  The vehicle driving support control unit 70 includes a current position detection unit 71, an activation determination unit 72, a position information registration unit 73, and a storage unit 74.

  The current position detection unit 71 detects the position of the host vehicle V based on the output of the GPS sensor 50, and detects the direction of the host vehicle V based on the output of the vehicle direction sensor 60. Here, the direction of the host vehicle V means the direction of the traveling direction of the host vehicle V.

  Based on the current position and orientation of the host vehicle V detected by the current position detection unit 71, the activation determination unit 72 determines whether it is necessary to display an image obtained by imaging by the camera 10 on the monitor 40. When an image is displayed on the monitor 40, the display form of the image to be displayed is determined, and the image generation unit 30 is instructed to generate image data for displaying the image on the monitor 40 in the determined display form.

The position information registration unit 73 associates position information that defines the position and orientation of the host vehicle V at the time of image display on the monitor 40 with the image display form at this time, and stores the history table in the storage unit 74. Register to 74a.
Here, the time point when the image is displayed on the monitor 40 is a time point when an instruction is input to the image generation unit 30 to generate image data by the operation of the screen changeover switch 20 by the user, or the activation determination unit 72. Means the time when the image generation unit 30 is instructed to generate image data.

The storage unit 74 includes a magnetic recording medium such as a hard disk, a RAM, and the like, and has a history table 74a.
In the history table 74a, position information indicating the position and orientation of the host vehicle V when the image has been displayed on the monitor 40 in the past, and display form information indicating the display form of the image displayed on the monitor 40 at this time Are stored in association with each other.

  Each functional block of the image generation unit 30, the current position detection unit 71, the activation determination unit 72, and the position information registration unit 73 is configured by a well-known microcomputer, and a CPU (not shown) provided in the vehicle driving support device includes This is realized by executing a program stored in a ROM (not shown) or the storage unit 74.

Hereinafter, processing in the vehicle driving support apparatus will be described.
FIG. 3 is a flowchart for explaining processing in the vehicle driving support apparatus according to the embodiment.

  In step 101, the image generation unit 30 confirms whether the screen changeover switch 20 is pressed and an instruction is input. This is for confirming whether or not an instruction input for displaying an image on the monitor 40 has been made by the user.

  If the screen changeover switch 20 is not pressed in step 101, in step 102, the current position detection unit 71 determines the current position of the host vehicle V based on the output of the GPS sensor 50 and the output of the vehicle direction sensor 60. Detect orientation.

  In step 103, the activation determination unit 72 refers to the history table 74a of the storage unit 74 and causes the monitor 40 to display an image in the past at the current position and orientation of the host vehicle V detected by the current position detection unit 71. Check if there is an instruction to that effect.

Here, since the history table 74a stores position information indicating the position and orientation of the host vehicle when an instruction is input to display an image on the monitor 40 in the past, the activation determination unit 72 Then, the presence / absence of a history including position information indicating the position and direction that matches the current position and direction of the host vehicle V is confirmed.
Then, if there is a history including position information indicating the matching position and direction, it is determined that there has been an instruction input for displaying an image on the monitor 40 in the past at the current position and direction of the host vehicle V. .

  Note that even if the current position and direction of the host vehicle are not completely the same as the position and direction indicated in the position information, they match if they are within a predetermined range set based on the position information. It is determined that there is a history including position information indicating the position and orientation.

  Specifically, the separation distance from the current position of the host vehicle to the position of the host vehicle when an instruction to display an image on the monitor 40 in the past is less than a predetermined first threshold value, and If the difference between the current direction of the host vehicle and the direction of the host vehicle when an instruction is input to display an image on the monitor 40 in the past is less than the predetermined second threshold, It is determined that there is a history including position information indicating the position and orientation that matches the position and orientation.

FIG. 4 is a diagram illustrating a determination as to whether or not there is a history including position information indicating a position and direction that match the current position and direction of the host vehicle.
Here, as shown in FIG. 4A, a history indicating that there has been an instruction input in the past when the vehicle V is facing north at position A on the road 150 is registered in the history table 74a. The case where the current position of the host vehicle identified by the current position detection unit 71 is the position indicated by the symbol B in the drawing will be described as an example.
In this case, the distance d from the current position B of the host vehicle V to the position A of the host vehicle V when an instruction is input in the past is within 10 m, for example, and the current direction and past of the host vehicle V When the absolute value of the difference θ with respect to the direction of the host vehicle V is less than 20 (within the range of ± 20 ° with respect to the direction “north”), the activation determination unit 72 It is determined that there is a history including position information indicating a position and orientation that match the position and orientation of the host vehicle. As a result, in step 103 described above, it is determined that there has been an instruction input for displaying an image on the monitor 40 in the past at the current position and orientation of the host vehicle V.

If it is determined in step 103 that there has been an instruction input to display an image on the monitor 40 in the past based on the current position and orientation of the host vehicle V, in step 104, the activation determination unit 72 performs monitoring. The display form of the image displayed on 40 is specified with reference to the display form information of the history table 74a, and the specified display form is determined as the display form of the image to be displayed on the monitor 40 at the current position of the host vehicle.
Then, the activation determination unit 72 instructs the image generation unit 30 to generate image data that causes the monitor 40 to display an image in the determined display form.

  For example, when a record indicating that there has been an instruction input for displaying on the monitor 40 an image captured by the left camera 10c in the past at the current position and orientation of the host vehicle V is registered in the history table 74a. The activation determination unit 72 instructs the image generation unit 30 to generate image data that causes the monitor 40 to display an image captured by the left camera 10c.

  As a result, the image generation unit 30 generates image data for displaying the determined display format image on the monitor 40 and outputs the image data to the monitor 40, so that the image captured by the left camera 10 c is displayed on the monitor 40. Will be displayed.

  Then, as in the case where it has not been determined in step 103 that there has been an instruction input for displaying an image on the monitor 40 in the past based on the current position and orientation of the host vehicle V, the process proceeds to step 101. become.

When the screen changeover switch 20 is pressed in step 101, in step 105, the image generation unit 30 determines an image requested to be displayed on the monitor 40 based on an input (instruction input) from the screen changeover switch 20 and its image. Specify the display form.
Then, image data for displaying the specified image on the monitor 40 in the specified display form is generated and output to the monitor 40. This is because the image is displayed on the monitor 40 in the display form defined by the instruction input.

For example, when it is requested to display the image of the right camera 10 d on the monitor 40, the image generation unit 30 generates image data for displaying the image of the right camera 10 d on the monitor 40 and outputs the image data to the monitor 40.
Thereby, the monitor 40 displays the image captured by the right camera 10d on the monitor 40.

  When the image is displayed on the monitor 40, in step 106, the current position detection unit 71 is based on the output of the GPS sensor 50 and the output of the vehicle orientation sensor 60, and when the screen changeover switch 20 is pressed. That is, the position and direction of the host vehicle V at the time when an instruction to display an image on the monitor 40 is specified.

  In step 107, the position information registration unit 73 refers to the history table 74 a of the storage unit 74 and uses the position and orientation of the host vehicle V at the time when an instruction to display an image on the monitor 40 is received. Then, it is confirmed whether or not an image having the same display form as that requested in the instruction input has been displayed on the monitor 40.

  Specifically, the position information registration unit 73 refers to the history table 74a of the storage unit 74, and includes position information indicating a position and direction that match the position and direction of the host vehicle V at the time when the instruction is input, Whether or not there is a history having both display form information indicating the same display form as the display form of the image requested by the instruction input is confirmed.

  Here, the presence / absence of the position information indicating the matching position and direction is determined in the same manner as in step 103 described above, and the position and direction of the host vehicle at the time of the instruction input are specified by the position information. Even if the position and orientation do not completely coincide with each other, if it is within a predetermined range set based on the position information, it is determined that position information indicating the matching position and orientation exists.

When there is no history that satisfies the above conditions, the position information registration unit 73 uses the position and orientation of the host vehicle V at the time when an instruction to display an image on the monitor 40 is received, and requests in the past in the instruction input. It is determined that an image having the same display form as the displayed display form has not been displayed on the monitor 40.
Therefore, in step 108, the position information registration unit 73 displays the position information indicating the position and orientation of the host vehicle V at the time when the instruction is input, and the display form of the image displayed on the monitor 40 based on the instruction input. Form information is generated.
Then, the generated position information and display form information are associated with each other and registered in the history table 74 a of the storage unit 74. As a result, a new history constituted by the registered position information and display form information is added.

For example, when the display of the image of the left camera 10c on the monitor 40 is instructed and input with the host vehicle V facing north at the position indicated by reference C in FIG. If it is determined that the image having the same display form as that requested in the instruction input has not been displayed on the monitor 40 in the past, the position information registering unit 73 is represented by reference sign C in FIG. Position information indicating that the position indicating the position to be displayed and the direction of the host vehicle at this position is “north” is generated. Then, the generated position information is registered in the history table 74a in association with display form information indicating that the image of the left camera 10c is displayed on the monitor 40.
As a result, the image of the left camera 10c is automatically displayed on the monitor 40 when the host vehicle V reaches a predetermined range near the position indicated by symbol B in the drawing.

On the other hand, in step 107, an image having the same display form as that requested in the instruction input in the past at the position and orientation of the host vehicle V at the time when the instruction input to display the image on the monitor 40 is received. If it is determined that the information has been displayed on the monitor 40, in step 109, the position information registering unit 73 determines the position of the host vehicle V at the time when the instruction is input, and the position when the instruction is input in the past. An interpolation point is set between the position of the vehicle V, and interpolation data defining the position of the set interpolation point and the display form of the image at the interpolation point is generated.
Then, the interpolation data is registered in the history table 74a.

FIG. 5 is a diagram for explaining the interpolation data generated by the position information registration unit 73.
For example, as shown in FIG. 5, in the past, there is a history indicating that the image of the left camera 10c has been displayed on the monitor 40 with the host vehicle facing “north” at the position indicated by the symbol D in the figure. At this time, the driver of V of the own vehicle inputs an instruction to instruct the display of the image of the left camera 10c on the monitor 40 in a state where the own vehicle is directed to “north” at the position indicated by reference sign G in the figure. Suppose that
In this case, the position information registering unit 73 sets a plurality of intermediate points, for example, intermediate points E and F, by dividing the interval from the position indicated by the symbol D to the position indicated by the symbol G at predetermined intervals. Then, for each of the intermediate points E and F, position information indicating that the direction of the host vehicle is “north” and a display form of the screen at this position is a display form in which the image of the left camera 10c is displayed on the monitor 40. The display form information indicating that is generated.
Then, the generated position information and control information are associated with each other and registered in the history table 74a.

  As a result, when the host vehicle V reaches a predetermined range set based on the positions indicated by the symbols D, E, F, and G, and the direction of the host vehicle V at that time is “north” The image of the left camera 10c is automatically displayed on the monitor 40 without any instruction input from the user.

  That is, the image is automatically displayed on the monitor without storing the position where the instruction input to display the image on the monitor is made for all the parking spaces Sa to Sd. Therefore, since the driver | operator of the own vehicle V can reduce the frequency | count of pushing the screen switch 20 in order to display an image on the monitor 40, it can make a driver | operator hard to feel troublesome.

  Here, step 102 and the current position detector 71 correspond to the current position detector in the present invention. Steps 103 to 104 and the activation determination unit 72 correspond to the activation determination unit in the invention. Steps 106 to 109 and the position information registration unit 73 correspond to the operation position registration unit in the present invention.

As described above, in this embodiment, an on-vehicle device including the image generation unit 30 that generates image data to be displayed on the monitor 40 by using the camera 10 as a trigger when the screen changeover switch 20 is pressed is controlled. A target vehicle driving support device that detects the current position of the host vehicle V, and a storage unit 74 that stores the position information of the host vehicle V when the in-vehicle device has been operated in the past and the operation mode of the in-vehicle device. A current position detection unit 71 that determines whether or not the in-vehicle device needs to be activated based on the current position of the host vehicle, and the activation determination unit 72 determines whether the current position of the host vehicle V is in the past. When the vehicle-mounted device is within a predetermined range set based on the position information of the host vehicle when the vehicle-mounted device is operated, the vehicle-mounted device is activated and the vehicle-mounted device is operated in the past. Configuration to work with It was.
Accordingly, even if the current position of the host vehicle does not completely match the position of the host vehicle when the in-vehicle device has been operated in the past, the in-vehicle device is automatically activated if it is within the predetermined range.
Therefore, when the driver performs an operation to display the same screen in the same place, it is not necessary to operate the screen switch 20 each time, so the number of operations of the driver's screen switch 20 is reduced. The driver will not feel bothered.

Further, the activation determination unit 72 specifies the position and orientation of the host vehicle V when the in-vehicle device has been operated in the past based on the position information, and the in-vehicle device has been operated in the past from the current position of the host vehicle V. When the distance to the position of the host vehicle is less than a predetermined threshold, and the difference between the current direction of the host vehicle V and the direction of the host vehicle when the in-vehicle device is operated is less than the predetermined threshold In addition, the current position of the host vehicle V is determined to be within a predetermined range.
As a result, even if the current position and direction of the host vehicle are not completely matched with the position and direction of the host vehicle when an instruction is input to display an image on the monitor 40 in the past, The image is automatically displayed.
Therefore, it is not easy to determine whether it is necessary to display an image on the monitor 40. It is not easy to completely match the position and direction of the host vehicle with the position and direction of the past host vehicle. Thus, it is possible to prevent the driver from feeling bothered when the image is automatically displayed on the monitor 40.

In particular, the vehicle-mounted device is configured to be a device that displays on the monitor 40 an image around the host vehicle obtained by imaging with the camera 10 mounted on the host vehicle V.
Thus, when the operation of parking the host vehicle in a predetermined parking space is repeated every day while displaying the image of the rear camera 10b on the monitor 40, when the host vehicle reaches the vicinity of the parking space, the image of the rear camera 10b is displayed. Is automatically displayed on the monitor 40.
Therefore, in addition to the above-described effects, the driving operation support that is repeated every day is automatically performed, and the driver's driving support can be suitably performed.

Also, position information registration that generates position information indicating the position and orientation of the host vehicle when the in-vehicle device is operated, and stores the position information in the storage unit 74 in association with display form information indicating the operation form of the in-vehicle device. The unit 73 is further provided.
Thereby, the registration of the position information of the host vehicle and the display form information in the storage unit 74 when the in-vehicle device is operated by the instruction from the screen changeover switch 20 or the instruction from the activation determination unit 72 is not instructed by the driver. In addition, since it is automatically performed, it is possible to save the driver's trouble.

The separation distance between the current position of the host vehicle and the position of the host vehicle when the in-vehicle device has been operated in the past is equal to or less than a predetermined threshold, and the operation mode of the in-vehicle device at the current position of the host vehicle has been When the operation form is the same as that when operated, the position information registration unit 73 sets at least one intermediate point between the current position of the own vehicle and the position of the own vehicle when the in-vehicle device has been operated in the past. The configuration is such that the operation mode of the in-vehicle device at the midpoint is registered in the storage unit 74 as the same operation mode as the operation mode.
Thereby, for example, when there are a plurality of parallel parking spaces, it is not necessary to register the position information and the display form information in the storage unit 74 for each parallel parking space. That is, a point between a point where an image captured by the camera 10 in the past is displayed on the monitor 40 and a point where a new image captured by the camera 10 is displayed on the monitor 40 on a road where parallel parking is performed. In addition, since it is not necessary to store the position information and the display form information in the storage unit 74, the number of activations of the screen changeover switch 20 by the driver is reduced.

FIG. 6 is a diagram for explaining a modified example of setting the intermediate point.
The case where an intermediate point is set in the parking lot 200 in which a plurality of parking spaces A to L shown in FIG. 6 are prepared will be described.

Here, in the past, when there is a history indicating that the vehicle is parked in the parking space L in the parking lot 200 while displaying the image of the rear camera 10b on the monitor 40 and facing the vehicle toward “north”. It is assumed that the vehicle is parked in the parking space B with the host vehicle facing “south” while displaying the image of the rear camera 10 b on the monitor 40.
In this case, for example, if it is specified by referring to map information stored in the storage unit 74 that the current position of the host vehicle is in the parking lot 200, the position information registration unit 73 displays the parking space indicated by the symbol B. To the parking space indicated by the reference symbol L, the positions of the parking spaces C to F and H to K are set as intermediate points, and each of the positional information indicating the positions of the intermediate points C to F and H to K is monitored. 40 is associated with display form information indicating that the image of the rear camera 10b is displayed, and is registered in the history table 74a.

  Thereby, after that, the own vehicle V falls within a predetermined range set based on the parking space B to the parking space F and the parking space H to the parking space L in FIG. At the time of arrival, the image of the rear camera 10b is automatically displayed on the monitor 40 without any instruction input from the user.

That is, the image is automatically displayed on the monitor without storing the position where the instruction input for displaying the image on the monitor is made for each of the parking spaces A to L one by one.
Therefore, since the driver | operator of the own vehicle V can reduce the frequency | count of pushing the screen switch 20 in order to display an image on the monitor 40, the frequency which a driver | operator feels troublesome can be reduced.

Here, as a result of the processing in step 102 described above, when it is determined that the host vehicle V is located in the parking lot 200 where a plurality of parking spaces are prepared, the activation determination unit 72 performs the above-described step 103. The process, that is, the process for confirming whether or not there has been an instruction input for displaying an image on the monitor 40 in the past with the detected current position and orientation of the own vehicle V is performed based only on the position of the own vehicle V. It is preferable to do so.
In the case of the parking lot 200 in which a plurality of parking spaces are prepared, the direction of the own vehicle when parking in the parking space is not always the same as the direction of the own vehicle when parking in the same parking space in the past. Because.

In the above embodiment, the case where the number of cameras 10 provided in the host vehicle V is four has been described as an example. However, the number and installation positions of the cameras provided in the host vehicle V are described in the embodiment. The examples are not limited to those described above.
Therefore, for example, the installation positions of the cameras 10 (10a to 10d) can be determined as appropriate within a position range where the surroundings of the host vehicle V can be imaged.

  Furthermore, in the said Example, it was set as the structure which displays the image imaged with the specific camera 10 on the monitor 40, However, The display form of the image on the monitor 40 is not limited to this form, For example, on the monitor 40 The displayed image may be divided into left and right, and a captured image captured by the right camera 10d may be displayed on the right side, and a captured image captured by the left camera 10c may be displayed on the left side.

  Moreover, although the case where the vehicle driving support device according to the above embodiment has an image display function for displaying an image obtained by capturing with the camera 10 on the monitor 40 has been described as an example, the image having such a function is described. It may be provided separately from the display device.

A modification of the vehicle driving support device according to the embodiment will be described.
FIG. 7 is a diagram illustrating a configuration of a vehicle driving support device according to a modification.
FIG. 8 is a diagram illustrating the arrangement of the vehicle driving support device in the vehicle.

  The control target of the vehicle driving support device according to the modification is an automatic parking device that performs automatic parking in a parking space set on the road surface. The vehicle driving support device automatically triggers when the activation switch 100 is turned on by the user. The case where it is comprised combining with the automatic parking apparatus which starts parking control is mentioned as an example, and is demonstrated.

The vehicle driving support device according to the modification includes an automatic parking control unit 110, an activation switch 100, a vehicle control unit 120, a GPS sensor 50, a vehicle direction sensor 60, and a vehicle driving support control unit 70.
Here, the automatic parking control unit 110, the activation switch 100, and the vehicle control unit 120 are the parts responsible for the function of the automatic parking apparatus.

  The activation switch 100 is an interface that is installed at an operable position in the host vehicle V (see FIG. 8) and inputs an instruction to start automatic parking control by the automatic parking control unit 110.

The automatic parking control unit 110 starts (implements) automatic parking control in a control form requested by the user in accordance with a user instruction (instruction input) input via the activation switch 100.
Specifically, the parking space of the own vehicle is determined, and the control content of each part of the own vehicle for parking the own vehicle in the control form requested by the user in the determined parking space is determined.
Here, the control form requested by the user means a parking system (parking form) of the vehicle, such as parallel parking, parallel parking, and diagonal parking.

The parking space is determined by, for example, a method of searching for a space where the host vehicle can be parked by processing an image captured by a camera (not shown), an ultrasonic sensor (obstacle sensor) (not shown) This is performed by a method employed in a conventionally known automatic parking apparatus such as a method for searching for a region of a predetermined area where no obstacle exists.
In addition, in the image of the road surface around the own vehicle displayed on the monitor 40, the user may designate a parking space.

  For the movement of the host vehicle to the determined parking space, the automatic parking control unit 110 identifies the positional relationship between the host vehicle and the parking space, and moves the host vehicle to the parking space. The control details such as the accelerator opening and the brake operation amount are determined, and the vehicle control unit 120 operates the steering wheel, the accelerator, the brake, and the like with the determined control details.

  The vehicle driving support control unit 70 includes a current position detection unit 71, an activation determination unit 72, a position information registration unit 73, and a storage unit 74.

  The current position detection unit 71 specifies the position of the host vehicle V based on the output of the GPS sensor 50, and specifies the direction of the host vehicle V based on the output of the vehicle direction sensor 60.

The activation determination unit 72 determines whether or not the automatic parking control unit 110 needs to start automatic parking control based on the current position and direction of the host vehicle V detected by the current position detection unit 71.
And when starting automatic parking control, the control form of automatic parking is determined, and the start of the automatic parking control in the determined control form is instruct | indicated to the automatic parking control part 110. FIG.

The position information registration unit 73 generates position information indicating the position and direction of the host vehicle V at the time when the automatic parking control unit 110 starts automatic parking control, and associates it with the control mode of automatic parking, Register in the history table 74a.
Here, the time when the automatic parking control is started is the time when an instruction input for instructing the automatic parking control unit 110 to start the automatic parking control is made by the operation of the activation switch 100 by the user, It means the time when the automatic parking control unit 110 is instructed to start automatic parking control.

  In the history table 74a of the storage unit 74, position information indicating the position and direction of the host vehicle when the automatic parking control unit 110 has been instructed to start automatic parking control in the past, and control of automatic parking performed at this time It is stored in association with the form.

FIG. 9 is a flowchart for explaining processing in the vehicle driving support apparatus according to the modification.
In step 201, the automatic parking control unit 110 confirms whether the activation switch 100 is pressed and an instruction is input.
If the start switch 100 is not pressed in step 201, the current position detection unit 71 determines in step 202 the current position and direction of the host vehicle V based on the output of the GPS sensor 50 and the output of the vehicle direction sensor 60. Is detected.

  In step 203, the activation determination unit 72 refers to the history table 74 a of the storage unit 74 and uses the current position and direction of the host vehicle V detected by the current position detection unit 71 in the past. Check to see if it has started and started automatic parking control.

If it is determined in step 203 that automatic parking control has been started in the past with the current position and orientation of the host vehicle V, in step 204, the activation determination unit 72 performs automatic parking control performed in the past. In this case, the parking mode is determined as the parking mode for the automatic parking control performed this time.
Then, the activation determination unit 72 instructs the automatic parking control unit 110 to execute automatic parking control in the determined parking mode.
Thereby, the automatic parking control part 110 controls the vehicle control part 120, and the automatic parking of the own vehicle is performed with the parking form when automatic parking control was performed in the past.

  When the activation switch 100 is pressed in step 201, in step 205, the automatic parking control unit 110 specifies the parking mode of automatic parking defined by the input (instruction input) from the activation switch 100. And the automatic parking control by the specified parking form is started.

  When the automatic parking control is performed, in step 206, the current position detection unit 71 determines when the activation switch 100 is pressed based on the output of the GPS sensor 50 and the output of the vehicle direction sensor 60, that is, the instruction input is made. The position and azimuth | direction of the own vehicle V at the time of a certain are specified.

  In step 207, the position information registration unit 73 refers to the history table 74 a of the storage unit 74, and the parking position that has been prescribed in the instruction input in the past is the position and direction of the host vehicle V at the time of the instruction input. It is confirmed whether or not automatic parking control has been performed in the same parking form as the form.

If the automatic parking control has not been performed in the past in the same parking form as that specified in the instruction input with the position and orientation of the own vehicle V at the time when the instruction input was made in step 207, in step 208 The position information registration unit 73 generates position information indicating the position and direction of the host vehicle V at the time when the instruction is input, and parking form information indicating the parking form in the automatic parking control started based on the instruction input.
Then, the generated position information and parking form information are associated with each other and registered in the history table 74 a of the storage unit 74.

On the other hand, if automatic parking control has been performed in the past in the same parking form as that specified in the instruction input with the position and orientation of the host vehicle V at the time of the instruction input in step 207, In 209, the position information registration unit 73 sets an interpolation point between the position of the host vehicle V when the instruction is input and the position of the host vehicle V when the instruction is input in the past. Interpolation data that defines the position of the interpolation point and the parking mode in the automatic parking control at the interpolation point is generated.
Then, the interpolation data is registered in the history table 74a.

  Here, step 202 and the current position detection unit 71 correspond to the current position detection unit in the present invention. Steps 203 to 204 and the activation determination unit 72 correspond to the activation determination unit in the invention. Steps 206 to 209 and the position information registration unit 73 correspond to the operation position registration unit in the present invention.

As described above, in the present modification, the vehicle driving support device includes the automatic parking control unit 110 that starts automatic parking control triggered by pressing of the start switch 100 as a trigger. A storage unit 74 that stores position information of the host vehicle V when operated and automatic parking control is started and parking mode information indicating a parking mode of automatic parking, and a current position detection that detects the current position of the host vehicle V Unit 71 and an activation determination unit 72 that determines whether or not to start automatic parking control based on the current position of the host vehicle. When the automatic parking control is started and the automatic parking control is started within the predetermined range set based on the position information of the own vehicle when the automatic parking control is started. In the parking form, It was configured to carry out the parking control.
As a result, even if the current position of the host vehicle does not completely match the position of the host vehicle when the automatic parking control has been started in the past, the automatic parking control is automatically started if it is within the predetermined range. The
Therefore, when the driver starts the automatic parking control at the same place, it is not necessary to operate the start switch 100 each time, so the number of operations of the start switch 100 by the driver is reduced and the driver is bothered. I do not feel it.
Further, when automatic parking in a specific parking mode is repeated every day for a predetermined parking space, automatic parking control is automatically started when the host vehicle reaches the vicinity of the parking space.
Therefore, in addition to the above-described effects, the driving operation support that is repeated every day is automatically performed, and the driver's driving support can be suitably performed.

  In the above modification, the vehicle support apparatus according to the above embodiment has been described by taking as an example a case where the vehicle support apparatus includes an automatic parking function for performing automatic parking in a parking space set on a road surface. It may be provided separately from the parking device.

  In the above-described embodiments and modifications, the configuration in which the user's instruction input is performed via a hard switch such as a screen changeover switch is employed, but for example, via a screen changeover icon or a start icon displayed on the monitor 40. You may make it employ | adopt the touch panel system to perform or a non-contact sensor switch.

  Furthermore, although the case where the direction of the own vehicle is detected by an electronic compass has been described as an example, the output value of the GPS sensor 50 may be processed over time and obtained by difference calculation.

In the above-described embodiment and modification, the current position of the host vehicle V is specified, and the specified current position of the host vehicle is a predetermined range that is set based on the position information of the host vehicle when the in-vehicle device has been operated in the past. If the current position of the host vehicle is within a predetermined range, the in-vehicle device is activated and the in-vehicle device is operated in the operation mode when the in-vehicle device has been operated in the past. The present invention has been described as a function of the vehicle driving support device.
However, the present invention can also be embodied as a vehicle driving support program that causes a computer to execute the functions of the vehicle driving support device described above, or a medium that stores this program.

It is a figure explaining the structure of the vehicle driving assistance device concerning an Example. It is a figure explaining arrangement of a camera and a sensor in vehicles. It is a flowchart explaining the process in the vehicle driving assistance device concerning an Example. It is a figure explaining the judgment whether the instruction | indication to display an image on the monitor 40 was received in the past by the present position and direction of the own vehicle V. FIG. It is a figure explaining interpolation data. It is a figure explaining the modification of interpolation data. It is a figure explaining the structure of the vehicle driving assistance device concerning a modification. It is a figure explaining arrangement | positioning of the sensor in a vehicle. It is a flowchart explaining the process in the vehicle driving assistance device concerning a modification.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Camera 20 Screen change switch 30 Image generation part 40 Monitor 50 GPS sensor 60 Vehicle direction sensor 70 Vehicle driving assistance control part 71 Current position detection part 72 Start judgment part 73 Position information registration part 74 Storage part 100 Start switch 110 Automatic parking control part 120 Vehicle control unit 150 Road 200 Parking lot

Claims (8)

A storage unit for storing position information of the own vehicle when the in-vehicle device is operated in the past and an operation mode of the in-vehicle device;
A current position detector for detecting a current position of the host vehicle;
An activation determination unit that determines whether the in-vehicle device needs to be activated based on the current position of the host vehicle;
The activation determination unit activates the in-vehicle device when the current position of the own vehicle is within a predetermined range set based on position information of the own vehicle when the in-vehicle device has been operated in the past. And the said vehicle equipment is operated by the operation form at the time of the said vehicle equipment having been operated in the past, The vehicle driving assistance device characterized by the above-mentioned. The activation determination unit specifies the position and direction of the host vehicle when the in-vehicle device has been operated in the past based on the position information,
When the separation distance from the current position of the host vehicle to the position of the host vehicle when the in-vehicle device has been operated in the past is less than a predetermined threshold, and the current direction of the host vehicle and the in-vehicle device are operated When the difference from the direction of the vehicle is less than a predetermined threshold,
The vehicle driving support device according to claim 1, wherein the current position of the host vehicle is determined to be within the predetermined range. When the host vehicle is located in a parking lot, the activation determination unit specifies the position of the host vehicle when the in-vehicle device has been operated in the past based on the position information,
When the separation distance from the current position of the host vehicle to the position of the host vehicle when the in-vehicle device has been operated in the past is less than a predetermined threshold,
The vehicle driving support device according to claim 1, wherein the current position of the host vehicle is determined to be within the predetermined range. 4. The vehicle driving support device according to claim 1, wherein the in-vehicle device is a device that displays on a monitor an image obtained by imaging with a camera mounted on the host vehicle. 5. 4. The vehicle driving support device according to claim 1, wherein the in-vehicle device is a device that automatically parks the host vehicle. The apparatus further comprises an operation position registration unit that generates the position information when the in-vehicle device is operated and registers the position information in the storage unit together with an operation mode of the in-vehicle device. Item 6. The vehicle driving support device according to any one of Items 5. The distance between the current position of the host vehicle and the position of the host vehicle when the in-vehicle device has been operated in the past is equal to or less than a predetermined threshold, and the operation mode of the in-vehicle device at the current position of the host vehicle is the If the operation mode is the same as when the in-vehicle device was operated in the past,
The operation position registration unit
At least one intermediate point is set between the current position of the host vehicle and the position of the host vehicle when the in-vehicle device has been operated in the past, and the operation mode of the in-vehicle device at the intermediate point is the same as the operation mode The vehicle driving support device according to claim 6, wherein the vehicle driving support device is registered in the storage unit as being in the operation form. Identify the current position of your vehicle,
When the identified current position of the own vehicle is within a predetermined range set based on the position information of the own vehicle when the on-vehicle device has been operated in the past, the on-vehicle device is activated to A vehicle driving support method, wherein a device is operated in an operation mode when an on-vehicle device has been operated in the past.

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