JP2016173644A - Driving support device and driving support method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device for avoiding contact between a protrusion from a road surface and a vehicle body.SOLUTION: A driving support device includes: imaging means mounted on a vehicle so as to image the circumference of the vehicle in an advance direction; a display section for displaying the captured image; display control means for allowing the display section to display the captured image; stop position detection means for detecting the stop position of the vehicle on the basis of the captured image; stop position indication display means for displaying stop position indication indicating the detected stop position by superimposition on the captured image; protrusion detection means for detecting the presence/absence of a protrusion protruded from a road surface and displayed in the captured image; distance measurement means for measuring a distance between the detected protrusion and the vehicle; and comparison determination means for performing comparison and determination concerning the height of the protrusion from the road surface and the minimum height of the vehicle from the ground. When the comparison determination means determines that the height of the protrusion is higher than the minimum height from the ground, the stop position indication display means displays the stop position indication at a predetermined position on the vehicle side of the protrusion by superimposition.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a driving support device and a driving support method for superimposing and displaying a stop position indication indicating a stop position of a vehicle on an image captured by an in-vehicle camera.

  2. Description of the Related Art In recent years, parking assistance has been performed to assist driving by displaying an image captured by a camera mounted on a vehicle on a display unit (monitor) of a driver's seat. For example, as shown in FIG. 8A, which is a rear-shot image taken by a rear camera mounted on a vehicle that moves backward to the parking position, and FIG. 8B, which shows a side view of the vehicle, the driver is in a parking position display frame 102 displayed with a white line. The vehicle 101 is moved backward (in the direction of the arrow 106) while the vehicle stops 103a and 103b are set as the stop positions of the vehicle 101 while gazing at the rear shot image 105 by the in-vehicle rear camera 104. In the rear shot image 105 displayed on the display unit (display) 111, guide lines 107a and 107b for displaying predetermined distances from the vehicle 101 (for example, distances indicating 1 m, 3 m, and 5 m from the vehicle 101). 107c, 108a, 108b, 108c, 109a, 109b, and 109c are displayed in a superimposed manner, and the driver can reverse the vehicle 101 to the stop position using the guide lines 107a to 109c as a guide.

  However, since the guide lines 107 to 109 merely display the predetermined distances from the vehicle, the vehicle 101 is accurately placed at a position where the vehicle stops 103a and 103b and the rear wheels 101a and 101b of the vehicle 101 come into contact with each other. It cannot be an indicator for stopping the vehicle, and may cause sudden contact of the rear wheels 101a and 101b with the vehicle stops 103a and 103b.

  In order to solve such a problem, the distance to the vehicle stops 103a and 103b is detected from the image, and the rear shot image is used to gently stop the vehicle 101 at a position where the rear wheels 101a and 101b come into contact with the vehicle stops 103a and 103b. A parking assistance device that superimposes and displays a stop display indicating a target stop position of the vehicle at 105 has been proposed (see Patent Document 1).

JP 2012-1041 A

  According to the parking assist device described in Patent Literature 1, it is possible to gently stop the vehicle 101 at a position where the rear wheels 101a and 101b are in contact with the vehicle stops 103a and 103b in the parking position display frame 102. However, if the vehicle stops 103a and 103b are higher than the rear bumper or the like of the vehicle 101, stopping the vehicle 101 at the stop display position may damage the rear bumper. Such a case is not limited to the car stops 103a and 103b, and may occur, for example, in the case of a curb or the like protruding as a step from the road surface.

  The present invention has been made in view of such circumstances, and provides a driving support device and a driving support method capable of avoiding contact between a projecting object protruding from a road surface and a vehicle body.

  In order to solve the above-described problem, a driving support device according to the present invention includes a vehicle-mounted image capturing unit that captures a periphery of a traveling direction of a vehicle, a display unit that displays a captured image captured by the image capturing unit, Display control means for displaying the photographed image on the display unit, stop position detection means for detecting the stop position of the vehicle from the photographed image, and a stop position indication indicating the stop position detected by the stop position detection means A driving support device having a stop position indication display means for superimposing and displaying on the captured image, the protrusion detecting means for detecting the presence or absence of a protrusion protruding from the road surface displayed on the captured image, and the protrusion Distance measuring means for measuring the distance between the protrusion detected by the detecting means and the vehicle, and comparison determination means for comparing and determining the height of the protrusion from the road surface and the minimum ground clearance of the vehicle And the stop position indication display means displays the stop position indication on the vehicle side of the protrusion when the comparison determination means determines that the height of the protrusion is higher than the minimum ground clearance. It is configured to superimpose and display at a predetermined position.

  According to such a configuration, when a stop position indication based on a photographed image obtained by photographing the periphery of the traveling direction (forward, reverse) of the vehicle is superimposed on the photographed image, the projecting object further projects from the road surface in the photographed image. When it is determined that the height of the projecting object is higher than the minimum ground height of the vehicle, the stop position indicator is superimposed and displayed at a predetermined position on the vehicle side of the projecting object. Prevention can be achieved.

  In the driving assistance apparatus according to the present invention, the stop position sign may be a colored line sign colored in a predetermined color.

  According to such a structure, in order to avoid a contact with a vehicle and a protrusion, it can be set as the coloring which attracts a driver | operator's attention. For example, the stop position sign can be a red colored line sign like a red signal.

  In the driving support device according to the present invention, the stop position indication display means is configured to notify the presence of the protrusion when the stop position indication is superimposed and displayed at a predetermined position on the vehicle side of the protrusion. It can be set as the structure which has the audio | voice output means which outputs.

  According to such a configuration, when a projection higher than the lowest ground clearance of the vehicle is detected, the presence of the projection is notified by voice together with the stop position indication on the shooting screen. Since it is aroused, it is possible to prevent contact between the vehicle and the protrusion.

  In the driving support device according to the present invention, the stop position marking means displays the predetermined position with the projection when the stop position marking is superimposed on a predetermined position on the vehicle side of the projection. It can be set as the position which can be stopped by providing a predetermined gap therebetween.

  According to such a configuration, when a protrusion higher than the minimum ground clearance of the vehicle is detected, the stop position indicator is displayed at a position where the vehicle can stop with a predetermined gap with respect to the protrusion. Contact with an object can be efficiently prevented.

  A driving support method according to the present invention is a driving support method for superimposing and displaying a stop position indication of a vehicle on a captured image of a vehicle traveling direction by an in-vehicle camera, and whether or not there is a protrusion protruding from the road surface displayed in the captured image. A detection step for detecting the projection, a measurement step for measuring a distance between the projection detected in the detection step and the vehicle, and a comparison between the height of the projection from the road surface and the minimum ground clearance of the vehicle And a display for superimposing and displaying the stop position indication at a predetermined position on the vehicle side of the protrusion when it is determined in the comparison determination step that the height of the protrusion is higher than the minimum ground clearance. And a step.

  According to the present invention, when a protruding object protruding from the road surface is detected from the captured image when the stop position indicator of the vehicle is superimposed on the captured image obtained by capturing the traveling direction of the vehicle, the height of the protruding object is If it is determined that the height is higher than the ground minimum height, the stop position indicator is superimposed and displayed at a predetermined position on the vehicle side of the projecting object, so that contact between the projecting object and the vehicle can be prevented.

FIG. 1 is a block diagram showing an in-vehicle device and an in-vehicle camera constituting the driving support apparatus according to the embodiment of the present invention. FIG. 2 is a flowchart showing a processing procedure by the processing unit of the in-vehicle device constituting the driving support apparatus according to the embodiment of the present invention. FIG. 3A is a schematic diagram of a display screen of a rear captured image on which a stop position display is superimposed when it is determined that the vehicle stop is lower than the minimum ground clearance of the vehicle. FIG. 3B is a schematic diagram showing a positional relationship between the vehicle and the car stop in FIG. 3A. FIG. 4A is a schematic diagram of a display screen of a rear captured image when stopped at the stop position display position shown in FIG. 3A. FIG. 4B is a schematic diagram showing the positional relationship between the vehicle and the car stop in FIG. 4A. FIG. 5A is a schematic diagram of a display screen of a rear captured image on which a stop position display is superimposed when it is determined that the vehicle stop is higher than the minimum ground clearance of the vehicle. FIG. 5B is a schematic diagram showing a positional relationship between the vehicle and the car stop in FIG. 5A. FIG. 6A is a schematic diagram of a display screen of a rear captured image when stopped at the stop position display position shown in FIG. 5A. FIG. 6B is a schematic diagram showing the positional relationship between the vehicle and the car stop in FIG. 6A. FIG. 7A is a schematic diagram showing a case where there is a curb lower than the lowest ground level before the parking space shown in FIG. 3A. FIG. 7B is a schematic diagram showing the positional relationship between the vehicle and the curb in FIG. 7A. FIG. 8A is a schematic diagram in which a rear image captured by a rear camera in conventional parking assistance is displayed on a display screen. FIG. 8B is a schematic diagram showing the positional relationship between the vehicle and the car stop in FIG. 8A.

  Embodiments of the present invention will be described with reference to the drawings.

  A driving assistance apparatus 10 according to an embodiment of the present invention is configured as shown in FIG. In FIG. 1, the driving support device 10 includes an in-vehicle device 11 and an in-vehicle camera 12 mounted on a vehicle 30 (see FIG. 3B and the like) including the in-vehicle device 11.

  The in-vehicle device 11 includes a processing unit 13 constituted by a computer unit (for example, CPU, RAM, ROM, I / O interface and a bus connecting them). Connected to the processing unit 13 are an AV unit 15 capable of reproducing various sound sources and video sources (for example, CD and DVD) and a navigation unit 17 capable of navigating the own vehicle. In addition, a speaker 18 is connected to the processing unit 13 via an output circuit 19. As a result, the audio signal related to the processing by the AV unit 15 and the navigation unit 17 can be output as audio from the speaker 18 via the output circuit 19. In addition, the processing unit 13 is connected to a storage unit 20 (for example, a hard disk, a flash memory, etc.) capable of storing various information such as music information and map information used in the AV unit 15 and the navigation unit 17. The storage unit 20 includes, as will be described later, the minimum ground clearance of the vehicle, the total length and the total width of the vehicle, the distance between the rear bumper tip and the rear wheel, the distance between the front bumper tip and the front wheel, etc. Various data relating to the vehicle, a parking position frame displayed in the captured image, an image analysis program for determining a stop position of the vehicle by analyzing the image of the vehicle stop, and the like are stored.

  The processing unit 13 is composed of an LCD or the like, and is necessary for various processes formed on the display unit 21 in a touch panel format, and a display unit (monitor) 21 that displays images, videos, and the like accompanying various processes. An operation unit 23 capable of inputting instructions is connected. In addition to the input keys (soft keys) by the touch panel, the operation unit 23 is provided with input keys by physical keys (hard keys).

  In addition, the processing unit 13 of the in-vehicle device 11 is connected to an in-vehicle camera (rear camera) 12 for capturing the rear of the vehicle 30 (see FIG. 3B and the like) and displaying the captured image on the display unit 21. . The in-vehicle camera 12 is not limited to one rear camera that captures the rear of the vehicle, and may be a plurality of rear cameras, or may be provided with a plurality of in-vehicle cameras that capture the front and sides of the vehicle. .

  In the in-vehicle device 11 that displays the captured image of the rear of the vehicle imaged by the in-vehicle camera 12 on the display unit 21, processing is performed according to the procedure shown in FIG. In the description of the processing procedure, FIGS. 3A to 6B are referred to as appropriate in addition to FIG.

  The driving assistance device 10 according to the present embodiment is a device that guides parking by displaying a rearward image captured by the in-vehicle camera 12 on the display unit 21 when the vehicle 30 moves backward toward the parking position. As shown in FIG. 2, the processing unit 13 detects whether or not the gear is put in the back by the shift lever or the select lever of the vehicle (S11). When the processing unit 13 detects that the vehicle gear is put in the back gear (YES in S11), the processing unit 13 activates the in-vehicle camera (rear camera) 12 and displays the captured image of the rear direction of the vehicle on the display unit 21. Display (S12: display control means). When the back gear is not detected (NO in S11), the processing unit 13 continuously displays an image (for example, a map display in the navigation mode) displayed on the screen of the display unit 21.

  When the in-vehicle camera 12 is actuated and a captured image in the rear direction of the vehicle is displayed on the display unit 21, the processing unit 13 detects the stop position of the vehicle 30 from the captured image, and stops position indications 37 and 38 (FIG. 3A, 5A) is superimposed on the captured image (S12). The processing unit 13 activates an image analysis program stored in the storage unit 20 to display an image such as a parking frame display by a white line or the like displayed on the photographed image, a vehicle stop by a concrete block, etc. The stop position indicating is detected. When detecting the stop position, the stop position is detected in consideration of data such as the vehicle size and wheel position stored in the storage unit 20. When only the parking frame is displayed with a white line, the stop position marking position is determined in consideration of the total length, full width, front wheel rear wheel arrangement position, etc. in addition to the size of the parking frame display. In addition, the position of the stop position indication is determined in addition to the position of the position. When detecting the stop position of the vehicle, the processing unit 13 superimposes and displays the colored line sign colored in a predetermined color on the photographed image as stop position signs 37 and 38 (see FIG. 3A, FIG. 5A, etc.) (S13: Stop position sign). Display means).

  After the stop position indication is superimposed on the photographed image, the processing unit 13 detects whether or not there is a projection protruding from the road surface in the photographed image (S14: projection detection means). Projections from the road surface include steps such as curbs, signboards, fences, and concrete block car stops. It should be noted that small steps, paving stones, etc. (for example, steps of 1 to 2 cm or less) that hardly interfere with the running of the vehicle are difficult to detect from image analysis and need not be detected. Is not included. Since the photographed image changes as the vehicle moves backward, the processing unit 13 detects the presence or absence of a protrusion from the photographed photographed image at all times or every predetermined time while the vehicle is moving backward. The processing unit 13 superimposes and displays the stop position indication at a predetermined position. Therefore, when it is detected that there is a projecting object, the processing unit 13 also measures the distance between the projecting object and the vehicle from the captured image (distance measuring means). When the processing unit 13 does not detect a protruding object from the photographed image (NO in S14), the processing unit 13 continuously displays the stop position sign, which is a parking target position sign, on the photographed image. As a case where no projecting object is detected from the photographed image, only the parking frame display with a white line or the like indicates the parking position, and there is no projecting object such as a fence, a car stopper or a curb in the vicinity. Parking is completed by stopping the vehicle according to the stop position indication.

  When the processing unit 13 detects a projecting object that protrudes from the road surface in the traveling direction from the analysis of the captured image obtained by photographing the rear of the vehicle (YES in S14), whether the projecting object is higher than the minimum ground clearance of the vehicle 30. It is determined whether or not (S15: comparison determination means). Specifically, the processing unit 13 determines whether or not the height of the protrusion exceeds the minimum ground height of the vehicle 30 stored in the storage unit 20, and necessarily measures the height of the protrusion. Therefore, it is not necessary to compare with the minimum ground clearance. For example, it is sufficient to provide a reference line having a height corresponding to the minimum ground height in the photographed image and determine whether or not the protruding object exceeds this line.

When the processing unit 13 determines that the height of the projecting object is lower (not higher) than the minimum ground clearance of the vehicle (NO in S15), the processing unit 13 continues to superimpose and display the stop position indication on the captured image (S16). . At this time, it can be set so that a voice output indicating that there is a protruding object is performed and the driver is notified. For example, when the projection is stopped, the rear wheel or the vehicle is stopped in front of it (see FIGS. 4B and 6B). However, if the projection is a step such as a curb in the middle of reverse movement, it is necessary to overcome this. Therefore, in particular, notification by the voice output is necessary for driving support.

  As for the above, for example, as shown in FIGS. 7A and 7B, a curbstone 51 protruding from the road surface as a step is provided in front of the white line display 33 c indicating the parking space 31, and the vehicle moves backward to the position of the stop position indicator 37. To get there, you need to get over the curb 51. As mentioned above, the curbstone 51 is lower (not higher) than the minimum ground clearance of the vehicle 30, so it does not come into contact with the vehicle, but there is some impact when getting over, so audio output (“There is a step”, Voice assistance such as “There is a protrusion” is given to the driver for driving assistance. Furthermore, a colored display or the like for calling attention to a portion such as the curb 51 in the photographed image may also be performed.

  When the vehicle 30 stops at the position of the stop position indicator 37 (see FIGS. 4A and 4B), the processing unit 13 finishes the reverse movement and completes the parking (S17). The backward movement operation to the stop position indication will be described below with reference to the drawings.

  FIG. 3A is a schematic view of a screen in which an image captured behind the vehicle 30 by the in-vehicle camera (rear camera) 12 is displayed on the display unit 21 of the in-vehicle device 11. The parking space 31 displayed in the photographed image is provided with white line indications 33a and 33b as partition lines between the parking spaces 32a and 32b, and a passage portion (not shown) on the front side. A white line display 33c serving as a partition line is provided. Behind the parking space 31 are concrete block car stops 35a, 35b. As described above, the processing unit 13 recognizes the white line displays 33a to 33c and the car stops 35a and 35b from the captured image by executing the image analysis program stored in the storage unit 20 (position, size, distance from the vehicle, etc.). Further, an appropriate stop position of the vehicle is detected from the vehicle size data stored in the storage unit 20 (for example, the distance L between the front end of the rear bumper 30a and the rear wheel 30b (30c) shown in FIG. 3B), A stop position sign 37, which is a colored line sign colored with a color, is superimposed on the captured image (indicated by a chain line in FIG. 3A). In FIG. 3A, it is detected that the heights (length H1 shown in FIG. 3B) of the vehicle stops 35a and 35b, which are also protrusions, are lower (not higher) than the lowest ground height (length H2 shown in FIG. 3B) of the vehicle 30. Then, the position of the stop position of the vehicle 30 (the tip of the rear bumper 30a is located) is located behind the car stops 35a and 35b so that the rear wheels 30b and 30c of the vehicle 30 are in contact with the car stops 35a and 35b. To display.

  When the vehicle 30 further moves backward from the state shown in FIGS. 3A and 3B, the stop position indicator 37 superimposed on the photographed image displayed on the display unit 21 approaches the front side of the screen, and when the vehicle 30 moves further backward, the vehicle 30 is shown in FIG. 4A. As described above, when the stop position indicator 37 is positioned at the lowermost end of the captured image displayed on the display unit 21, the rear wheels 30b and 30c of the vehicle 30 come into contact with the vehicle stops 35a and 35b to stop (FIG. 4B). .

  Further, as shown in FIG. 2, when the processing unit 13 determines that the height of the protrusion is higher than the minimum ground clearance of the vehicle 30 (see FIG. 5B) (YES in S15), the vehicle 30 and the protrusion In order to avoid this contact, the stop position indicator 38 is superimposed and displayed at a predetermined position on the vehicle side of the protruding object in the captured image (S18). Further, it is determined whether or not the vehicle (rear bumper 30a or the like) has been stopped at the position indicated by the stop position indicator 38 (S19), the stop is confirmed, and parking is completed (YES in S19). The stop position marking will be described below with reference to the drawings.

  FIG. 5A is a schematic view of a screen in which a captured image behind the vehicle 30 by the in-vehicle camera (rear camera) 12 is displayed on the display unit 21 of the in-vehicle device 11. The parking space 31 in the photographed image shows white line indications 33a and 33b as partition lines between the other parking spaces 32a and 32b, and also a partition line with a passage portion (not shown) on the front side. A white line display 33c is shown. Car stops 35 c and 35 d are provided behind the parking space 31. A difference from FIGS. 3A and 3B is that the height of the vehicle stops 35c and 35d (H3 shown in FIG. 5B) is detected to be higher than the lowest ground height of the vehicle 30 (for example, H2 shown in FIG. 5B). . Accordingly, when the stop position of the vehicle 30 is indicated at a position where the rear wheel 30b of the vehicle 30 abuts against the car stops 35c and 35d, a part of the vehicle 30 (for example, the rear bumper 30a) contacts the car stops 35c and 35d and is damaged. There is a risk. Therefore, in order to provide a predetermined interval between the tip of the rear bumper 30a of the vehicle 30 and the car stops 35c and 35d, the stop position marking 38 (shown by a chain line) is set to a predetermined position on the vehicle 30 side of the car stops 35c and 35d. The image is superimposed on the captured image (FIG. 5A).

  When the vehicle 30 further moves backward from the state shown in FIGS. 5A and 5B, the stop position sign 38 superimposed on the captured image displayed on the display unit 21 approaches the front side of the screen and further moves backward to stop position sign 38. Is positioned at the lowermost end of the captured image displayed on the display unit 21, the front end of the rear bumper 30a of the vehicle 30 is positioned at a predetermined interval (S shown in FIG. 6B) with respect to the car stops 35c and 35d (FIG. 6B). 6B) The vehicle is stopped and parking is completed. As a result, contact between the vehicle 30 and the car stops 35c and 35d, which are protrusions, is avoided, and the occurrence of damage or the like can be prevented. Thus, according to the driving assistance device 10, when a protrusion higher than the ground minimum height is detected in the traveling direction of the vehicle 30, the stop position indication is superimposed on the captured image in front of the protrusion. Contact between the object and the vehicle can be prevented.

  In addition, although the case of a vehicle stop was demonstrated as a protrusion higher than the minimum ground height of the vehicle 30, for example, when the height of the curb is higher than the minimum ground height, in order to prevent contact between the curb and the bumper or the like of the vehicle 30 In order to provide a predetermined gap in front of the curb or the like and stop it, a stop position sign is superimposed and displayed on a photographing screen at a predetermined position on the vehicle 30 side such as the curb. 7A and 7B, the case where the height of the curb 51 is lower than the minimum ground height of the vehicle 30 has been described. For example, when it is determined that the height of the curb 51 is higher than the minimum ground height of the vehicle 30, the curb 50 In order to prevent the vehicle 30 from coming into contact with the vehicle 30, a stop position indicator 38 is superimposed on the captured image at a predetermined position on the vehicle 30 side of the curb 50, which is in front of the curb 50.

  Further, in the present embodiment, the case where the vehicle is moved backward toward the parking space has been described for the case where the projection projecting from the road surface is prevented from contacting the vehicle, but the present invention is not limited to the case where the vehicle is moved backward. Even when moving forward toward the parking space, it is possible to prevent contact between the front bumper and the projection (curbstone, car stopper, etc.). In this case, an image captured by a camera mounted on the front side of the vehicle is displayed on the display unit, and when the protrusion is higher than the minimum ground clearance of the vehicle, a stop position indicator is displayed at a predetermined position on the vehicle side of the protrusion. Thus, contact between the protrusion and the vehicle is prevented. Furthermore, not only when moving toward the parking position, but when moving forward or backward in addition to parking, when there are obstacles, steps, etc. in the direction of travel, the height of the protrusion is the minimum ground clearance When the height is higher, in order to prevent contact with the vehicle, a stop position indication can be superimposed on the photographed image at a predetermined position in front of the protrusion (vehicle side).

  As described above, according to the present invention, when a protruding object protruding from the road surface is detected from an image captured by the in-vehicle camera, when it is determined that the height of the protruding object is higher than the minimum ground height of the vehicle, Since the position indication is superimposed and displayed at a predetermined position on the vehicle side of the projecting object, it has the effect of preventing the contact between the projecting object and the vehicle, and is useful as a driving support device that displays a captured image obtained by photographing the traveling direction of the vehicle. is there.

DESCRIPTION OF SYMBOLS 10 Driving assistance apparatus 11 Car equipment 12 Car camera 13 Processing unit 15 AV unit 17 Navigation unit 18 Speaker 19 Output circuit 20 Memory | storage part 21 Display part 30 Vehicle 30a, 30b Rear wheel 31 Parking space 33a, 33b, 33c White line display 35a, 35b Car stop (projection)
35c, 35d Car stops (protrusions)
37, 38 Stop position marking 51 Curbstone

Claims (5)

Photographing means mounted on the vehicle for photographing the periphery of the traveling direction of the vehicle;
A display unit for displaying a photographed image photographed by the photographing means;
Display control means for displaying the photographed image on the display unit;
Stop position detecting means for detecting the stop position of the vehicle from the captured image;
A driving support device having stop position indication display means for superimposing and displaying a stop position indication indicating the stop position detected by the stop position detection means on the captured image,
A protrusion detection means for detecting the presence or absence of a protrusion protruding from the road surface displayed in the captured image;
A distance measuring means for measuring a distance between the protrusion detected by the protrusion detecting means and the vehicle;
Comparison determination means for comparing and determining the height of the protrusion from the road surface and the minimum ground clearance of the vehicle,
Have
The stop position indication display means superimposes and displays the stop position indication at a predetermined position on the vehicle side of the protrusion when the comparison determination means determines that the height of the protrusion is higher than the minimum ground clearance. Driving assistance device.   The driving support device according to claim 1, wherein the stop position sign is a colored line sign colored in a predetermined color.   The stop position indication display means includes audio output means for outputting an audio signal indicating the presence of the protrusion when the stop position indication is superimposed on a predetermined position on the vehicle side of the protrusion. Item 3. The driving support device according to Item 1 or 2.   The stop position indicating means can stop the predetermined position with a predetermined gap between the vehicle and the projection when the stop position indication is superimposed on a predetermined position on the vehicle side of the projection. The driving support device according to any one of claims 1 to 3, wherein the driving support device is located at a position. A driving support method for superimposing and displaying a stop position indication of a vehicle on a captured image of a vehicle traveling direction by an in-vehicle camera,
A detection step of detecting the presence or absence of protrusions protruding from the road surface displayed in the captured image;
A measurement step of measuring a distance between the protrusion detected in the detection step and the vehicle;
A comparison determination step for comparing and determining the height of the protrusion from the road surface and the minimum ground clearance of the vehicle;
A display step of superimposing and displaying the stop position indication at a predetermined position on the vehicle side of the protrusion when it is determined that the height of the protrusion is higher than the minimum ground height in the comparison determination step. Support method.

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