JP2019008506A - Drive support device - Google Patents

Abstract

To provide a drive support device capable of detecting a parking lot having neither white lines nor frames for parking as a suitable parking lot.SOLUTION: A drive support device 10 includes a camera ECU 12B that determines that there is a parking lot in a periphery of a vehicle 1 under conditions that a plurality of vehicles 2 that park with an interval at a front of a traveling direction of the vehicle 1 based on an image shot by a camera 12A and the vehicle 1 travels at a prescribed speed or less.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a driving support device.

  A parking lot determination method for determining whether or not a parking lot exists in the vicinity of a vehicle from an image captured by a camera mounted on the vehicle is known (see Patent Document 1).

  The parking lot determination method described in Patent Document 1 extracts two white lines from an image captured by an imaging unit, and determines whether there is a parking lot based on whether a three-dimensional object exists between the two white lines. doing.

JP 2007-310591 A

  In such a parking lot determination method, when the white line cannot be detected, it may not be possible to appropriately detect the presence or absence of the parking lot. Also, instead of the white line, when there is no parking frame, or when a place that is not normally used as a parking lot is used as a parking lot (for example, a temporary parking lot) There is a possibility that the presence or absence of a parking lot cannot be detected properly.

  The present invention has been made paying attention to the above situation, and provides a driving assistance device that can be appropriately detected as a parking lot even in a parking lot without a white line or frame for parking. It is intended.

  The present invention is a driving support device that includes a camera that captures the periphery of a host vehicle and that can detect a parking lot based on at least an image captured by the camera, and is based on the captured image. It is determined that there is a parking lot around the host vehicle on the condition that a plurality of other vehicles parked at intervals in front of the host vehicle are detected and the host vehicle is traveling at a predetermined speed or less. A parking lot presence / absence determining unit is provided.

  As described above, according to the present invention, even a parking lot without a white line or frame for parking can be appropriately detected as a parking lot.

FIG. 1 is a configuration diagram of a driving support apparatus according to an embodiment of the present invention. FIG. 2 is a diagram illustrating a driving support apparatus according to an embodiment of the present invention, and is a diagram illustrating an example of an image captured by a camera. FIG. 3 is a diagram illustrating a driving support apparatus according to an embodiment of the present invention, and is a transition diagram of a parking mode. FIG. 4 is a flowchart of the driving support processing program executed by the driving support apparatus according to the embodiment of the present invention. FIG. 5 is a flowchart showing the processing executed in step 4 of the driving support processing program executed by the driving support device according to the embodiment of the present invention.

A driving support apparatus according to an embodiment of the present invention is a driving support apparatus that includes a camera that captures the periphery of a host vehicle and that can detect a parking lot based on at least an image captured by the camera. On the condition that a plurality of other vehicles parked at intervals in front of the traveling direction of the host vehicle are detected based on the captured image and the host vehicle is traveling at a predetermined speed or less, A parking lot presence / absence determining unit that determines that a parking lot exists in the vicinity is provided.
Thereby, even if it is a parking lot without a white line or frame for parking, it can be appropriately detected as a parking lot.

Hereinafter, a driving support device according to an embodiment of the present invention will be described with reference to the drawings.
1 to 5 are diagrams illustrating a driving support apparatus according to an embodiment of the present invention.

First, the configuration will be described.
In FIG. 1, a driving support device 10 is mounted on a vehicle 1. The driving support device 10 includes peripheral information acquisition units 11A, 11B, 11C, and 11D that acquire peripheral information of the vehicle 1 and a camera unit 12 that images the front of the vehicle 1. The vehicle 1 constitutes the host vehicle of the present invention.

  The peripheral information acquisition unit 11 </ b> A is composed of, for example, a monocular camera mounted on a front bumper, a front grill, or the like of the vehicle 1 and captures an image in front of the vehicle 1. The peripheral information acquisition unit 11B is composed of, for example, a monocular camera mounted on a rear bumper, a rear grill, or the like of the vehicle 1 and captures an image behind the vehicle 1.

  The peripheral information acquisition units 11C and 11D are composed of, for example, a monocular camera mounted on a left door mirror or a right door mirror (not shown) of the vehicle 1, and the peripheral information acquisition unit 11C captures an image on the left side of the vehicle 1. The peripheral information acquisition unit 11D captures an image on the right side of the vehicle 1.

  The camera unit 12 includes a camera 12A provided symmetrically on the front surface of the vehicle 1 so that an image in front of the vehicle 1 can be captured in three dimensions. Thereby, the driving assistance device 10 can observe the area including the road surface around the vehicle 1 by the surrounding information acquisition units 11A, 11B, 11C, and 11D and the camera 12A. The camera 12A of this embodiment constitutes the camera of the present invention.

  The camera unit 12 has a camera ECU (Electronic Control Unit) 12B. The camera ECU 12B analyzes the image captured by the camera 12A. A vehicle speed sensor 13 is connected to the camera unit 12, and the vehicle speed sensor 13 detects the traveling speed of the vehicle 1 and outputs detection information to the camera ECU 12B.

  The camera ECU 12B analyzes an image captured by the camera 12A, and detects a plurality of other vehicles parked at intervals in front of the vehicle 1 in the traveling direction. Specifically, the camera ECU 12B stores image data corresponding to the shape of the vehicle body in a memory (not shown). The camera ECU 12B extracts image edges by referring to image data captured by the camera 12A, and stores the extracted edge data in a memory.

  The camera ECU 12B detects the front-rear direction front surface or the front-rear direction rear surface of the vehicle by matching the extracted edge data with the image data of the vehicle body. Accordingly, a plurality of vehicles 2 parked at intervals in the vehicle width direction in front of the vehicle 1 instead of vehicles parked in the longitudinal direction with an interval in the front-rear direction of the vehicle 1 in front of the vehicle 1 (see FIG. 2). Can be detected. FIG. 2 shows an example of an image of the vehicle 2 captured by the camera 12A. The vehicle 2 of the present embodiment constitutes another vehicle of the present invention.

  Here, the camera ECU 12B matches the edge of the front-rear direction front or rear-rear direction of the vehicle with the image data of the vehicle body, and has a planar shape that is a predetermined distance below the viewpoint position provided at a predetermined position in the sky. Coordinate conversion may be performed on the assumption that the road surface is observed, and processing for converting a vehicle image into an overhead image may be performed.

  The camera ECU 12B detects a plurality of vehicles 2 that are parked at intervals in front of the traveling direction of the vehicle 1 based on an image captured by the camera 12A, and the vehicle 1 is determined based on detection information of the vehicle speed sensor 13. It is determined that there is a parking lot around the vehicle 1 on the condition that the vehicle is traveling at a speed or less, and an automatic parking standby mode signal is output.

  The driving support device 10 includes a camera ECU 15. The camera ECU 15 analyzes the image data acquired from the surrounding information acquisition units 11A, 11B, 11C, and 11D, and detects a parking space from the surrounding image (omnidirectional image) of the vehicle 1.

  Specifically, the camera ECU 15 converts the images captured by the surrounding information acquisition units 11A to 11D into bird's-eye images obtained by bird's-eye views of the road surface, and synthesizes the bird's-eye images into one image. The camera ECU 15 extracts a parking space from the overhead view image synthesized into one.

  Here, the parking lot is a facility or place where a plurality of vehicles are parked. In the parking lot, a plurality of vehicles can be parked at intervals. A state in which the vehicle is parked for a certain time (for example, 5 minutes) is called parking. The parking space is a space where at least one vehicle can be parked between vehicles parked at intervals or in a parking lot.

  The driving support device 10 includes a driving support ECU 21, a steering control unit 22, a brake control unit 23, a throttle control unit 24, a shift device 25, an operation display unit 26, and a steering angle sensor 27.

  The driving support ECU 21 is connected to the camera unit 12. The driving assistance ECU 21 receives an automatic parking standby mode signal from the camera ECU 12B. When the automatic parking standby mode signal is input, the driving assistance ECU 21 operates the surrounding information acquisition units 11A, 11B, 11C, and 11D to estimate a parking route that is required when performing automatic parking, and sets the target parking position. And necessary vehicle control information is determined. The camera ECU 12B and the driving assistance ECU 21 of the present embodiment constitute a parking lot presence / absence determining unit of the present invention.

  The steering control unit 22 drives the power steering actuator 31 based on the vehicle control information determined by the driving support ECU 21. The power steering actuator 31 assists the operation of a steering wheel (not shown) and controls the steering angle of the vehicle 1.

  The brake control unit 23 drives the brake actuator 32 based on the vehicle control information determined by the driving support ECU 21. The brake actuator 32 brakes a wheel (not shown) by controlling a brake (not shown).

  The throttle control unit 24 drives the throttle actuator 33 based on the vehicle control information determined by the driving support ECU 21. The throttle actuator 33 controls the traveling speed of the vehicle 1 by controlling a throttle valve provided in a throttle body of an intake pipe connected to an engine (not shown).

The shift device 25 is operated by a driver and is operated to shift positions of a parking range (P range), a reverse range (R range), a neutral range (N range), and a drive range (D range).
When the shift device 25 is operated to the D range, the vehicle 1 can travel forward, and when the shift device 25 is operated to the R range, the vehicle 1 can travel backward.

  The operation display unit 26 is provided, for example, on an instrument panel (not shown) of the vehicle 1 and includes a touch panel that serves both as a display function and an operation function. When the automatic parking standby mode signal is input from the camera ECU 12B, the driving assistance ECU 21 displays on the operation display unit 26 that the automatic parking standby mode has been entered. In addition, a speaker and an indicator (not shown) are installed in the operation display unit 26, and a notification that the automatic parking standby mode has been made is displayed by sound and display through the speaker and the indicator.

  After the driving mode is switched from the automatic parking standby mode 43 to the automatic parking mode 41 by the parking mode switching unit 21A, the driving assistance ECU 21 moves the vehicle 1 back to the parking space set at the target parking position. The rear image of the vehicle 1 captured by the peripheral information acquisition unit 11B is displayed on the operation display unit 26.

  After the driving mode is switched from the automatic parking standby mode 43 to the automatic parking mode 41 by the parking mode switching unit 21A, when the vehicle 1 is moved forward from the parking space, the driving support ECU 21 captures an image by the surrounding information acquisition unit 11A. An image ahead of the vehicle 1 to be displayed is displayed on the operation display unit 26.

  The steering angle sensor 27 detects the steering angle of the steering wheel and outputs detection information to the driving support ECU 21.

  The driving support ECU 21 has a parking mode switching unit 21A, and the parking mode switching unit 21A automatically switches the driving mode. The driving assistance ECU 21 of the present embodiment constitutes a parking mode switching unit of the present invention.

  In FIG. 3, the parking mode has an automatic parking mode 41, a manual parking mode 42, and an automatic parking standby mode 43. The automatic parking mode 41 automatically parks the vehicle 1 regardless of the driving operation of the driver, on condition that the shift device 25 is switched from the other range such as the D range to the R range.

  When the driving assistance ECU 21 shifts to the automatic parking mode 41, the driving assistance ECU 21 detects the current steering angle of the steering wheel based on the detection information of the steering angle sensor 27, and calculates the movement locus from the current position of the vehicle 1 to the parking space. .

  The driving assistance ECU 21 calculates the movement trajectory from the current position of the vehicle 1 to the parking space, and then controls the steering control unit 22, the brake control unit 23, and the throttle control unit 24 to drive the driver. Regardless of the operation of the power steering, the vehicle 1 is automatically moved from the current position of the vehicle 1 to the parking space.

  In the manual parking mode 42, the vehicle 1 is parked based on the driving operation of the driver. The parking mode switching unit 21A sets the parking mode to the manual parking mode 42 until the parking device information is acquired in a state where the shift device 25 is shifted to the D range. When the parking mode shifts to the manual parking mode 42, the driving assist ECU 21 causes the vehicle 1 to travel by the driver's steering operation, brake control operation, and throttle control operation while being shifted to the D range.

  The automatic parking standby mode 43 is a mode through which a transition from the manual parking mode 42 to the automatic parking mode 41 is started, and starts acquiring peripheral information of the vehicle 1. The parking mode switching unit 21A captures the surrounding information of the vehicle 1 by the surrounding information acquisition units 11A to 11D in the parking lot on the condition that the automatic parking standby mode signal is input from the camera ECU 12B, and detects the parking space.

Next, the operation will be described.
4 and 5 are flowcharts of the driving support processing program executed by the driving support device 10. The driving assistance processing program is stored in the memory of the camera ECU 12B and the driving assistance ECU 21, and is executed by the camera ECU 12B and the driving assistance ECU 21.

  The driving assistance ECU 21 determines whether or not the parking mode is the manual parking mode (step S1). If the driving assistance ECU 21 determines that the shift device 25 is shifted to the D range, the driving support ECU 21 determines that the parking mode is the manual parking mode 42 and proceeds to step S2, where the shift device 25 is set to a position other than the D range. If it is determined that the shift has been performed, the current process is terminated.

  In step S2, the camera ECU 12B acquires the vehicle speed from the vehicle speed sensor 13 after acquiring the image captured by the camera 12A (step S3). Next, the camera ECU 12B executes a process of determining the presence or absence of a parking lot based on the image captured by the camera 12A and the vehicle speed acquired from the vehicle speed sensor 13 (step S4).

  In step S4, the camera ECU 12B executes a process for determining the presence or absence of a parking lot based on the flowchart of FIG. In FIG. 5, the camera ECU 12 </ b> B determines whether or not a plurality of vehicles 2 are detected at intervals ahead of the traveling direction of the vehicle 1 (step S <b> 11).

  As a condition that a plurality of vehicles 2 parked at intervals in front of the traveling direction of the vehicle 1 are detected, the front or back direction in the front-rear direction or the front-rear direction of the plurality of vehicles 2 parked at intervals in front of the traveling direction of the vehicle 1 This includes that the rear surface is detected, or that the front and rear direction front surfaces or the front and rear direction rear surfaces of the plurality of vehicles 2 are detected in a certain area in front of the vehicle 1 in the traveling direction. The interval between the vehicles 2 to be parked includes a fixed interval and an indefinite interval.

  In addition, when a plurality of vehicles are detected in a certain area in front of the traveling direction of the vehicle 1, it includes that the vehicles are parked in the certain area at a certain ratio (for example, 70%) or more.

  In step S <b> 11, the camera ECU 12 </ b> B refers to the image data captured by the camera 12 </ b> A, extracts the front / rear direction front / rear direction edge of the vehicle, and stores the extracted data in the memory.

  As shown in FIG. 2, when the camera 12A detects the front-rear direction front surface 2a of the vehicle 2, the camera ECU 12B matches the edge of the front-rear direction front surface 2a of the vehicle 2 with the image data of the vehicle body. A plurality of vehicles 2 parked at intervals in the lateral direction (vehicle width direction) can be detected.

The front-rear direction front surface or the front-rear direction rear surface of the vehicle is shorter than the side surface of the vehicle, that is, the vehicle width direction side surface. Therefore, when the camera ECU 12B recognizes the edge extracted from the image captured by the camera 12A as the edge data shorter than the side surface in the vehicle width direction when matching the image data of the vehicle body, It is determined that the rear surface in the front-rear direction is detected.
Thereby, on the public road where the vehicle 1 travels, it can be prevented that a parking area of a vehicle parked in the longitudinal direction (the traveling direction of the vehicle) with an interval in the front-rear direction of the vehicle is mistaken as a parking lot.

  In step S11, the camera ECU 12B determines that there is no parking lot around the vehicle 1 when a plurality of vehicles 2 are not detected at intervals ahead of the traveling direction of the vehicle 1, and ends the current process. To do.

  In step S11, when a plurality of vehicles 2 are detected at intervals ahead of the traveling direction of the vehicle 1, the camera ECU 12B determines that there is a parking lot around the vehicle 1 and proceeds to step S12. move on.

  In step S12, the camera ECU 12B determines whether or not the vehicle speed V is equal to or lower than a predetermined vehicle speed V1. If the camera ECU 12B determines that the vehicle speed V is greater than the predetermined vehicle speed V1, the camera ECU 12B determines that there is no parking lot around the vehicle 1 (step S14), and ends the current process.

  If the camera ECU 12B determines that the vehicle speed V is equal to or lower than the predetermined vehicle speed V1, the camera ECU 12B determines that there is a parking lot around the vehicle 1 and sets a flag, for example.

  Here, in order to detect the presence or absence of a parking lot, the condition that the vehicle speed V is determined to be equal to or lower than the predetermined vehicle speed V1 is that the surrounding information acquisition unit is in a traveling state where the driver does not intend to park. This is because 11A, 11B, 11C, and 11D do not perform control to acquire the surrounding information and detect the parking space. In this way, the load on the driving support ECU 21 can be reduced.

Next, the camera ECU 12B returns to the flowchart of FIG. 4 and determines whether or not there is a parking lot around the vehicle 1 (step S5).
In step S5, when the flag is not set, the camera ECU 12B determines that there is no parking lot around the vehicle 1 and ends the current process. If the camera ECU 12B determines that the flag is set, the camera ECU 12B switches the parking mode to the automatic parking standby mode 43 (see FIG. 3), outputs an automatic parking standby mode signal to the driving assistance ECU 21, and performs the current processing. Exit.

  When the automatic parking standby mode signal is input from the camera ECU 12B, the driving assistance ECU 21 displays on the operation display unit 26 that the automatic parking standby mode 43 has been switched, and notifies the driver that the automatic parking standby mode 43 has been switched to. .

  If it transfers to the automatic parking standby mode 43, driving assistance ECU21 will image the surrounding information of the vehicle 1 by the surrounding information acquisition parts 11A to 11D within a parking lot. Next, the driving support ECU 21 analyzes the image data acquired from the surrounding information acquisition units 11A, 11B, 11C, and 11D, detects the parking space from the surrounding image (omnidirectional image) of the vehicle 1, and displays the operation display. The peripheral image of the vehicle 1 including the parking space is displayed in the unit 26.

  When only one parking space is detected, the driving assistance ECU 21 automatically sets this parking space as the target parking position, and when detecting a plurality of parking spaces, for example, the driving assistance ECU 21 parks closest to the vehicle 1. A space is set as a target parking position, and a peripheral image of the vehicle 1 including the target parking position is displayed on the operation display unit 26.

  When the target parking position is set, the driving assistance ECU 21 detects the current steering angle of the steering wheel based on the detection information of the steering angle sensor 27, and calculates the movement locus from the current position of the vehicle 1 to the parking space. To do.

  Next, the driving assistance ECU 21 shifts from the automatic parking standby mode 43 to the automatic parking mode 41 at the timing when the shift device 25 is switched from the D range to the R range. When shifting to the automatic parking mode 41, the driving assistance ECU 21 controls the steering control unit 22, the brake control unit 23, and the throttle control unit 24, and from the current position of the vehicle 1 to the parking space regardless of the operation of the power steering. The vehicle 1 is automatically moved.

  The driving assistance ECU 21 displays an image behind the vehicle 1 captured by the surrounding information acquisition unit 11B on the operation display unit 26. As a result, the driver can visually recognize the rear image by the operation display unit 26 when the vehicle 1 moves backward.

  In addition, when a parking lot is detected by the vehicle 1, a coupon ticket of the store is acquired from a store or the like that manages the parking lot, or information on the store is output by voice guidance. The occupant may be able to acquire information on the parking lot.

  On the other hand, when the vehicle 1 is taken out of the parking space, when the shift device 25 is shifted to the D range, the driving assistance ECU 21 switches from the automatic parking mode 41 to the manual parking mode 42 (see FIG. 3), and the surrounding information acquisition unit An image in front of the vehicle 1 captured by 11A is displayed on the operation display unit 26. Thereby, the driver can visually recognize the front image by the operation display unit 26.

  As described above, the driving support device 10 according to the present embodiment detects a plurality of vehicles 2 that are parked at intervals in front of the traveling direction of the vehicle 1 on the basis of the image captured by the camera 12A, and the vehicle 1 is predetermined. It has a camera ECU 12B that determines that there is a parking lot around the vehicle 1 on condition that the vehicle is traveling at a vehicle speed or lower.

  Thereby, it is possible to appropriately detect a parking lot without a white line or a parking frame while the vehicle 1 is traveling. Moreover, even if it is a case where appropriate map information and GPS information cannot be acquired, it can be appropriately detected as a parking lot, so even a temporary parking lot can be appropriately detected as a parking lot.

In addition, according to the driving assistance device 10 of the present embodiment, the camera ECU 12B is provided around the vehicle 1 on the condition that the front-rear direction front surface or the front-rear direction rear surface of the plurality of vehicles 2 parked at intervals is detected. It is determined that there is a parking lot, and the automatic parking standby mode 43 can be shifted.
As a result, it is possible to prevent other vehicles parked on the road shoulder or other vehicles in a traffic jam from being erroneously determined as having a parking lot, and the parking lot can be appropriately detected.

  Moreover, according to the driving assistance apparatus 10 of the present embodiment, the parking of the vehicle 1 is automatically performed regardless of the driving operation of the driver as a parking mode on condition that the shift position of the vehicle 1 is switched to the R range. An automatic parking mode 41 and a manual parking mode 42 for parking the vehicle 1 based on the driving operation of the driver are provided.

  Furthermore, the driving assistance device 10 is a mode through which the manual parking mode 42 is shifted to the automatic parking mode 41, and has an automatic parking standby mode 43 for starting acquisition of surrounding information of the vehicle 1.

  The driving support device 10 includes a parking mode switching unit 21A that switches the parking mode from the manual parking mode 42 to the automatic parking standby mode 43 when the camera ECU 12B determines that there is a parking lot around the vehicle 1. .

  Thereby, when it is determined that there is a parking lot around the vehicle 1, the automatic parking standby mode 43 can be automatically switched. For this reason, the driver can automatically detect the parking space without operating the operation unit.

  In addition, the driver can automatically set the parking space without operating the operation unit. As a result, the driver can dispense with troublesome operations and can reduce the driver's load during parking.

  In addition, if it determines with the driving assistance apparatus 10 of a present Example having a parking lot around the vehicle 1, it will switch to the automatic parking standby mode 43 automatically, and will detect the parking space automatically, It is not limited to.

  For example, when the driving support ECU 21 detects a parking space, the driving support ECU 21 displays a surrounding image of the vehicle 1 including the parking space on the operation display unit 26, and when the driver sets an arbitrary parking space by the operation display unit 26, the parking assistance A space may be set as the target parking position.

  Further, when the automatic parking standby mode signal is input from the camera ECU 12B, the driving assistance ECU 21 displays on the operation display unit 26 that the automatic parking standby mode 43 has been entered, but it may not be displayed. If it does in this way, when a used car store etc. are installed ahead of vehicles 1, it can prevent recognizing a parker store as a parking lot and notifying a driver.

  Further, in the driving support device 10 of this embodiment, map information, GPS data, detection results of road signs and road markings are used in combination to determine whether there is a parking lot or whether the road on which the vehicle is parked is a public road. May be determined. If it does in this way, the judgment accuracy of the existence of a parking lot can be improved.

  Further, the peripheral information acquisition units 11A to 11D of the present embodiment may be configured by ultrasonic sonar or LIDAR (Light Detection and Ranging) instead of the monocular camera. Further, the ECU connected to the ultrasonic sonar or LIDAR may extract the parking space by mapping the detection result by the ultrasonic sonar or LIDAR.

  Further, the peripheral information acquisition units 11A to 11D may be configured by a radar such as a millimeter wave radar instead of the ultrasonic sonar. In addition, the peripheral information acquisition units 11A to 11D of the present embodiment may be configured by combining a monocular camera and ultrasonic sonar or millimeter wave radar, respectively.

  Moreover, although the camera unit 12 of the present embodiment includes the camera 12A, the camera unit 12 may include a binocular camera instead of the camera 12A. Further, in addition to the camera 12A, an infrared sensor or a millimeter wave radar is combined, and a plurality of other vehicles are parked at an interval forward in the traveling direction of the vehicle 1 according to the detection results of the camera 12A and the infrared sensor or the millimeter wave radar. A vehicle may be detected.

  The camera ECU 12B according to the present embodiment determines that there is a parking lot on the condition that a plurality of vehicles 2 are detected at intervals, but the vehicle 2 is spaced ahead in the traveling direction of the vehicle 1. Alternatively, it may be determined that there is a parking lot around the vehicle 1 when a column or wall is detected.

  In addition, the camera ECU 12B according to the present embodiment outputs an automatic parking standby mode signal on the condition that it is determined that there is a parking lot around the vehicle 1. For example, a coupon ticket is acquired or information on a store is output. For example, the automatic parking standby mode signal may be output on the condition that the occupant has acquired information on the parking lot.

  Thereby, when the occupant is willing to park, the automatic parking standby mode is entered, so that unnecessary transition to the automatic parking standby mode can be prevented and power consumption due to operation of the peripheral information acquisition unit can be suppressed.

  The camera ECU 12B of the present embodiment is included in the camera unit 12. However, the camera ECU 12B that processes an image captured by the camera 12A is, for example, built in the driving support ECU 21 or separately from the camera unit 12. It may be provided.

  In this embodiment, the throttle control unit 24 drives the throttle actuator 33 to control the traveling speed of the vehicle 1. Instead of the throttle actuator 33, the fuel injection amount is controlled to control the engine output. It may be controlled. When the vehicle 1 is an electric vehicle, the motor control unit may control the traveling speed of the vehicle 1 by controlling the output of a motor that is a driving source of the vehicle.

  Further, in the present embodiment, the driving support ECU 21 switches the driving mode from the automatic parking standby mode 43 to the automatic parking mode 41 by the parking mode switching unit 21A, and when the vehicle 1 moves backward or forwards, Is displayed on the operation display unit 26, but a bird's-eye view image that displays the entire periphery of the synthesized vehicle 1 or a side image of the vehicle 1 may be displayed.

  Further, the driving support device 10 of the present embodiment switches from the automatic parking standby mode 43 to the automatic parking mode 41 on the condition that the shift device 25 is switched from the other range such as the D range to the R range. However, the present invention is not limited to this. For example, a changeover switch may be provided in the operation display unit 26, and the driver may operate the changeover switch to shift from the automatic parking standby mode 43 to the automatic parking mode 41.

  While embodiments of the invention have been disclosed, it will be apparent to those skilled in the art that changes may be made without departing from the scope of the invention. All such modifications and equivalents are intended to be included in the following claims.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle (own vehicle), 2 ... Vehicle (other vehicle), 2a ... Front-rear direction front (front-rear direction front of other vehicle), 10 ... Driving support device, 12A ... Camera, 12B ... Camera ECU (parking area presence / absence judging unit), 21 ... Drive assist ECU (parking mode switching unit), 41 ... Automatic parking mode, 42 ... Manual parking mode, 43 ... Automatic parking Standby mode

Claims (3)

A driving support device that includes a camera that images the periphery of the host vehicle, and that can detect a parking lot based on at least an image captured by the camera,
On the condition that a plurality of other vehicles parked at intervals in front of the traveling direction of the host vehicle are detected based on the captured image and the host vehicle is traveling at a predetermined speed or less, A driving support apparatus comprising a parking lot presence / absence determining unit that determines that a parking lot exists in the vicinity.   The parking lot presence / absence determination unit determines that there is a parking lot around the host vehicle on the condition that a front-rear direction front or a front-rear direction rear surface of a plurality of other vehicles parked at intervals is detected, and automatic parking is performed. The driving support apparatus according to claim 1, wherein the driving support apparatus can shift to a standby mode. An automatic parking mode in which the vehicle is automatically parked regardless of the driver's driving operation on condition that at least the shift position of the vehicle is switched to the reverse range;
Manual parking mode for parking the vehicle based on the driver's driving operation,
It is a mode that goes through when shifting from the manual parking mode to the automatic parking mode, and has a plurality of parking modes with the automatic parking standby mode for starting acquisition of surrounding information of the host vehicle,
A parking mode switching unit that switches the parking mode from the manual parking mode to the automatic parking standby mode when the parking lot presence / absence determining unit determines that there is a parking lot around the host vehicle. The driving support device according to claim 1 or 2.

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