JP4114435B2 - Vehicle with driving support device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle provided with a driving support device that teaches a driving operation to a driver when performing parallel parking or parallel parking.
[0002]
[Prior art]
2. Description of the Related Art In recent years, parking assistance devices that support a driver's parking operation when a vehicle (automobile) is subjected to parallel parking or parallel parking (including garage parking) have been developed.
For example, in Japanese Patent Laid-Open No. 2000-118334, a position having a predetermined positional relationship with respect to the position of the vehicle when the driver operates the parking assist switch is regarded as a parking position, and the position from the current position to the parking position. A technique is disclosed in which a recommended route is calculated, and information necessary for traveling along the recommended route is taught to the driver by voice from a speaker.
[0003]
Japanese Patent Laid-Open No. 2000-335436 discloses that a driver stops a vehicle so that a predetermined mark coincides with a center line of a garage and turns on a parking assist switch to stop the vehicle. A technique is disclosed in which automatic steering control is performed from a position to a parking position based on a movement trajectory stored in advance to provide parking assistance.
[0004]
[Problems to be solved by the invention]
By the way, when parking a vehicle, when starting a parking operation, the hazard lamp switch is operated, and the hazard lamp is turned on (generally blinking) to increase the safety by informing the surroundings. it can. Similarly, when parking with parking assistance from the parking assistance device, it is also preferable to turn on a hazard lamp to inform the surroundings.
[0005]
In addition, in the parking support mode, in each of the parallel parking and the parallel parking, since the contents of the parking support differ depending on whether the target parking area is the left side or the right side of the vehicle, the left parallel parking, the right parallel parking, the left parallel parking , There are four parking support patterns of right parallel parking, and when receiving parking support, the driver operates a switch (parking support start instructing means) for starting the operation of the parking support device, and further, any parking It is necessary to select and operate a support pattern. Of course, if it is possible to automatically determine whether the target parking area is the left side or the right side of the vehicle by using any determination method, the driver can select one of the two parking assist patterns of parallel parking and parallel parking. A selection operation may be performed.
[0006]
Therefore, a driver who wants to receive parking assistance needs to perform a switch operation for starting the operation of the parking assistance device and an operation for selecting a parking assistance pattern, and in addition, operate a hazard lamp switch. Therefore, the operation burden on the driver increases, and in particular, a heavy burden is placed on a driver who cannot afford to start the parking operation.
[0007]
In addition, it is desired that which parking support pattern is selected can be displayed at a location that is easily recognized by the driver in the passenger compartment. When parking assistance, it is possible to guide which parking assistance pattern is selected by voice or text on the display, but it is not always possible to confirm the parking assistance direction at the time of parking assistance, the driver can be more at any time during parking assistance It is desired to be able to easily and reliably recognize the parking assistance direction. In particular, we want to be able to display more clearly on which side the left and right sides are parked. In this case, it is desirable to suppress the increase in cost by using existing equipment in the vehicle as much as possible.
[0008]
The present invention was devised in view of such a problem, and is capable of informing the outside of the start of the parking operation without increasing the operation burden of the driver who is going to receive the parking support. An object is to provide a vehicle with a device. It is another object of the present invention to provide a vehicle with a parking assistance device that allows a driver to easily and reliably recognize a parking assistance direction at any time while suppressing an increase in cost.
[0009]
[Means for Solving the Problems]
In order to achieve the above goal, the vehicle with a parking assist device of the present invention (Claim 1) performs a driving operation on the driver when performing parallel parking on the right side of the vehicle or parallel parking on the left side of the vehicle in the parking section. in a vehicle equipped with a parking assist apparatus for performing the teaching to parking assistance, parking for instructing to distinguish between parallel parking the work DoHiraki beginning of the parking assist system to parallel parking and said vehicle left side to said vehicle right side A parking start support means comprising: a support start instruction means; a hazard lamp lighting means for lighting a hazard lamp of the vehicle; and a winker lamp lighting state display lamp including left and right lamps for displaying a lighting state of the blinker lamp of the vehicle. When the start instruction means is operated together with the turning on of the hazard lamps by the hazard lamp lighting device, depending on whether what the parking assistance to whether said vehicle left side ones to said vehicle right side , And a control hand stage of lighting the left or right of the lamp of the blinker lamp lighting status LED. As a result, when the driver wants to park with parking assistance, if the driver operates the parking assistance start instruction means, the parking assistance device starts operating and the control means automatically turns on the hazard lamp. Lights up.
[0010]
The control means is configured to provide parking assistance by the parking assistance device when the parking assistance start instruction means instructs to turn off the parking assistance or when the vehicle stops at the target parking position based on the position information of the vehicle. together to end, it is preferable that the parking assistance by the parking assist device turns off the hazard lamps when finished (claim 2).
[0011]
Further, the parking support start instruction means is configured to be able to instruct the start of operation of the parking support device by distinguishing between parallel parking to the right side of the vehicle, parallel parking to the left side of the vehicle, and parallel parking, The support device is configured to support parallel parking in addition to parallel parking to the right side of the vehicle and parallel parking to the left side of the vehicle, and provides driving support in the vicinity of the blinker lamp lighting state display lamp. it is preferable that the display means vomiting parking displays which one of the parallel parking and the parallel parking is provided (claim 3).
Moreover, further comprising a speaker apparatus and a display device, the parking support device, it is also preferable to carry out the teachings of the driving operation by using the speaker apparatus and the display apparatus (claim 4).
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
First, a first embodiment of the present invention will be described based on the drawings.
1 to 4 illustrate a vehicle with a parking assistance device according to a first embodiment of the present invention. FIG. 1 is a configuration diagram thereof, FIG. 2 is a circuit diagram of the lamp system, and FIG. FIG. 4 is a schematic plan view for explaining the parking assistance in the column.
[0013]
As shown in FIG. 1, a parking assistance device provided in a vehicle (automobile) 1 according to the present embodiment includes an ultrasonic sensor 2 that detects the position of an object, a handle angle sensor 3 that detects a steering angle, and a wheel speed. Sensor 4, shift position sensor 5 for detecting the selected gear position, parking support switch 6 as parking support start instruction means, and ECU (electronic control unit) as control means having a function as teaching control means 7, a speaker device 8 and a display device 9 as teaching means for specifically teaching, a hazard lamp (turn signal lamp) 10 and a blinker lamp lighting state display lamp which are also used for displaying related information related to parking assistance (A blinker lighting display lamp) 11 and a parking assistance state display lamp 12 (display) for displaying related information related to parking assistance. It is configured to include a stage) and.
[0014]
Parking modes include garage parking (parallel parking) and parallel parking, but each has parking on the left side of the own vehicle position and parking on the right side of the own vehicle position. There are four types: garage on the left side, garage on the right side, parallel parking on the left side, and parallel parking on the right side.
Here, a toggle type switch is used as the parking assistance switch 6. When the parking assistance switch 6 in the off state is pressed, the left side garage entry mode → the right garage entry mode → the left side It switches from the parallel parking mode to the parallel parking mode to the right side, and either mode can be selected. In addition, when the parking assist switch 6 is pressed, the tandem parking mode to the right side is switched to the off state.
[0015]
When the support mode is selected, teaching according to each support mode is performed using the speaker device 8 and the display device 9 as teaching means under the control of the ECU 7.
In any of the support modes, the driver is first guided to move the vehicle to a predetermined reference position [for example, a position just beside the target parking section and right next to the section to be parked (target parking section)]. When the vehicle reaches the reference position, teaching according to the support mode is performed through the ECU 7 and the teaching means 8 and 9.
[0016]
At this time, the position of the target parking section relative to the reference position is corrected based on the presence or absence of a parked vehicle or the like (including an obstacle or a building other than the parked vehicle) adjacent to the target parking section. In other words, the ultrasonic sensor 2 is provided at the front end of the vehicle 1 and can detect the position of an object (a parked vehicle, an obstacle, etc.) existing on the side of the vehicle 1 with respect to the vehicle 1. The position of the target parking section is corrected based on the information from 2.
[0017]
For example, as shown in FIGS. 3 (a) and 4 (a), both adjacent to the target parking area (left and right of the target parking area in the case of a garage, and before and after the target parking area in the case of parallel parking). If there are parked vehicles 31, 32, 21, 22, the target parking section is set in the middle so that all these parked vehicles are equidistant. If the gap between the two parked vehicles or the like is not more than a predetermined distance, the driver is informed that there is not enough parking space. Further, as shown in FIGS. 3B, 3C, 4B, and 4C, there are parked vehicles 31, 32, 21, and 22 adjacent to the target parking section and only in one of them. For example, the target parking section is set at a position away from the parked vehicle or the like by a predetermined distance. As shown in FIGS. 3 (d) and 4 (d), if there is no parked vehicle or the like adjacent to the target parking section, the original target parking section (position preset with respect to the reference position) is set. Set the target parking area.
[0018]
As described above, when the target parking area is set, the trajectory of the vehicle from the reference position to the target parking area is calculated and used as the base of the teaching content.
The reference position with respect to the target parking area can be, for example, right next to the target parking area, and the left side parking and the right side parking are merely symmetrical, but the garage entry and the parallel parking are different positions. In some cases. Further, for example, the driver can determine whether or not the vehicle has reached the reference position according to a predetermined reference.
[0019]
For example, in the case of entering the garage to the left side, as shown in FIGS. 3A to 3D, when the vehicle reaches the reference positions (initial stop positions) a20, b20, c20, d20, the speaker is operated in the following procedure. Teaching is performed using the device 8 or the display device 9. First of all, “Turn the handle all the way to the right” is taught. When the driver operates the steering wheel in accordance with the teaching, the driver teaches that the vehicle is to move forward. The driver advances the vehicle in accordance with this teaching, and teaches that “the vehicle is to be stopped” when the vehicle has advanced a predetermined distance. If the vehicle stops (a21, b21, c21, d21), then teaches that the steering wheel should be turned to the left. When the driver operates the steering wheel according to the teaching, the driver teaches that the vehicle is to be moved backward. The driver reverses the vehicle according to this teaching, and teaches that “the vehicle is to be stopped” when the vehicle has advanced a predetermined distance. Accordingly, if the driver stops the vehicle, the vehicle can be stopped in the target parking section (target parking positions a30, b30, c30, d30 in the figure). Here, if the vehicle has been stopped for a predetermined time, the ECU 7 determines that the parking assistance has been completed.
In the case of garage entry on the right side, teaching is performed in the opposite direction to that in the case of garage entry on the left side.
[0020]
Further, in the case of parallel parking to the left side, as shown in FIGS. 4A to 4D, when the vehicle reaches the reference positions a1, b1, c1, d1, the speaker device 8 or the display device is performed in the following procedure. 9 is used for teaching.
[0021]
First, “the vehicle is moved straight forward” is taught, and when the vehicle moves forward a predetermined distance from the reference position (a2, b2, c2, d2), “the vehicle is stopped” is taught. Here, "Turn the handle all the way to the left" is taught. If the driver operates in accordance with this teaching, the driver teaches that the vehicle is to be moved backward. In accordance with this teaching, the driver teaches that “the vehicle is to be stopped” when the vehicle moves backward by a predetermined distance and the rear of the vehicle faces the required direction. When the vehicle stops, the next instruction is “to return the steering wheel to the neutral position”. When the driver performs an operation in accordance with the teaching, the driver again teaches that the vehicle is to be moved backward. In accordance with this teaching, the driver teaches that “the vehicle is to be stopped” when the vehicle has moved backward by a predetermined distance. When the vehicle stops, the next instruction is to “turn the steering wheel all the way to the right”. When the driver performs an operation in accordance with the teaching, the driver again teaches that the vehicle is to be moved backward. In accordance with this teaching, the driver teaches that “the vehicle is to be stopped” when the vehicle has moved backward by a predetermined distance. Accordingly, if the driver stops the vehicle, the vehicle can be stopped in the target parking section (target parking positions a3, b3, c3, and d3 in the figure). Here, if the vehicle has been stopped for a predetermined time, the ECU 7 determines that the parking assistance has been completed.
[0022]
In the case of parallel parking to the right side, teaching is performed in the opposite direction to the case of parallel parking to the left side described above.
In the above teaching, the ECU 7 can determine from the detection information of the handle angle sensor 3 whether or not the driver has operated the steering wheel according to the teaching. If the driver does not perform the steering operation according to the teaching, The driver can be taught again to facilitate proper handle operation. Further, whether the vehicle moves forward or backward can be determined by the ECU 7 based on the detection information of the shift position sensor 5. If the driver does not perform a shift operation in accordance with the teaching, the driver is instructed again and an appropriate shift is performed. The operation to the step position can be facilitated. Furthermore, the ECU 7 can determine from the detection information of the wheel speed sensor 4 whether or not the vehicle has traveled a predetermined distance.
[0023]
By the way, what is characteristic of this apparatus is that when the parking assistance switch 6 is operated and the start of parking assistance is instructed, the ECU 7 automatically turns on (generally blinks) the hazard lamp 10 in conjunction therewith. This is the point. That is, when the parking assistance switch 6 is operated and the start of parking assistance is instructed, the ECU 7 commands the hazard lamp 10 to operate, and when the parking assistance is completed (completed), instructs the stop of the hazard lamp 10. ing.
[0024]
Thus, in this device, the driver who wants to receive parking assistance simply operates the parking assistance switch 6 to instruct the start of parking assistance, and simultaneously turns on the hazard lamp 10 to perform the parking operation. You can inform the outside.
Further, in this apparatus, a characteristic is that the winker lighting display lamp 11 is displayed for the parking assistance at the time of parking assistance in order to inform the driver of parking assistance to the left side of the own vehicle position or parking assistance to the right side of the own vehicle position. It is a point that is used to indicate the direction.
[0025]
That is, when the parking assistance switch 6 is operated and the assistance mode is selected, the ECU 7 displays the parking direction (left side or right side) using the turn signal lighting display lamp 11 so that the driver can recognize the assistance mode. In addition, the parking assistance state display lamp 12 is used to display whether the parking is in the garage or parallel parking. The ECU 7 turns off the blinker lighting display lamp 11 and the parking assistance state display lamp 12 when the parking assistance start is completed.
[0026]
That is, the blinker lighting display lamp 11 is installed in the meter cluster 13 or the like that is easy for the driver to visually recognize, and is composed of a pair of left and right lamps. When the blinker lamp is lit, the lamp has a direction corresponding to the lighting direction of the blinker lamp. Lights up (flashes), and the blinker lamp lighting state is displayed to the driver.
Therefore, during parking assistance, the left lamp of the blinker lighting display lamp 11 is lit (flashing) when the parking direction is the left side, and the right lamp of the blinker lighting display lamp 11 is lit (flashing) when the parking direction is the right side. Let the driver know.
[0027]
In addition, the parking assistance state display lamp 12 is installed in a place where the driver can easily recognize the display so as to be adjacent to the turn signal lighting display lamp 11 such as being installed in the meter cluster 13 together with the turn signal lighting display lamp 11. For example, if “garage entry” is selected, “garage” is displayed, and if “parallel parking” is selected, “column” is displayed to inform the driver.
[0028]
By the way, the electric circuit 20 concerning the hazard lamp 10 and the blinker lighting display lamp 11 is configured as shown in FIG. 2, for example. In other words, the flasher relay 23 and the hazard relay 24 are connected to the battery 21 via the ignition switch 22, and the hazard switch 25 is connected to the flasher relay 23 and the hazard relay 24. A turn signal switch 26 is connected to the hazard switch 25 so that the turn signal switch 26 can be operated when the hazard switch 25 is turned off. The flasher relay 23 is connected to a pilot lamp (including the blinker lighting display lamp 11) 28.
[0029]
Among the turn signal lamps (flasher lamps) 10 functioning as hazard lamps, the left and right front and rear lamps 10FL and 10RL are connected via the power relay 27L, and the left and right front and rear lamps 10FR and 10RR are connected via the power relay 27R and the battery 21. When the hazard switch 25 is turned on, both power relays 27L and 27R are activated, and all turn signal lamps 10FL, 10RL, 10FR, and 10RR are caused to blink and function as hazard lamps. When is operated, the turn signal lamps 10FL, 10RL or 10FR, 10RR in the corresponding direction are blinked.
[0030]
In the present apparatus, a hazard lamp automatic operation switch (hazard lamp lighting means) 29 that is not particularly operated by the driver is provided so as to be provided in addition to the normal hazard switch 25 operated by the driver, and a signal (power supply and stop) from the ECU 7 is provided. As a result, the switch 29 is actuated or stopped, and the hazard lamps 10FL, 10RL, 10FR, 10RR are automatically turned on and off. Further, the ECU 7 is connected to the flasher relay 23, and either the left or right of the blinker lighting display lamp 11 of the pilot lamp is turned on from the ECU 7 according to the parking direction.
[0031]
Since the vehicle with a parking assistance apparatus according to the first embodiment of the present invention is configured as described above, when the parking assistance switch 6 instructs the start of parking assistance, the ECU 7 is linked with this hazard. The lamp 10 is automatically turned on (flashing). Therefore, the driver who wants to receive parking assistance simply notifies the outside of the fact that the parking lamp operation is performed by turning on the hazard lamp 10 only by operating the parking assistance switch 6 and instructing the start of parking assistance. it can.
[0032]
Further, when the parking assistance is completed (completed), the hazard lamp 10 is automatically stopped.
As a result, when parking a vehicle while receiving parking assistance, it is possible to save trouble lamp operation by operating the parking assistance switch 6 and then operating the hazard lamp switch when starting the parking operation. Can be turned on to inform the surroundings, and safety can be improved. Moreover, when the parking assistance is completed (completed), that is, when the parking operation is completed (completed), the hazard lamp 10 is automatically stopped, so that the hazard lamp 10 can be appropriately operated without forgetting to turn it off. it can.
[0033]
Further, in order to inform the driver of parking assistance to the left of the vehicle position or parking assistance to the right of the vehicle position, the blinker lighting display lamp 11 is used to indicate the direction of the parking assistance at the time of parking assistance. Further, the visibility is good for the driver, and since the existing turn signal lighting display lamp 11 is used, the equipment cost can be reduced. Of course, a parking assistance state display lamp 12 is provided to notify whether the vehicle is in the garage or parallel parking. However, since the parking direction display is not required, the parking assistance state display lamp 12 can be simplified.
[0034]
In addition, since the parking assistance state display lamp 12 is installed in the meter cluster 13 together with the turn signal lighting display lamp 11, the parking assistance state display lamp 12 is installed in a place where the driver can easily recognize the display so as to be adjacent to the turn signal lighting display lamp 11. There is also an effect that the driver can easily recognize the parking assistance state.
[0035]
[Second Embodiment]
Next, 2nd Embodiment of this invention is described based on drawing.
FIG. 5 is a configuration diagram illustrating a vehicle with a parking assistance device according to a second embodiment of the present invention. In FIG. 5, the same reference numerals as those in FIG.
As shown in FIG. 5, in this embodiment, the parking assistance switch 6 is different from that of the first embodiment, and two of the garage insertion switch 6A and the parallel parking switch 6B are provided independently. Each of the garage switch 6A and the parallel parking switch 6B is a toggle type, and each time it is pressed, the left side parking → the right side parking → the stop → the left side parking is repeated.
[0036]
When one of the garage insertion switch 6A and the parallel parking switch 6B is pressed, the switch itself is turned on to display the type of parking.
As with the first embodiment, the blinker lighting display lamp 11 is used to indicate whether the parking direction is left or right.
When either the garage switch 6A or the parallel parking switch 6B is pressed to start parking assistance, the ECU 7 automatically turns on the hazard lamp 10 in conjunction with this (generally flashing). This is the same as in the first embodiment.
[0037]
Since the vehicle with a parking assistance device according to the second embodiment of the present invention is configured as described above, when the parking assistance switch 6 instructs the start of parking assistance, as in the first embodiment, the ECU 7 However, in conjunction with this, the hazard lamp 10 is automatically turned on (flashes), and the turn signal lighting display lamp 11 is used to indicate whether the parking direction is left or right.
[0038]
As a result, when parking a vehicle while receiving parking assistance, it is possible to easily and surely turn on the hazard lamp to inform the surroundings, and to improve safety, That is, when the parking operation is completed (completed), the hazard lamp 10 is automatically stopped, so that the hazard lamp 10 can be appropriately operated without forgetting to turn it off.
Furthermore, since the existing turn signal lighting display lamp 11 is used, the equipment cost can be reduced.
[0039]
Although the embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications can be made without departing from the spirit of the present invention.
For example, the specific configuration of parking assistance is not limited to the above embodiment.
[0040]
【The invention's effect】
As described above, according to the vehicle with a parking support device of the present invention (Claim 1), when the driver tries to park after receiving parking support, the driver operates the parking support start instruction means. The parking assist device starts operating and distinguishes between parallel parking on the right side of the vehicle and parallel parking on the left side of the vehicle, and teaches the driving operation , and the control means automatically turns on the hazard lamp, and the driver However, the hazard lamp can be reliably turned on while omitting the burden of operating the hazard lamp switch, and the driver can easily concentrate on the parking operation while ensuring safety to the surroundings. In addition, the parking assistance direction can be displayed at a position easy for the driver to see without adding new equipment, and the driver can easily check the parking assistance direction.
[0041]
In addition, when the parking assistance start instruction means instructs to turn off the parking assistance or the vehicle stops at the target parking position based on the vehicle position information, the control means ends the parking assistance by the parking assistance device. By turning off the hazard lamp , the hazard lamp can be surely turned off while avoiding the burden of the driver operating the hazard lamp switch, and it is possible to prevent the hazard lamp from being forgotten. Claim 2) .
[0042]
Further, the parking support start instructing means is configured to be able to instruct the start of operation of the parking support device by distinguishing between parallel parking on the right side of the vehicle, parallel parking on the left side of the vehicle and parallel parking, and the parking support device. In addition to the parallel parking on the right side of the vehicle and the parallel parking on the left side of the vehicle, it is configured to support parallel parking, and there is parking for driving support in the vicinity of the blinker lamp lighting state display lamp. If a display means for displaying whether it is parallel parking or parallel parking is provided, the parking support direction and the parking support type can be displayed at a position that is easy for the driver to see, and the driver can display the parking support direction and the parking support type. Can be easily confirmed (Claim 3 ).
[Brief description of the drawings]
FIG. 1 is a configuration diagram illustrating a vehicle with a parking assistance device according to a first embodiment of the present invention.
FIG. 2 is a circuit diagram of a lamp system according to a vehicle with a parking assistance device according to the first embodiment of the present invention.
FIGS. 3A and 3B are schematic plan views for explaining parking support for a garage in a vehicle with a parking support device according to the first embodiment of the present invention, wherein FIGS. Indicates a different case.
FIGS. 4A and 4B are schematic plan views for explaining parking support for parallel parking according to a vehicle with a parking support device according to the first embodiment of the present invention, wherein FIGS. Indicates a different case.
FIG. 5 is a configuration diagram illustrating a vehicle with a parking assistance device according to a second embodiment of the present invention.
[Explanation of symbols]
1 Vehicle (Automobile)
2 Ultrasonic sensor 3 Handle angle sensor 4 Wheel speed sensor 5 Shift position sensor 6 Parking assistance switch 7 as parking assistance start instruction means ECU (electronic control unit) as teaching control means (control means)
8 Speaker device 9 as teaching means 9 Display device 10 as teaching means Hazard lamp (turn signal lamp)
11 Blinker lamp lighting status display lamp (Blinker lighting display lamp)
12 Parking assistance status display lamp (display means)
29 Hazard lamp automatic operation switch

Claims (4)

In a vehicle equipped with a parking assistance device that provides parking assistance by teaching a driving operation to the driver when performing parallel parking on the right side of the vehicle or parallel parking on the left side of the vehicle in the parking section,
Parking assistance start instruction means for instructing the start of operation of the parking assistance device by distinguishing between parallel parking on the right side of the vehicle and parallel parking on the left side of the vehicle ;
A hazard lamp lighting means for lighting the hazard lamp of the vehicle;
A blinker lamp lighting state display lamp composed of left and right lamps for displaying a lighting state of the blinker lamp of the vehicle,
When the parking support start instruction means is operated, the hazard lamp lighting means turns on the hazard lamp , and the blinker lamp is turned on depending on whether the parking support is on the right side of the vehicle or on the left side of the vehicle. characterized in that it comprises a control hand stage of lighting the left or right of the lamp lighting state indicator lamp, the driving support device with the vehicle. When the parking assistance start instruction means instructs the parking assistance to be turned off, or when the vehicle stops at the target parking position based on the position information of the vehicle, the parking assistance by the parking assistance device The vehicle with a driving assistance device according to claim 1, wherein the hazard lamp is turned off when the parking assistance by the parking assistance device is terminated. The parking support start instruction means is configured to be capable of instructing the start of operation of the parking support device by distinguishing between parallel parking to the right side of the vehicle, parallel parking to the left side of the vehicle, and parallel parking,
The parking support device is configured to support parallel parking in addition to parallel parking to the vehicle right side and parallel parking to the vehicle left side,
In the vicinity of the turn signal lamp lighting state indicator lamp, characterized in that the display means parking wishing to make the driving assistance display which one of the parallel parking and parallel parking are provided, according to claim 1 or driving support device with a vehicle 2, wherein. Further comprising a speaker device and a display device, the parking support apparatus, and performs the teaching of the driving operation by using the speaker apparatus and the display apparatus, according to any one of claims 1 to 3 Vehicle with a driving assistance device.

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