JP7028601B2 - Reverse run notification device - Google Patents

Description

The present invention relates to a reverse-way driving notification device.

As a vehicle parking area, a service area and a parking area (hereinafter referred to as "SAPA") are known. The SAPA generally has a one-way approach road used for entering the SAPA, and in this approach road, a vehicle entering the SAPA and a vehicle traveling in the opposite direction in an attempt to exit the SAPA. May cause a head-on collision.
Therefore, conventionally, a technique has been proposed in which the reverse driving of a vehicle on an approach road is detected based on the position information of the vehicle or an image acquired by an in-vehicle camera and a warning is given to the driver of the vehicle (for example, Patent Document 1). reference).

Japanese Unexamined Patent Publication No. 2012-58948

However, in the conventional technique, the vehicle traveling in the reverse direction in the SAPA has entered the approach road and then notified the driver of the reverse drive, which is insufficient for preventing the reverse drive.

An object of the present invention is to provide a reverse-way driving notification device capable of notifying a reverse-way driving before a vehicle enters an approach road.

In the present invention, a plurality of parking spaces whose parking directions are defined in the same direction are arranged side by side, and a vehicle enters through a one-way approach road, and the traveling direction of the entered vehicle is defined in the parking area. The reverse running notification device for notifying the reverse running of the own vehicle on which the own device is mounted is based on the image acquisition unit for acquiring the captured image of the parked vehicle parked in the parking space and the captured image. When it is assumed that the parked vehicle direction determination unit that determines the parked vehicle direction, which is the parking direction of the parked vehicle observed from the own vehicle, the parked vehicle direction, and the own vehicle are traveling in order. Based on the parking direction of the parked vehicle observed from the own vehicle, which is the observed parking direction during forward running, the reverse running determination unit for determining the reverse running of the own vehicle and the own vehicle running in the reverse direction. The parking area is provided with a notification control unit that outputs a notification of the reverse run with a stronger stimulus as the distance from the own vehicle to the approach road becomes shorter when it is determined that the vehicle is present. It is characterized in that the reverse run is not notified when the reverse run is performed .

The present invention is characterized in that the reverse-way driving notification device includes an information acquisition means for acquiring information that makes it possible to specify the observation parking direction during forward travel from the outside.

INDUSTRIAL APPLICABILITY In the reverse running notification device, the present invention is provided with the parking direction inclined at an angle forming a sharp angle with respect to the traveling direction defined in the parking area, and the parking direction defined in the parking space. Is the direction of forward parking, and the forward-running observed parking direction is characterized in that the front side or the rear side of the parked vehicle is directed to the back side of the traveling direction of the own vehicle.

In the present invention, in the reverse running notification device, the parked vehicle direction determination unit is either the shape of the parking frame line of the parking space observed from the own vehicle or the front side or the rear side of the parked vehicle. It is characterized in that the parking direction is determined based on the result of determining whether the vehicle is directed to the side of the own vehicle .

In the present invention, in the reverse running notification device, the parked vehicle direction determination unit recognizes the object shown in the photographed image and determines whether or not the own vehicle has entered the parking area in order. When the reverse run determination unit determines and the reverse run determination unit determines that the own vehicle has entered the parking area in order, and the own vehicle has entered the parking area in order. The parking direction of the parked vehicle is determined based on the photographed image, and the parking direction is used as the observed parking direction during forward running.

The present invention is characterized in that, in the reverse-way driving notification device, the notification control unit sequentially changes the intensity of the stimulus according to the distance from the own vehicle to the approach road to perform notification.

According to the present invention, it is possible to notify the reverse driving before the vehicle enters the approach road.

It is a schematic diagram of the expressway which concerns on embodiment of this invention. It is a block diagram which shows the functional structure of the reverse run notification device. It is a flowchart which shows the notification operation of the reverse run notification device. It is a flowchart which shows the notification operation of the reverse run notification device which concerns on the modification of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic diagram of an expressway H according to the present embodiment.
Expressway H is a one-way road in which the traveling direction of an automobile (hereinafter referred to as "vehicle") is defined by laws and regulations in one direction (hereinafter referred to as prescribed traveling direction D1). In Japan, the expressway H is a one-way road. It is a road that is also called a national highway or a motorway. As shown in FIG. 1, the expressway H of the present embodiment has a main line R1 and a parking facility P when roughly classified.
The main line R1 is a road for the vehicle to travel in the specified traveling direction D1 (hereinafter referred to as "forward travel"). The main lane R1 may have a plurality of lanes, and in this case, the plurality of lanes may have a so-called opposite lane in which the defined traveling directions D1 are opposite to each other.

The parking facility P is a rest facility having a parking area A in which vehicles are parked, and is also referred to as a service area or a parking area, and is connected to the main line R1 by an approach road R2 and an exit road R3.
The approach road R2 is a route that branches from the main line R1 to the parking facility P, and is used to allow a vehicle to enter the parking facility P from the main line R1. The exit route R3 is a route from the parking facility P to the main line R1, and is used to join the vehicle exiting from the parking facility P to the main line R1. Each of the approach road R2 and the exit road R3 is a one-way road whose travel direction is defined in one direction of the specified travel direction D2 and the specified travel direction D3 according to the specified travel direction D1 of the expressway H. , The reverse running of the vehicle on the highway H (that is, the running of the vehicle in the direction opposite to the specified traveling direction D1) is prevented.

In the parking area A of the parking facility P, each parking space As is partitioned by the parking frame line Ak so that one vehicle can park. Further, parking spaces As for a plurality of vehicles are arranged side by side to form a parking row Ar, and a plurality of parking rows Ar are provided in the parking area A with a vehicle passage space B around each of them. .. Each of the vehicle passage spaces B is also defined as a one-way route. As long as the vehicle travels in the parking area A according to the respective specified traveling directions Da of the vehicle passage space B, the vehicle does not reach the approach road R2 from the parking area A.

Further, in the parking area A, the parking direction Db to the parking space As is also defined in one direction. The parking direction Db is the direction in which the front side Cf of the vehicle parked in the parking space As (hereinafter referred to as "parked vehicle Cs") faces. In this parking area A, when the driver parks the vehicle in the parking space As, the parking space As on either the left or right side (left side in the illustrated example) of the driver while traveling in the vehicle passage space B in order. It is a rule to park forward (also called "forward parking"). According to this rule, the parking directions Db of each parking space As in the same parking row Ar all face in the same direction.

Further, in this parking area A, as shown in FIG. 1, each of the parking spaces As is partitioned in a rectangular shape extending in a direction forming an acute angle θ with respect to the specified traveling direction Da of the vehicle passage space B, and the vehicle passes through. It is easy for vehicles traveling in space B to park forward in each parking space As. In other words, since it becomes difficult to park backward in the parking space As, parking in the direction opposite to the parking direction Db is prevented.

The vehicle is equipped with the reverse-way driving notification device 1 according to the present embodiment. The reverse-way driving notification device 1 is a device that notifies the driver of the vehicle when the vehicle on which the vehicle is mounted reversely travels in the vehicle traffic space B in the parking area A and warns the driver of the vehicle of the reverse-way driving. Hereinafter, the reverse run notification device 1 will be described in detail. In the following description, the vehicle on which the reverse-way driving notification device 1 is mounted is designated by the reference numeral C to distinguish it from other vehicles.

FIG. 2 is a block diagram showing a functional configuration of the reverse run notification device 1.
As shown in the figure, the reverse-way driving notification device 1 includes an image acquisition unit 11, an input / output I / F unit 12, a parking area determination unit 13, a parked vehicle detection unit 14, and a parked vehicle direction determination unit 15. , A storage memory 16, a reverse run determination unit 17, and an alarm control unit 18.

The reverse run notification device 1 includes, for example, an ECU (Electronic Control Unit) equipped with a microcomputer, and each functional unit shown in FIG. 2 is realized by the microcomputer executing a predetermined program. The means for realizing each functional unit is not limited to the ECU, and any computer provided with a processor capable of executing a predetermined program can be used as the means. Further, a part or all of these functional parts may be configured by dedicated hardware.

The image acquisition unit 11 acquires a photographed image in front of the vehicle C in the traveling direction (front side Cf).
The captured image is captured by the vehicle-mounted camera 2 mounted on the vehicle C, and the image acquisition unit 11 acquires the captured image from the vehicle-mounted camera 2. The reverse-way driving notification device 1 may include a camera for photographing the front of the vehicle C in the image acquisition unit 11 or the like.

The input / output I / F unit 12 is an interface unit (I / F) for connecting various vehicle-side devices provided on the vehicle C side (more accurately, the outside of the reverse-way driving notification device 1) so that signals can be input / output. Department). A navigation device 4, a wheel speed sensor 6, a steering angle sensor 8, and the like are connected to the input / output I / F unit 12.
The navigation device 4 is a device having a route guidance function for guiding a route from the current location to the destination, and includes a positioning unit 4a such as GPS for positioning the position of the vehicle C, a storage unit 4b for storing map data, and a storage unit 4b. It is equipped with. The map data includes information such as various types of roads including the expressway H and specified traveling directions D1, D2, D3 and the like.
Further, the navigation device 4 includes a receiving unit 4c for receiving road traffic information transmitted by an external system such as a road traffic information system (ITS). Road traffic information is information including information related to road traffic, and is also referred to as VICS (registered trademark) information. The road traffic information includes, for example, information on the road itself (road type, speed limit, etc.) and information on road traffic conditions (traffic congestion information, accident occurrence status, etc.).

Further, the parking facility P is also provided with a facility for transmitting road traffic information, and the parking area information is transmitted from this facility. The parking area information is information that enables the reverse-way driving notification device 1 to specify the specified parking direction Db of each parking space As. In the parking area information, for example, information such as which parking row Ar on the right or left of the vehicle passage space B is used for forward parking in the parking area A is stored. The parking area information may be included in the road traffic information and transmitted, or may be transmitted independently.

The reverse-way driving notification device 1 communicates with the navigation device 4 via the input / output I / F unit 12, and various information such as the vehicle position, road traffic information, and parking area information acquired by the navigation device 4 are obtained. To get.

The wheel speed sensor 6 is a sensor that outputs a vehicle speed pulse indicating the vehicle speed based on the rotation speed of the wheels. The steering angle sensor 8 is a sensor that outputs a steering angle signal indicating the steering angle of the steering wheel included in the vehicle C. The reverse running notification device 1 acquires the vehicle speed pulse of the wheel speed sensor 6 and the steering angle signal of the steering angle sensor 8 through the input / output I / F unit 12.

The parking area determination unit 13 determines whether or not the vehicle C is located in the parking area A.
Specifically, the parking area determination unit 13 acquires information on the local position of the vehicle C from the navigation device 4, and determines whether or not the vehicle C is located in the parking area A based on the information. In order to improve the accuracy of this determination, the speed of the vehicle C based on the vehicle speed pulse, the time change of the speed, the time change of the steering angle (that is, the steering operation frequency), the magnitude of the steering angle, etc. It may be used for determination.

When the vehicle C is traveling in the parking area A, the parked vehicle detection unit 14 detects the parked vehicle Cs parked in the parking space As from the captured images of the image acquisition unit 11 by image recognition processing. In this image recognition process, for example, the parking frame line Ak of the parking space As and the vehicle are recognized, and whether or not the vehicle is a parked vehicle Cs based on whether or not the vehicle is located in the parking frame line Ak. The process of determining whether or not is performed. Any method can be used for the method of recognizing the parking frame line Ak and the vehicle as an image.

The parked vehicle direction determination unit 15 determines the parking direction of the parked vehicle Cs observed from the vehicle C (hereinafter referred to as the parked vehicle direction Vd). In this determination, it is determined which of the front side Cf and the rear side Cr of the parked vehicle Cs is directed to the vehicle C side as the parked vehicle direction Vd.
Specifically, all vehicles have parts and members (hereinafter referred to as "vehicle common parts") commonly provided on the front side Cf or the rear side Cr, such as headlights and tail lamps. ing. Therefore, the parked vehicle direction Vd can be specified by determining whether or not the parked vehicle Cs shown in the photographed image includes the vehicle common parts of the front side Cf or the rear side Cr. The method for detecting common parts of the vehicle in the captured image is arbitrary.

In the present embodiment, the parked vehicle direction determination unit 15 determines the parked vehicle direction Vd for at least three or more parked vehicle Cs, and adopts the parked vehicle direction Vd having the largest number as the final parked vehicle direction Vd. This enhances the reliability of the parked vehicle direction Vd.

The reverse running determination unit 17 matches the reverse running of the vehicle C in the parking area A (running in the direction opposite to the specified running direction Da) with the observed parking direction Ve at the time of forward running and the parked vehicle direction Vd. The determination is made based on the sex, and the parking direction determination unit 17a for observing the forward running is provided.
The forward-running observation parking direction determination unit 17a is the parked vehicle Cs in front (the shooting direction of the in-vehicle camera 2) observed from the vehicle C when the vehicle C is assumed to be running forward in the parking area A. The above-mentioned forward-running observation parking direction Ve, which is the parking direction of the vehicle, is determined. In the present embodiment, the forward-running observation parking direction determination unit 17a determines the forward-running observation parking direction Ve based on the parking direction Db defined in the parking area A.

Specifically, as described above, the parking area information capable of specifying the parking direction Db in the parking area A is transmitted from the equipment of the parking facility P. The forward-running observation parking direction determination unit 17a acquires parking area information via the navigation device 4, and determines the forward-running observation parking direction Ve based on the parking area information.

For example, in the example of the parking area A in FIG. 1, it is specified to park forward in the parking row Ar on the left side of the vehicle passage space B. Therefore, assuming that the vehicle C is running forward in the parking area A, when the parked vehicle in front of the vehicle C is observed, when each parked vehicle Cs parked on the front left side of the vehicle C is running in the forward direction. The observed parking direction Ve is the direction in which the rear side Cr is directed toward the vehicle C, and the observed parking direction Ve during forward running of each parked vehicle Cs parked on the front right side is the direction in which the front side Cf is directed toward the vehicle C. Become.

Then, the reverse-way driving determination unit 17 determines that the vehicle C is running in the reverse direction when the observation parking direction Ve at the time of forward running and the parked vehicle direction Vd do not match.

When it is determined that the vehicle C is running in the reverse direction, the warning control unit 18 warns the driver of the reverse driving by notifying the driver through an output device provided on the side of the vehicle C. As the output device, a plurality of devices having different forms of information output are used, and in this embodiment, the meter display 9 and the speaker 10 are used.
The meter display 9 is an example of a display output device that outputs information by display, and is provided on the meter panel of the vehicle C to display various information related to the vehicle C by characters, icons, and the like. The speaker 10 is a voice output device that outputs information by voice.

When notifying the reverse driving, the alarm control unit 18 warns the driver of the reverse driving by outputting an alarm through the meter display 9 and the speaker 10.

Further, the alarm control unit 18 of the present embodiment includes a distance determination unit 18a. The distance determination unit 18a determines the separation distance from the vehicle C to the approach road R2, and determines the separation distance based on, for example, information that can be acquired from the navigation device 4.
Then, the alarm control unit 18 gradually increases the output of the alarm according to the separation distance, thereby suppressing the annoyance of the alarm while the degree of danger is low, and surely when the degree of danger becomes high. , It is possible to make the driver notice the reverse run.

Specifically, the alarm control unit 18 outputs an alarm in an output mode in which the stimulus to the driver is relatively small while the separation distance is equal to or longer than the predetermined distance, and the separation distance becomes the predetermined distance or less, which increases the risk. If so, an alarm is output in an output mode in which the stimulus is stronger. In the present embodiment, the alarm control unit 18 outputs an alarm through the display on the meter display 9 while the separation distance is equal to or longer than the predetermined distance, and replaces the display on the meter display 9 while the separation distance is equal to or less than the predetermined distance. , The alarm is output through the sound from the speaker 10.
As the output device that can be used to output the alarm, a blinking lamp device, a device that gives vibration to the driver, or the like can also be used.

The storage memory 16 stores a predetermined program for realizing each functional unit of the reverse-way driving notification device 1. Further, the storage memory 16 also functions as a so-called working memory that temporarily stores various information and data, for example, a parked vehicle direction Vd of the parked vehicle direction determination unit 15, a forward-running observation parking direction Ve, and the like. Information is stored temporarily.

FIG. 3 is a flowchart showing the notification operation of the reverse-way driving notification device 1.
While the vehicle C is traveling, the reverse-way driving notification device 1 intermittently acquires the type information of the road on which the vehicle C is traveling from the navigation device 4 (step Sa1). Then, the reverse-way driving notification device 1 determines whether or not the traveling road is not the main line R1 but the parking area A in the expressway H based on the road type information (step Sa2). When the traveling road is not the parking area A (step Sa2: NO), the reverse-way driving notification is unnecessary, so the reverse-way driving notification device 1 returns the processing procedure to step Sa1.

When the traveling road is the parking area A (step Sa2: YES), the reverse-way driving notification device 1 executes the following processing in order to issue a warning when the reverse-way driving in the parking area A is detected. ..

First, the reverse running notification device 1 acquires the parking area information transmitted from the equipment of the parking facility P via the navigation device 4, and based on the parking area information, the vehicle C in the parking area A. Determines the parking direction Ve observed during forward running, which is the parking direction of the parked vehicle Cs in front observed from the vehicle C when it is assumed that the vehicle is running forward (step Sa3).
Next, the reverse-way driving notification device 1 detects at least three or more parked vehicle Cs from the images taken by the vehicle-mounted camera 2 (step Sa4). Next, the reverse-way driving notification device 1 identifies the parked vehicle direction Vd of each parked vehicle Cs, and adopts the parked vehicle direction Vd having the largest number as the final parked vehicle direction Vd (step Sa5).
Then, the reverse-way driving notification device 1 determines whether or not the observed parking direction Ve during forward traveling and the parked vehicle direction Vd match (step Sa6).

If they match (step Sa6: YES), it is shown that the vehicle C is running forward and the reverse-way driving notification is unnecessary. Therefore, the reverse-way driving notification device 1 returns the processing procedure to step Sa4. ..
Here, in the parking area A, the vehicle C may pass the target parking space As. In this case, if the distance to the parking space As is some distance, the vehicle C is moved backward to the target parking space As and returned. Since the reverse driving of the vehicle C is opposite to the specified driving direction Da, it corresponds to a reverse driving, but the driving is performed after the driver is fully aware of the reverse driving. When the reverse run is notified, it becomes annoying to the driver.
On the other hand, in the reverse-way driving notification device 1 of the present embodiment, even if the vehicle C travels backward, the shooting direction of the captured image does not change, so that the reverse-way driving is notified only by the reverse driving. It does not cause the driver to feel annoyed.

On the other hand, in step Sa6, when the two do not match (step Sa6: NO), it is shown that the vehicle C is running in reverse, so that the reverse run notification device 1 executes the following process and runs in reverse. To warn the driver.
That is, the reverse-way driving notification device 1 acquires the current traveling position of the vehicle C and the position of the approach road R2 from the navigation device 4 (step Sa7), and the separation distance from the vehicle C to the approach road R2 is a predetermined distance or more. Whether or not it is determined (step Sa8).

When the separation distance is equal to or greater than a predetermined distance (step Sa8: YES), the probability that the vehicle C actually enters the approach road R2 is relatively low, and the risk is relatively low. Therefore, in this case, the reverse-way driving notification device 1 displays and outputs an alarm on the meter display 9 and relatively weakens the stimulus given to the driver by the alarm output (step Sa9). As a result, while the degree of danger is relatively low, the stimulation by the alarm is relatively suppressed, so that the annoyance felt by the driver is reduced.

On the other hand, when the separation distance is not more than a predetermined distance (step Sa8: YES), the probability that the vehicle C will enter the approach road R2 is relatively high, and the risk is relatively high. Therefore, in this case, the reverse-way driving notification device 1 outputs an alarm by voice from the speaker 10, and the stimulus given to the driver by the alarm output is relatively strong (step Sa10). As a result, it is possible to make the driver surely recognize the reverse driving, and it is possible to prevent the driver from entering the approach road R2 from the parking area A.

According to this embodiment, the following effects are obtained.

According to the reverse running notification device 1 of the present embodiment, when it is assumed that the parked vehicle direction Vd, which is the parking direction of the parked vehicle Cs observed from the vehicle C, and the vehicle C are traveling in the parking area A in order. The reverse running of the vehicle C is determined based on the observed parking direction Ve during forward running, which is the parking direction of the parked vehicle Cs observed from the vehicle C.
As a result, it is possible to detect reverse driving while traveling in the parking area A and notify the vehicle C before it reaches the approach road R2.
Further, as the distance from the vehicle C to the approach road R2 becomes shorter, an alarm for notifying the reverse driving is output with a stronger stimulus. It is possible to make a person notice a reverse run.

According to the reverse run notification device 1 of the present embodiment, the parking area information that enables the identification of the forward-running observation parking direction Ve is received from the equipment of the parking facility P and acquired. Reverse running can be accurately determined by comparing with the parked vehicle direction Vd.

In the present embodiment, FIG. 2 above is a schematic diagram showing the functional configurations of the reverse-way driving notification device 1 classified according to the main processing contents in order to make the invention of the present application easy to understand. The configuration of the notification device 1 can be further classified into more components according to the processing content.
It is also possible to classify more processes so that one component performs them.
Further, the processing of each component may be executed by one hardware or may be executed by a plurality of hardware.
Further, the processing of each component may be realized by one program or may be realized by a plurality of programs.

The above-described embodiment is merely an example of one aspect of the present invention, and can be arbitrarily modified and applied without departing from the spirit of the present invention.

(Modification 1)
In the above-described embodiment, the reverse-way driving notification device 1 exemplifies a configuration in which the observation parking direction Ve during forward running is determined based on the parking area information transmitted from the equipment of the parking facility P. However, the present invention is not limited to this, and the reverse-way driving notification device 1 may determine the observation parking direction Ve during forward running based on the captured image.

More specifically, as shown in FIG. 1 above, each of the parking spaces As is divided into a rectangular shape extending in a direction forming an acute angle θ with respect to the specified traveling direction Da of the vehicle passage space B, and the vehicle passage space B is defined. In the parking area A in which the forward-running vehicle is specified to park forward in each parking space As, the forward-running observation parking direction Ve is as follows.
That is, for the parked vehicle Cs in the parking space As on either the left or right side when viewed from the specified traveling direction Da of the vehicle passage space B, the observed parking direction Ve during forward running is the back side of the traveling direction of the vehicle C (from the vehicle C). The direction is such that the front side Cf is directed toward the far side). On the contrary, for the parked vehicle Cs in the parking space As in the other parking space As, the observation parking direction Ve during forward running is the direction in which the rear side Cr is directed to the back side in the traveling direction of the vehicle C.

As described above, in the parking area A in FIG. 1 above, the observation parking direction Ve during forward travel is always the direction in which the rear side Cr or the front side Cf of the parked vehicle Cs is directed to the back side of the traveling direction of the vehicle C. Will be. Therefore, in the reverse-way driving notification device 1, the rear side Cr or the front side Cf of the parked vehicle Cs faces either the back side or the front side (direction approaching the vehicle C) of the vehicle C in the traveling direction as the parked vehicle direction Vd. It is also possible to determine the reverse run by determining whether or not the vehicle is running and comparing it with the parking direction Ve observed during forward running.

According to this configuration, even in the parking facility P where the parking area A is not provided, the reverse driving can be determined.

In this modification, when the parked vehicle Cs is not detected from the captured image, the reverse running notification device 1 is a parked vehicle of the parked vehicle Cs based on the shape of the parking frame line Ak observed from the vehicle C. Of course, the direction Vd may be estimated.

(Modification 2)
In the configuration in which the reverse-way driving notification device 1 determines the observation parking direction Ve during forward running based on the captured image, the reverse-way driving notification device 1 reliably enters the parking area A from the approach road R2, that is, the vehicle C. The direction of the parked vehicle Cs photographed in the state of running forward may be the observed parking direction Ve during running forward.

FIG. 4 is a flowchart showing a notification operation of the reverse-way driving notification device 1 according to this modification. In the figure, the steps described with reference to FIG. 3 of the above-described embodiment are designated by the same reference numerals, and the description thereof will be omitted.
As shown in the figure, when the vehicle C is traveling in the parking area A (step Sa2: YES), the reverse running notification device 1 immediately after entering the parking area A from the approach road R2 (that is, the vehicle C). A state in which the vehicle is surely running forward), the parked vehicle Cs is photographed by the in-vehicle camera 2, and the parking direction of the parked vehicle Cs is determined as the observation parking direction Ve during the forward running (step Sb1).
The timing immediately after entering the parking area A from the approach road R2 is arbitrary, such as information on the navigation device 4 or recognition of an object (traffic sign or a large number of parked vehicles Cs) captured in the image taken by the in-vehicle camera 2. It can be specified by the method.

Then, the reverse travel is determined by comparing the observed parking direction Ve during forward travel with the parked vehicle direction Vd in step Sa6.

According to this modification, as in the modification 1, it is possible to determine reverse-way driving even in the parking facility P where the parking area A is not provided, and further, the inclination of the parking space As with respect to the specified traveling direction Da can be determined. Whether or not there is a reverse run can be determined.

(Other variants)
In the above-described embodiment and each modification, the captured image may be an image captured in one direction with respect to the vehicle C as a base point, and is not limited to the front in the traveling direction of the vehicle C.

In the above-described embodiment and each modification, the reverse-way driving notification device 1 may output an alarm with a stronger stimulus when the vehicle C enters the approach road R2. The entry of the vehicle C into the approach road R2 can be detected, for example, by the information of the navigation device 4 or the image recognition of a sign (for example, an entry prohibition sign) provided on the approach road R2.

In the above-described embodiment and each modification, the configuration in which the expressway H is provided with the parking facility P is illustrated. However, in the parking facility P, the parking area A may be connected to the main line R1 of the expressway H. It may be provided separately from the expressway H.

1 Reverse notification device 2 In-vehicle camera 4 Navigation device 4a Positioning unit 4c Receiver unit (information acquisition means)
9 Meter display 10 Speaker 11 Image acquisition unit 13 Parking area determination unit 14 Parked vehicle detection unit 15 Parked vehicle direction determination unit 17 Reverse run determination unit 17a Forward running observation parking direction determination unit 18 Alarm control unit (notification control unit)
18a Distance judgment unit A Parking area Ak Parking frame line Ar Parking line As Parking space B Vehicle traffic space C Vehicle (own vehicle)
Cf Front side Cr Rear side Cs Parked vehicle D1, D2, D3, Da Specified driving direction Db Parking direction H Highway P Parking facility R1 Main line R2 Entrance road R3 Exit road Vd Parking vehicle direction Ve

Claims (6)

A plurality of parking spaces whose parking directions are defined in the same direction are arranged side by side, and a vehicle enters through a one-way approach road, and the own device is used in the parking area where the traveling direction of the entered vehicle is defined. It is a reverse run notification device that notifies the reverse run of the own vehicle equipped with
An image acquisition unit that acquires a photographed image of a parked vehicle parked in the parking space,
Based on the photographed image, a parked vehicle direction determination unit that determines a parked vehicle direction that is a parking direction of the parked vehicle observed from the own vehicle, and a parked vehicle direction determination unit.
The own vehicle is based on the direction of the parked vehicle and the observed parking direction during forward running, which is the parking direction of the parked vehicle observed from the own vehicle when it is assumed that the own vehicle is running forward. The reverse run judgment unit that judges the reverse run of
When it is determined that the own vehicle is running in reverse, the shorter the distance from the own vehicle to the approach road, the stronger the stimulus is to output the notice of the reverse run, and the notification control unit.
Equipped with
When the own vehicle makes a reverse run in the parking area, the reverse run is not notified.
A reverse-way driving notification device characterized by this. The reverse-way driving notification device according to claim 1, further comprising an information acquisition means for acquiring information that makes it possible to specify the observation parking direction during forward running. The parking direction is provided so as to be inclined at an angle forming an acute angle with respect to the traveling direction defined in the parking area, and the parking direction defined in the parking space is the direction of forward parking.
The reverse running according to claim 1 or 2, wherein the observed parking direction during forward running is a direction in which the front side or the rear side of the parked vehicle is directed to the back side of the traveling direction of the own vehicle. Notification device. The parked vehicle direction determination unit determines the shape of the parking frame line of the parking space observed from the own vehicle and whether the front side or the rear side of the parked vehicle is directed to the own vehicle side. The reverse running notification device according to claim 3, wherein the parking direction is determined based on the result of the operation. The parked vehicle direction determination unit is
The reverse-way driving determination unit determines whether or not the own vehicle has entered the parking area by recognizing the object shown in the photographed image, and the own vehicle has forwardly traveled to the parking area. When the reverse run determination unit determines that the vehicle has entered
The feature is that the parking direction of the parked vehicle when the own vehicle runs forward into the parking area is determined based on the photographed image, and the parking direction is used as the observed parking direction during the forward running. The reverse running notification device according to any one of claims 1 to 4. The notification control unit is
The reverse-way driving notification device according to any one of claims 1 to 5, wherein the strength of the stimulus is changed stepwise according to the distance from the own vehicle to the approach road to notify the notification.

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