JP7201061B2 - Driving support device - Google Patents

Description

The present invention relates to a driving assistance device.

2. Description of the Related Art There is known 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 (see Patent Literature 1).

A parking lot determination method described in Patent Document 1 extracts two white lines from an image captured by an imaging means, and determines whether or not there is a parking lot based on whether or not a three-dimensional object exists between the two white lines. are doing.

Japanese Patent Application Laid-Open No. 2007-310591

In such a parking lot determination method, if a white line cannot be detected, there is a possibility that the presence or absence of a parking lot cannot be detected appropriately. In addition, if there is no parking frame instead of the white line, or if a place that is not normally used as a parking lot is used as a parking lot (for example, a temporary parking lot, etc.), There is a possibility that the presence or absence of a parking lot cannot be detected appropriately.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a driving support system capable of appropriately detecting a parking lot as a parking lot even if the parking lot has no white lines or frames for parking. It is intended for

The present invention comprises a camera that captures an image of the surroundings of the vehicle, a parking lot presence/absence determination unit that determines whether or not there is a parking lot around the vehicle based on at least the image captured by the camera, and driving assistance. , wherein the parking lot presence/absence determination unit detects front and rear front and rear surfaces of a plurality of other vehicles parked at intervals based on the image captured by the camera. a parking lot detection unit that determines that a parking lot exists around the own vehicle on the condition that the own vehicle is traveling at a speed equal to or lower than a predetermined speed; When it is determined that there is a parking lot in the vicinity, whether or not there is a parking space in which the own vehicle can be parked, regardless of the presence or absence of white lines and frames for parking, among the images captured by the camera. and a parking space detection unit that detects whether the vehicle is parked, and the driving support unit automatically provides driving support to the parking space when the parking space detection unit detects a parking space that can be parked.

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

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

A driving assistance device according to an embodiment of the present invention determines whether or not there is a parking lot around the vehicle based on at least the image captured by the camera that captures images of the surroundings of the vehicle. A driving support device having a parking lot presence/absence determination unit and a driving support unit, wherein the parking space presence/absence determination unit is configured to determine the longitudinal direction of a plurality of other vehicles parked at intervals based on the image captured by the camera. A parking lot detection unit that detects a front surface or a rear surface in the longitudinal direction and determines that a parking lot exists around the vehicle on condition that the vehicle is traveling at a predetermined speed or less, and a parking lot detection unit. When it determines that there is a parking lot around the vehicle, there is a parking space where the vehicle can be parked regardless of the presence or absence of white lines or frames for parking in the image captured by the camera. and a parking space detection unit for detecting whether or not the driving support unit automatically supports driving in the parking space when the parking space detection unit detects a parking space that can be parked.
As a result, even a parking lot without white lines or frames for parking can be appropriately detected as a parking lot.

A driving support system according to an embodiment of the present invention will be described below with reference to the drawings.
1 to 5 are diagrams showing a driving support system according to one embodiment of the present invention.

First, the configuration will be explained.
In FIG. 1, a vehicle 1 is equipped with a driving support device 10 . The driving assistance 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 captures an image of the front of the vehicle 1 . A vehicle 1 constitutes the own vehicle of the present invention.

The peripheral information acquisition unit 11A is composed of, for example, a monocular camera attached to a front bumper, a front grill, or the like of the vehicle 1, and captures an image in front of the vehicle 1. FIG. The peripheral information acquisition unit 11B is composed of, for example, a monocular camera attached to a rear bumper, a rear grille, or the like of the vehicle 1, and captures an image behind the vehicle 1. FIG.

The peripheral information acquiring 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 acquiring unit 11C captures an image of the left side of the vehicle 1. Then, the peripheral information acquisition unit 11D captures an image of the right side of the vehicle 1. FIG.

The camera unit 12 includes a camera 12A which is provided bilaterally symmetrically on the front surface of the vehicle 1, so that an image in front of the vehicle 1 can be stereoscopically captured. Thereby, the driving support device 10 can observe the area including the road surface around the vehicle 1 by the surrounding information acquisition units 11A, 11B, 11C, 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 running speed of the vehicle 1 and outputs detection information to the camera ECU 12B.

The camera ECU 12B analyzes the image captured by the camera 12A and detects a plurality of other vehicles parked at intervals ahead 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 refers to the image data captured by the camera 12A, extracts the edge of the image, and stores the extracted edge data in the memory.

The camera ECU 12B matches the extracted edge data with the image data of the vehicle body to detect the front-rear direction front surface or the rear surface in the front-rear direction of the vehicle. As a result, a plurality of vehicles 2 are parked at intervals in the vehicle width direction in front of the vehicle 1 (see FIG. 2) instead of the vehicles parked in the longitudinal direction at intervals in the vehicle front-rear direction in front of the vehicle 1. can be detected. FIG. 2 shows an example of an image of the vehicle 2 captured by the camera 12A. Vehicle 2 of the present embodiment constitutes another vehicle of the present invention.

Here, the camera ECU 12B matches the edge of the vehicle front-rear direction or front-rear direction rear surface with the image data of the vehicle body, and selects a planar image located a predetermined distance below a viewpoint position provided at a predetermined position in the sky. Coordinate transformation may be performed on the assumption that the road surface is being observed, and processing for transforming the image of the vehicle into a bird's-eye view image may be performed.

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

The driving assistance device 10 has a camera ECU 15 . The camera ECU 15 analyzes the image data acquired from the peripheral information acquisition units 11A, 11B, 11C, and 11D, and detects parking spaces from images (omnidirectional images) around the vehicle 1 .

Specifically, the camera ECU 15 converts the images captured by the peripheral information acquisition units 11A to 11D into bird's-eye images of the road surface viewed from directly above, and synthesizes each bird's-eye image into one image. The camera ECU 15 extracts a parking space from the bird's-eye view image combined into one.

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

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

The driving assistance ECU 21 is connected to the camera unit 12 . An automatic parking standby mode signal is input to the driving support ECU 21 from the camera ECU 12B. When the automatic parking standby mode signal is input, the driving support ECU 21 operates the peripheral information acquisition units 11A, 11B, 11C, and 11D to estimate a parking route necessary for automatic parking, and obtain a target parking position. to determine the necessary vehicle control information. The camera ECU 12B and the driving support ECU 21 of this 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 assistance ECU 21 . The power steering actuator 31 assists the operation of a steering wheel (not shown) to control 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 assistance ECU 21 . The brake actuator 32 brakes wheels (not shown) by controlling brakes (not shown).

The throttle control unit 24 drives the throttle actuator 33 based on the vehicle control information determined by the driving assistance ECU 21 . The throttle actuator 33 controls the running 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).

Shift device 25 is operated by the driver to shift positions of parking range (P range), reverse range (R range), neutral range (N range) and drive range (D range).
When the shift device 25 is operated to the D range, the vehicle 1 can travel forward, and when it 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 is composed of a touch panel that has both a display function and an operation function. When the automatic parking standby mode signal is input from the camera ECU 12B, the driving support ECU 21 displays on the operation display unit 26 that the automatic parking standby mode has been entered. A speaker and an indicator (not shown) are installed in the operation display unit 26, and the fact that the automatic parking standby mode has been entered is notified by the speaker and the indicator through sound and display.

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 backward to the parking space set as the target parking position, the driving assistance ECU 21 , an image of the rear of the vehicle 1 picked up by the peripheral information acquisition unit 11B is displayed on the operation display unit 26. FIG.

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 causes the peripheral information acquiring unit 11A to capture an image. An image in front 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 assistance ECU 21 .

The driving support ECU 21 has a parking mode switching section 21A, and the parking mode switching section 21A automatically switches the driving mode. The driving support ECU 21 of this 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 independently of the driver's driving operation on condition that the shift device 25 is switched from another range such as the D range to the R range.

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

After calculating the movement locus from the current position of the vehicle 1 to the parking space, the driving support ECU 21 controls the steering control unit 22, the brake control unit 23, and the throttle control unit 24 to perform the driver's driving operation, that is, To automatically move a vehicle 1 from its current position to a parking space independently of power steering operation.

The manual parking mode 42 parks the vehicle 1 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 lot 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 assistance 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 the manual parking mode 42 is shifted to the automatic parking mode 41, and the acquisition of peripheral information of the vehicle 1 is started. Under the condition that an automatic parking standby mode signal is input from the camera ECU 12B, the parking mode switching unit 21A captures peripheral information of the vehicle 1 in the parking lot using the peripheral information acquiring units 11A to 11D and detects a parking space.

Next, the action will be explained.
4 and 5 are flowcharts of driving assistance processing programs executed by the driving assistance device 10. FIG. The driving assistance processing program is stored in the memories of the camera ECU 12B and the driving assistance ECU 21 and 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). When the driving support ECU 21 determines that the shift device 25 is shifted to the D range, it determines that the parking mode is the manual parking mode 42, and proceeds to step S2 to shift the shift device 25 to a range other than the D range. If it is determined that the image has been shifted, the current processing 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 processing for determining whether there is a parking lot based on the image captured by the camera 12A and the vehicle speed obtained from the vehicle speed sensor 13 (step S4).

In step S4, the camera ECU 12B executes processing for determining whether or not there is a parking lot based on the flowchart of FIG. In FIG. 5, the camera ECU 12B determines whether or not a plurality of vehicles 2 are detected at intervals ahead of the vehicle 1 in the traveling direction (step S11).

The condition that a plurality of vehicles 2 parked at intervals in front of the traveling direction of the vehicle 1 is detected is the front-rear or front-rear direction of the plurality of vehicles 2 parked at intervals ahead of the vehicle 1 in the traveling direction. It includes that the rear surface is detected, or that the front-rear or rear-rear surfaces of a plurality of vehicles 2 are detected in a certain region in front of the vehicle 1 in the traveling direction. The interval between the parked vehicles 2 includes a constant interval and an irregular interval.

In addition, when a plurality of vehicles are detected in a certain area ahead of the vehicle 1 in the direction of travel, this includes vehicles parked in the certain area at a certain rate (for example, 70%) or more.

In step S11, the camera ECU 12B refers to the image data captured by the camera 12A, extracts the edge of the front-rear direction front surface or the rear surface in the front-rear direction of the vehicle, and stores the extracted data in the memory.

As shown in FIG. 2, when the camera 12A detects the front surface 2a of the vehicle 2 in the front-rear direction, the camera ECU 12B matches the edge of the front surface 2a in the front-rear direction 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 longitudinal front surface or the longitudinal 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 matches the edge extracted from the image captured by the camera 12A with the image data of the vehicle body, the camera ECU 12B recognizes that the edge data is shorter than the side surface in the vehicle width direction. It is determined that the rear surface in the front-rear direction has been detected.
As a result, on the public road on which the vehicle 1 travels, it is possible to prevent misidentification of the parking area of the vehicles parked in the longitudinal direction (traveling direction of the vehicle) with an interval in the longitudinal direction of the vehicle 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 in front of the traveling direction of the vehicle 1, and terminates the current process. do.

In step S11, when a plurality of vehicles 2 are detected at intervals in front of the vehicle 1 in the traveling direction, 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 less than a predetermined vehicle speed V1. When the camera ECU 12B determines that the vehicle speed V is higher than the predetermined vehicle speed V1, it determines that there is no parking lot around the vehicle 1 (step S14), and terminates this process.

When 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, it is determined that the vehicle speed V is equal to or lower than the predetermined vehicle speed V1 as a condition. This is to prevent 11A, 11B, 11C, and 11D from performing control to acquire surrounding information and detect a parking space. In this way, the load on the driving assistance 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, if the flag is not set, the camera ECU 12B determines that there is no parking lot around the vehicle 1, and terminates this process. When the camera ECU 12B determines that the flag is set, it switches the parking mode to the automatic parking standby mode 43 (see FIG. 3), outputs an automatic parking standby mode signal to the driving support ECU 21, and executes the current processing. exit.

When the automatic parking standby mode signal is input from the camera ECU 12B, the driving support ECU 21 displays the transition to the automatic parking standby mode 43 on the operation display unit 26, and notifies the driver of the transition to the automatic parking standby mode 43. .

After transitioning to the automatic parking standby mode 43, the driving assistance ECU 21 captures images of the surrounding information of the vehicle 1 in the parking lot using the surrounding information acquisition units 11A to 11D. Next, the driving support ECU 21 analyzes the image data acquired from the peripheral information acquisition units 11A, 11B, 11C, and 11D, detects the parking space from the image (omnidirectional image) around the vehicle 1, and displays the operation display. A peripheral image of the vehicle 1 including the parking space is displayed in the portion 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 a plurality of parking spaces is detected, the driving assistance ECU 21 selects the parking space closest to the vehicle 1, for example. A space is set as the target parking position, and a peripheral image of the vehicle 1 including the target parking position is displayed on the operation display unit 26.例文帳に追加

When the target parking position is set, the driving support ECU 21 detects the current steering angle of the steering wheel based on the information detected by the steering angle sensor 27, and calculates the locus of movement from the current position of the vehicle 1 to the parking space. 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 support ECU 21 controls the steering control unit 22, the brake control unit 23, and the throttle control unit 24 to drive the vehicle from the current position of the vehicle 1 to the parking space without depending on the operation of the power steering. A vehicle 1 is automatically moved.

The driving support ECU 21 displays on the operation display unit 26 an image of the rear of the vehicle 1 captured by the peripheral information acquisition unit 11B. Thereby, the driver can visually recognize the rear image through the operation display unit 26 when the vehicle 1 is backing up.

Incidentally, when a parking lot is detected by the vehicle 1, a coupon for the store is acquired from a store that manages the parking lot, or information about the store is output by voice guidance. , the occupant may be able to obtain information about the parking lot.

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

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

As a result, a parking lot without white lines or parking frames can be detected appropriately while the vehicle 1 is running. Further, even if appropriate map information or GPS information cannot be obtained, it can be appropriately detected as a parking lot, so even a temporary parking lot can be appropriately detected as a parking lot.

Further, according to the driving support device 10 of the present embodiment, the camera ECU 12B detects the front and rear surfaces of the plurality of vehicles 2 parked at intervals in the front and rear direction, and detects the front and rear surfaces of the vehicle 1. It is determined that there is a parking lot, and the automatic parking standby mode 43 can be entered.
As a result, it is possible to prevent erroneous determination that a parking lot exists by detecting other vehicles parked on the shoulder of the road or other vehicles in a traffic jam, and appropriately detect the parking lot.

Further, according to the driving support device 10 of the present embodiment, the vehicle 1 is automatically parked without depending on the driver's driving operation on condition that the shift position of the vehicle 1 is switched to the R range as the parking mode. It has an automatic parking mode 41 and a manual parking mode 42 in which the vehicle 1 is parked based on the driver's driving operation.

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

The driving support device 10 has 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. .

As a result, when it is determined that there is a parking lot around the vehicle 1, the automatic parking standby mode 43 can be automatically selected. Therefore, the parking space can be automatically detected without the driver operating the operation unit.

In addition to this, the parking space can be automatically set without the driver operating the operation unit. As a result, the driver does not need to perform troublesome operations, and the burden on the driver during parking can be reduced.

When it is determined that there is a parking lot around the vehicle 1, the driving support system 10 of this embodiment automatically switches to the automatic parking standby mode 43 and automatically detects the parking space. is not limited to

For example, when a parking space is detected, the driving assistance 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 on the operation display unit 26, the parking space is displayed. A space may be set at the target parking position.

Further, when the automatic parking standby mode signal is input from the camera ECU 12B, the driving support ECU 21 displays the fact that the automatic parking standby mode 43 has been entered on the operation display unit 26, but it does not have to be displayed. In this way, when a used car dealer or the like is installed in front of the vehicle 1, it is possible to prevent the driver from recognizing the parking dealer as a parking lot and notifying the driver.

In addition, in the driving support device 10 of the present embodiment, map information, GPS data, road signs, and detection results of road signs are used together to determine whether there is a parking lot and whether the road on which the vehicle is parked is a public road. may be determined. In this way, it is possible to improve the accuracy of determining the presence or absence of a parking lot.

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. Alternatively, an ECU connected to ultrasonic sonar or LIDAR may extract a parking space by mapping detection results from ultrasonic sonar or LIDAR.

Also, the peripheral information acquisition units 11A to 11D may be configured by radars such as millimeter wave radars instead of ultrasonic sonars. Further, each of the peripheral information acquisition units 11A to 11D of this embodiment may be configured by combining a monocular camera and an ultrasonic sonar or a millimeter wave radar.

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

Further, the camera ECU 12B of this embodiment determines that there is a parking lot on the condition that a plurality of vehicles 2 are detected with a space therebetween. It may be determined that there is a parking lot around the vehicle 1 when a pillar or wall is detected.

Further, the camera ECU 12B of this 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, when a coupon is acquired or information about a store is output. The automatic parking standby mode signal may be output under a further condition that the occupant has obtained information about the parking lot, such as when the vehicle is parked.

As a result, since the automatic parking standby mode is entered when the occupant intends to park, unnecessary transition to the automatic parking standby mode can be prevented, and power consumption due to the operation of the peripheral information acquisition section can be suppressed.

Further, the camera ECU 12B of the present embodiment is included in the camera unit 12, but the camera ECU 12B for processing the image captured by the camera 12A may be incorporated in the driving support ECU 21, for example, or separately from the camera unit 12. It may be something that is 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 increase the engine output. It may be controlled. Further, when the vehicle 1 is an electric vehicle, the motor control unit may control the running speed of the vehicle 1 by controlling the output of the motor that is the driving source of the vehicle.

Further, in this 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 forward, the driving assistance ECU 21 changes the rearward or forward direction of the vehicle 1. is displayed on the operation display unit 26, a bird's-eye view image that displays the synthesized entire circumference of the 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 condition that the shift device 25 is switched from another range such as the D range to the R range. , but not limited to. For example, the operation display unit 26 may be provided with a changeover switch, and the automatic parking standby mode 43 may be switched to the automatic parking mode 41 by the driver operating the changeover switch.

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

1... vehicle (own vehicle), 2... vehicle (other vehicle), 2a... front-rear direction front (front-rear direction of other vehicle), 10... driving support device, 12A... camera, 12B... camera ECU (parking lot presence/absence determination unit), 21... driving support ECU (parking mode switching unit), 41... automatic parking mode, 42... manual parking mode, 43... automatic parking standby mode

Claims (5)

A camera that captures an image of the surroundings of the own vehicle, a parking lot presence/absence determination unit that determines whether or not a parking lot exists around the own vehicle based on at least the image captured by the camera, and a driving support unit. A driving support device,
The parking lot presence/absence determination unit
A condition is that the front and rear surfaces of a plurality of other vehicles parked at intervals are detected based on the image captured by the camera, and that the subject vehicle is traveling at a speed equal to or less than a predetermined speed. As a parking lot detection unit that determines that a parking lot exists around the own vehicle;
When the parking lot detection unit determines that there is a parking lot around the own vehicle, the image captured by the camera is used for the own vehicle regardless of the presence or absence of white lines or frames for parking. A parking space detection unit that detects whether there is a parking space that can be parked,
The driving assistance device, wherein the driving assistance unit automatically provides driving assistance to the parking space when the parking space detection unit detects a parking space that can be parked. The parking space detection unit converts the image captured by the camera into a bird's-eye view image of the surroundings of the own vehicle from directly above, extracts the parking space from the bird's-eye image, and extracts the parking space. 2. The driving support device according to claim 1, wherein it is detected whether there is one location or whether there are multiple locations. The parking space detection unit extracts, from the bird's-eye view image, the parking space in which at least one vehicle can be parked between vehicles parked at intervals or in a parking lot,
3. The driving support device according to claim 2, wherein the driving support unit displays a peripheral image of the own vehicle including the parking space on a display unit. When determining that there is one parking space, the driving support unit automatically sets a first parking space, which is determined to be one, as a target parking position, and there are a plurality of parking spaces. When it is determined that the vehicle is parked in a plurality of parking spaces , a second parking space closest to the vehicle is automatically set as the target parking position. The driving support device according to . The driving support unit causes the own vehicle to automatically move from the current position of the own vehicle toward the target parking position, and then automatically park in the first parking space or the second parking space. The driving support device according to claim 4, characterized by:

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