JP7296265B2 - Driving information control device and driving information control system - Google Patents

Description

The present invention relates to a driving information control device and a driving information control system.

2. Description of the Related Art In recent years, there has been an increasing demand for automatic driving and parking assistance for driving automobiles, and along with this, it has become necessary to acquire and manage information such as structures around the own vehicle.

As a technology related to the handling of information related to driving, for example, Patent Document 1 discloses a state determination device mounted on a vehicle, which identifies an object to be visually recognized by the driver of the vehicle. identifying means; condition detecting means for detecting the condition of the driver of the vehicle; A state determination device is disclosed that includes determination means for determining whether or not a state exists.

Further, Patent Document 2 discloses a driving control system having image recognition means for detecting the surrounding environment of a vehicle and a driving control device for controlling the driving of the vehicle, and surrounding environment storage means for storing the surrounding environment of the vehicle. and based on the state of the detection performance of the image recognition means obtained based on the information of the surrounding environment stored in the surrounding environment storage means and the information detected by the image recognition means, in the travel control device A cruise control system is disclosed that changes the mode of cruise control that is performed.

JP 2009-069885 A JP 2016-099635 A

In the prior art described in Patent Document 1, an object that should be visually recognized by the user on the route or around the road is specified while driving, and based on the face image captured by the in-vehicle camera of the in-vehicle user monitoring device. Then, it is determined whether or not the user is visually recognizing the object, that is, whether or not the vehicle is in a drivable state. Objects to be recognized include traffic signals, various signs, white and yellow lines, pedestrian crossings, road markings, and the like. In addition, in automatic driving, parking assistance, etc., it is necessary to specify objects around the own vehicle and control the operation of the own vehicle based on the information. identifies the route traveled by and objects such as objects and white lines around the own vehicle, stores them as surrounding environment information, and controls the own vehicle using the stored surrounding environment information.

However, in the conventional technology described above, although it is possible to specify objects around the vehicle, it is not possible to specify where the specified objects exist. That is, since the identified object cannot be identified individually, it cannot be determined whether the identified object is an object on the travel route of the own vehicle in automatic driving or driving support. Even if it is an object, it may not be unique if there are multiple similar objects on the route, and it is difficult to use it as a landmark for vehicle control such as automatic driving and driving support. Accuracy of information was insufficient.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a driving information control device and a driving information control system capable of improving the accuracy of information as a landmark of an object used for controlling the running of a vehicle. and

The present application includes a plurality of means for solving the above problems. To give one example, a specific object around the vehicle is recognized as a landmark from an image acquired by an imaging sensor provided on the vehicle. A driving information control device that stores the object as information used for controlling driving of the vehicle, wherein the image is selected by an input operation by a user's contact operation on a display screen on which an image captured by the imaging sensor is displayed. Suppose that a particular object within is stored as a landmark.

According to the present invention, it is possible to improve the accuracy of information as a landmark of an object used for controlling traveling of a vehicle.

It is a figure which shows the structure of a vehicle typically. 1 is a functional block diagram showing a vehicle control device that constitutes a driving information control system together with related components; FIG. It is a figure which shows an example of parking assistance control. 7 is a flowchart showing a process related to storing surrounding environment information during manual running; 4 is a flowchart showing processing related to storing surrounding environment information during automatic driving. 7 is a flow chart showing processing contents of temporary storage processing (automatic storage). 7 is a flow chart showing processing contents of temporary storage processing (manual storage). 4 is a flow chart showing the processing contents of permanent storage processing. FIG. 10 is a diagram showing a display on the HMI in temporary storage processing; FIG. 10 is a diagram showing a display on the HMI in temporary storage processing; FIG. 10 is a diagram showing a display on the HMI in temporary storage processing; FIG. 10 is a diagram showing a display on the HMI in temporary storage processing; FIG. 10 is a diagram showing how the HMI displays in the permanent storage process; FIG. 10 is a diagram showing how the HMI displays in the permanent storage process; FIG. 10 is a diagram showing how the HMI displays in the permanent storage process; FIG. 10 is a diagram showing how the HMI displays in the permanent storage process; FIG. 10 is a diagram showing how the HMI displays in the permanent storage process; FIG. 10 is a diagram showing how the HMI displays in the permanent storage process;

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram schematically showing the configuration of a vehicle.

In FIG. 1, a vehicle (hereinafter referred to as own vehicle) 100 includes, for example, an in-cylinder injection gasoline engine 1 as a driving force source, an automatic transmission 2 that can be brought into and out of contact with the engine 1, a propeller shaft 3, The vehicle is a rear-wheel drive vehicle generally configured including a differential gear 4, a drive shaft 5, four wheels 6, a brake device 10 provided for each wheel, and an electric power steering 11. The braking device 10 is provided with a wheel speed sensor 10a that generates and outputs a pulse waveform in accordance with the rotational speed of the wheels 6 .

Imaging sensors 7a to 7d are arranged on the front, rear, left and right sides of the vehicle 100, respectively. The imaging sensors 7a to 7d pick up images of objects around the vehicle 100 and the road environment such as white lines and output them. The mounting positions and number of the imaging sensors 7a to 7d are not limited to those described above, and it is sufficient that they are provided so as to acquire information about the surroundings of the vehicle 100. FIG.

In addition, the own vehicle 100 is provided with a vehicle control device 8, various sensors 9, actuators, equipment, and the like, and these can exchange signals and data through in-vehicle LAN and CAN communication. The vehicle control device 8 obtains information on the inside and outside of the own vehicle 100 from the imaging sensors 7a to 7d, the wheel speed sensor 10a, the sensors 9, etc., and performs automatic parking (parking support control) and automatic driving (automatic driving control). A command value for realizing such control is transmitted to the engine 1, the brake device 10, the electric power steering 11, the transmission 2, and the like.

In the present embodiment, a gasoline engine is exemplified as a driving force source, but the present invention is not limited to this, and for example, a diesel engine, an electric motor, or the like may be used as the driving force source. Further, although a rear-wheel drive system will be described as an example of a drive system, the present invention is not limited to this, and may be applied to front-wheel drive, constant all-wheel drive, or the like. Further, although the vehicle using the automatic transmission has been exemplified and explained, the present invention is not limited to this and may be applied to a vehicle employing a continuously variable transmission (CVT), for example.

FIG. 2 is a functional block diagram extracting and showing the vehicle control device that constitutes the driving information control system together with related components. In this embodiment, a case where a driving information control system is applied as a part of a parking assistance system that performs parking assistance control will be described as an example.

Here, an outline of parking support control will be described.

FIG. 3 is a diagram showing an example of parking assistance control.

FIG. 3 illustrates a case where self-vehicle 100 travels to a storage location along a route (travel route 109) that is used on a daily basis and stops at parking position 101 for parking support control.

In the parking support control, the driving route 109 and environmental information around the driving route, and the parking start position at which parking is started are stored in advance in the parking support system. For example, when the passenger is driving the own vehicle 100 by himself/herself, the travel route 109 and the environment information around the travel route are stored in advance by instructing to start storing the surrounding environment information at the point 102. . Also, here, it is assumed that the point 102 is set as the parking start position 102 .

The objects to be stored are, for example, the electric pole 103, the traffic light 104, the pedestrian crossing 105, the sign 107, the road marking 106, the white line 108, etc. which are not moving at the time of recognition by the parking assistance system.

Then, in this state, when the host vehicle 100 next reaches the parking start position along the same route, the occupant is notified that the parking assist control can be performed. Here, when the occupant instructs the start of parking support control, the parking support system controls the steering and vehicle speed of the own vehicle 100 to automatically travel while following the stored route 109, and the parking position 101. Stop (park) at a position.

In FIG. 2, the driving information control system is composed of imaging sensors 7a to 7d, HMI 31, wheel sensor 34, position detector 35, communication device 36, actuator ECU 40, HMI 41, and vehicle control device 8.

HMIs (Human Machine Interfaces) 31 and 41 are provided with an input switch section 32, a touch operation function section 33, a display device 42, an audio output device 43, etc. as an internal configuration.

The display 42 is configured by, for example, a liquid crystal display, and the display screen of the display 42 displays a bird's-eye view image captured by an imaging sensor, which will be described later, or an image of an image signal from the vehicle control device 8. do. The touch operation function unit 33 has a function of performing various selections and inputting instructions by touch operation, and is configured by, for example, a capacitive touch panel. For example, functions such as the touch operation function unit 33 and the display device 42, which constitute a part of the HMI 31, 41, can be realized by a touch panel type liquid crystal display, and various operations can be performed by touch operations on the display by passengers including the driver. operation can be performed.

The input switch unit 32 is, for example, a dedicated mechanical switch provided around the driver's seat of the own vehicle 100 . The input switch section 32 may be a GUI (Graphical User Interface) switch or the like. The input switch unit 32 receives an instruction to store the surrounding environment prior to parking assistance control or the like or an instruction to automatically control the vehicle by the operation of a passenger including the driver.

The audio output device 43 is configured by, for example, a speaker, is placed at an appropriate location in the vehicle interior of the vehicle 100, and is used to output audio guidance and warning sounds to passengers including the driver.

The imaging sensors 7a to 7d are for imaging information on objects, white lines, and signs, and can be composed of, for example, monocular CCD cameras or stereo cameras. The images captured by the imaging sensors 7a to 7d can be synthesized into a bird's-eye view image of the surroundings including the own vehicle 100, which is viewed from a virtual viewpoint arranged above the vehicle.

The wheel sensor 34 integrates the wheel speed sensor 10a attached to each wheel 6 of the vehicle 100 to detect the rotational speed of the wheel and the detected value detected by the wheel speed sensor 10a to generate and output vehicle speed signal data. It is configured by a controller (not shown) that

The position detector 35 is a direction sensor that measures the direction (orientation) in front of the vehicle 100 and a GPS receiver for GPS (Global Positioning System) that measures the position of the vehicle based on radio waves from satellites. Configured.

The communication device 36 is a device for exchanging communication from the outside of the vehicle 100. For example, road surface information (lane marker position, stop line position, pedestrian crossing, road surface paint type and position) as road information around the vehicle. etc.) and object information (objects existing around the road such as signs, traffic lights, features, etc.). This information includes information detected by sensors installed on the road infrastructure, road surface information (road surface information, object information, etc.) stored in an external data center, and road surface information (road surface information, object information, etc.) detected by other vehicles. information, etc.) can be used. It is also possible to update the pre-stored road information around the vehicle to the latest information using the communication device 36 .

The actuator ECU 40 includes, for example, mechanical elements such as an accelerator pedal that operates the driving force, a brake pedal that operates the braking force, a parking brake, a steering wheel that operates the direction of travel of the vehicle, a shift lever that operates the direction of travel of the vehicle, and signal conversion. It is a device.

The vehicle control device 8 includes a vehicle position estimation unit 51 , an external world recognition information conversion unit 52 , a surrounding environment storage unit 53 , a stored information collation unit 54 , a vehicle control unit 55 , and a vehicle position estimation unit 51 . The information control unit 56 controls operations of the external world recognition information conversion unit 52 , the surrounding environment storage unit 53 , and the stored information collation unit 54 .

The own vehicle position estimator 51 calculates and estimates the position where the own vehicle 100 travels based on the information output from the position detector 35 and the wheel sensors 34 .

The external world recognition information conversion unit 52 acquires (stores) surrounding environment information (such as object positions) manually or automatically from images captured by the imaging sensors 7a to 7d, and output from the vehicle position estimation unit 51. The position of the own vehicle 100 to be detected is converted into coordinate information as a positional relationship in a specific coordinate system (for example, the earth coordinate system).

The surrounding environment storage unit 53 stores the coordinate information obtained by the external world recognition information conversion unit 52 .

The stored information matching unit 54 compares the coordinate information (surrounding environment information, position information) stored in the surrounding environment storage unit 53, the position information of the vehicle 100 from the vehicle position estimation unit 51, and the image sensors 7a to 7d. Based on the detected information of the surrounding environment of the own vehicle 100, the feature amounts of the surrounding environment information obtained from the images captured by the imaging sensors 7a to 7d and the surrounding environment information of the surrounding environment storage unit 53 are collated, It is determined whether or not the object corresponding to the position of the vehicle 100 matches. For example, when the degree of matching of the feature quantity is high, it is determined that the low-speed automatic driving is possible (parking support control is possible). possible state).

The vehicle control unit 55 calculates a target value for controlling the actuator ECU 40 and outputs a control instruction when performing parking support control.

A procedure for storing surrounding environment information in the driving information control system configured as described above will be described.

4 and 5 are flow charts showing the processing related to the storage of the surrounding environment information, FIG. 4 showing manual driving, and FIG. 5 showing automatic driving. 6 and 7 are flow charts showing the processing contents of the temporary storage process, FIG. 6 showing the case of automatic storage, and FIG. 7 showing the case of manual storage, respectively. Also, FIG. 8 is a flow chart showing the processing contents of the permanent storage processing.

In FIG. 4, when the driver is manually driving (step S100), the vehicle control device 8 performs temporary storage processing (see later FIGS. 6 and 7) (step S110). Subsequently, it is determined whether or not the own vehicle 100 is stopped (step S120), and if the determination result is NO, that is, if the vehicle is not stopped (when the vehicle is running, etc.), the determination result becomes YES. The processing of steps S100 to S120 is repeated until

If the determination result in step S120 is YES, that is, if the vehicle 100 is stopped, permanent storage processing (see later FIG. 8) is performed (step S130), and the processing ends.

In FIG. 5, the vehicle control device 8 first determines whether or not a stored landmark is detected (step S210) when the driver is manually driving (step S200). is NO, the manual operation of step S200 is continued until the determination result becomes YES.

Further, if the determination result in step S210 is YES, that is, if a stored landmark is detected, all the passengers including the driver of the own vehicle 100 are informed that automatic travel will be implemented (step S220). ), and the automatic driving is executed when the driver or the passenger instructs the automatic driving (step S230). In this way, by prompting the driver to determine whether or not to implement automatic driving, it is possible to prevent the vehicle from unintentionally starting automatic driving even if it detects a landmark stored in the vehicle's memory. For simplicity of explanation, this embodiment considers only the case where automatic travel is instructed in step S220.

If automatic driving is being performed in step S230, provisional storage processing (see later FIGS. 6 and 7) is performed (step S240), and then it is determined whether or not the host vehicle 100 is stopped (step S250). ). If the determination result in step S250 is NO, steps S230 and S240 are repeated until the determination result becomes YES.

If the determination result in step S250 is YES, that is, if the host vehicle 100 is stopped, permanent storage processing (see later FIG. 8) is performed (step S260), and the processing ends. .

Temporary storage processing will now be described. Temporary storage processing includes automatic storage, that is, the vehicle control device 8 stores landmarks regardless of the intention of passengers including the driver, and manual storage, that is, the vehicle control device 8 stores landmarks that are specified by passengers including the driver. may be stored by touching the screen. In the present embodiment, by enabling automatic memory and manual memory, it is possible to store landmarks in accordance with the intention of passengers including the driver by manual memory while reducing the operation of the driver by automatic memory. becomes possible.

In FIG. 6, the vehicle control device 8 first detects a landmark (step S301) in the case of temporary storage processing for automatic storage (step S300: step S110 in FIG. 4, step S240 in FIG. 5). The mark is notified to the passengers including the driver on the HMI (step S302). Here, a case is exemplified in which the detected landmark is notified to passengers including the driver by surrounding the landmark with an orange frame. Other methods may be used to notify the detected landmarks. For example, a sound may be generated, the surrounding frame may blink, or the color may change with the passage of time. In this way, by enclosing the landmark detected by the HMI with a frame or generating a sound to notify the passenger including the driver, the landmark can be understood not only visually but also aurally, and the landmark including the driver can be understood. It is possible to make the occupant understand what landmark has been recognized and at what timing.

Subsequently, an inquiry is made to the occupants (users) including the driver as to whether or not to temporarily store the visually recognized landmark (step S303). , a message to the effect that storage is impossible is displayed on the HMI (step S304), and the process ends. If the determination result in step S303 is YES, that is, if an instruction to temporarily store is given, a message to the effect that storage has been completed is displayed on the HMI (step S305), and the process ends. .

In FIG. 7, the vehicle control device 8, in the case of manual storage provisional storage processing (step S400: step S110 in FIG. 4, step S240 in FIG. 5), firstly, occupants including the driver are displayed on the HMI camera. The screen is touched (step S401), and the vehicle control device 8 determines whether temporary storage is possible (step S402). If the determination result in step S402 is NO, that is, if temporary storage is not possible due to insufficient memory capacity, a message to the effect that storage is not possible is displayed on the HMI (step S403). End the process. If the determination result in step S402 is YES, that is, if provisional storage is possible, provisional storage is performed, a message to the effect that storage has been performed is displayed on the HMI (step S404), and processing ends. do.

6 and 7, the memory capacity is displayed, for example, in the upper right corner of the camera screen, and the capacity is increased or decreased in real time, so that the memory capacity can be notified to passengers including the driver each time. It is possible to have the user confirm the data, and to be notified of a guideline as to whether or not temporary storage is possible.

8, in the case of permanent storage processing (step S400: step S130 in FIG. 4, step S260 in FIG. 5), the vehicle control device 8 first presses a setting button (for example, the input switch section 32) by a passenger including the driver. is pressed (step S501), a setting screen is displayed on the HMI, and the occupants including the driver select the start of permanent storage processing (step S503), and the HMI displays the image (data file) of the pre-stored landmark and its position. The information is digest-displayed (step S503). Note that the estimated positions of a plurality of temporarily stored landmarks may be displayed using position information such as GPS information or vehicle position estimation information instead of image files. In this case, it is possible to reduce the file size, which is a concern when displaying a plurality of temporarily stored landmarks as images and position information on the HMI.

Subsequently, the passenger including the driver selects by touching the landmark to be stored from among the plurality of temporarily stored landmarks (data files) displayed on the HMI (step S504). By selecting the landmarks to be stored by the occupants including the driver in this way, it is possible to make them understand which route they should travel the next time they manually travel. In addition, by displaying on the HMI, it is possible to visually inform passengers including the driver which landmarks should be stored. In addition, by displaying the image of the stored landmark together with the position display, even if the same landmark is stored, it can be determined based on the position information. Furthermore, the driver can know which route the vehicle should take to start automatic driving, and it is possible to improve the accuracy of the automatic driving start position.

Subsequently, the driver and other passengers are inquired as to whether or not permanent storage is to be performed (step S505), and if the determination result is NO, a message to the effect that the temporary storage will be deleted is displayed on the HMI (step S505). S506), the process ends. If the determination result in step S505 is YES, that is, if permanent storage is selected, permanent storage is performed and a message is displayed on the HMI to the effect that the data has been stored (step S404). , terminate the process.

Here, it is assumed that various information such as permanently stored landmark image files and GPS can be stored in a memory such as an ECU or an SD card. By saving to an SD card or an external medium storage, it becomes possible to save a large amount of memory. In addition, it becomes possible to store landmarks on the traveling route to a plurality of destinations in the SD card, so that the plurality of destinations can be reached. In addition, by saving it in an external storage medium, even if the vehicle changes, it becomes possible to apply it to a vehicle equipped with the same system. Note that the external storage medium may be a storage medium other than the SD card, or may be an external server connected via a network or the like.

The state of display on the HMI in the above temporary storage processing and permanent storage processing will be described with reference to the drawings.

9 to 12 are diagrams showing how HMI displays in temporary storage processing. FIG. 9 shows manual storage, FIG. 10 shows manual and automatic storage, and FIG. 11 shows temporary storage. FIG. 12 shows the state when temporary storage is performed, and FIG. 12 shows the state when temporary storage is not performed.

9 to 12 show display examples of the HMIs 33 and 42, including images of the vehicle 100 in front of the vehicle 100, a sign 201, a traffic light 202, a pedestrian crossing 203, and objects 1_211 and 2_212 as landmarks. , an object 3_213, and a memory capacity 220 are displayed. Note that reference numerals may be omitted in each drawing.

FIG. 9 shows how the passenger including the driver touches the landmark displayed on the camera screen to manually store the landmark. FIG. 9 illustrates a case where an occupant including the driver touches an object (here, object 1_211) to be stored among the objects displayed on the HMI 33 and 42, as in step S401 of FIG.

FIG. 10 shows how landmarks are stored manually or automatically. In FIG. 10, it is assumed that the frequency of being recognized as environment information of the own vehicle 100 traveling on a general road or the like increases. The traffic signal 202 and the like are objects of automatic storage. For example, as in step S302 in FIG. Notifies that it has become a target of memory. In addition, the objects (for example, object 1_211 and object 2_212) that are the targets of manual storage as landmarks are surrounded by red frames 211a and 212a, for example, in order to distinguish them from the objects that are the targets of automatic storage. , the passenger including the driver can be notified of the fact that the manual storage has been performed. As a method of notification, a sound may be generated or a frame may be blinked.

FIG. 11 shows how storage is performed (storage is successful) in the temporary storage process. In FIG. 11, as in step S305 in FIG. 6 and step S404 in FIG. 7, a message 240 notifying that temporary storage has been performed is displayed on the HMI 33, 42 to notify passengers including the driver. At this time, the memory capacity 220 is updated in real time, and the fact is notified to passengers including the driver by encircling it with a frame line 220a or the like. Note that the display content of the memory capacity will be displayed in meters, time, or the like, and will be announced in a display content that is easy for passengers including the driver to grasp. Also, if the memory capacity exceeds the maximum capacity by continuing to store, the oldest memory is deleted and rewritten. If the memory capacity is exceeded, by overwriting the old information and leaving the new information, the new information will remain in the memory of the passengers including the driver, and the information will always be up-to-date. Since the latest information can also be held for the user, the convenience can be improved.

FIG. 12 shows a state in which storage is not performed (storage failed) in temporary storage processing. In FIG. 12, as in step S304 in FIG. 6 and step S403 in FIG. 7, a message 241 is displayed on the HMI 33, 42 to inform the passengers including the driver that the temporary storage is not performed. It should be noted that it is possible to cancel the provisional storage even when the passengers including the driver decide that it is not necessary to store the information.

13 to 18 are diagrams showing how the HMI displays in the permanent storage process. FIG. 13 shows the setting screen, and FIGS. 14 and 15 show objects (data files) to be permanently stored. 16 shows a selection screen for permanent storage, FIG. 17 shows a state when permanent storage is performed, and FIG. 18 shows a state when permanent storage is not performed.

FIG. 13 shows an example of a setting screen 250 displayed on the HMI 33, 42. The setting screen 250 includes a permanent memory selection button 250a for setting permanent memory, a navigation setting button 250b, and other buttons. There are also buttons for setting the FIG. 13 shows how the permanent memory setting screen is displayed after the vehicle stops, and the permanent memory processing is started when the passenger including the driver touches the permanent memory selection button 250a. The setting screen 250 may also include an item for selecting whether or not to perform temporary storage. Also, although the case where the permanent memory selection button 250a is displayed in the hierarchy of the setting screen 250 has been illustrated, it may be displayed in another hierarchy.

FIG. 14 shows a display example of the information list 260 when permanent storage processing is started by the permanent storage selection button 250a in the HMI 33, 42. In the information list 260, the temporarily stored landmark ID 260a is displayed in the image file. 260b, a memory person 260c, and GPS location information 260d are displayed in digest form. When a passenger including the driver touches and selects a landmark to be permanently stored on this screen (see step S504 in FIG. 8), a screen (described later) for selecting whether or not to permit permanent storage is displayed.

FIG. 15 shows another display example of the information list 261 when permanent storage processing is started by the permanent storage selection button 250a in the HMI 33, 42, and an image showing landmarks compared with the case of FIG. A case is illustrated in which only landmark IDs 261a, memorized persons 261b, and GPS location information 261c are displayed, excluding files. When a passenger including the driver touches and selects a landmark to be permanently stored on this screen, a screen (described later) for selecting whether or not to permanently store the landmark is displayed. If the temporarily stored landmarks are displayed as images and position information on the HMI 33 and 42, there is a concern that the file size will become large. can reduce the file size. Further, in this case, since the file size is expected to be reduced, for example, the route information 262 corresponding to the landmarks may be displayed.

FIG. 16 shows a selection screen 270 for allowing passengers including the driver to select whether or not to permanently store the selected landmark (see step S505 in FIG. 8).

When the YES button 270a is selected on the selection screen 270, a message 271 indicating that the file has been deleted without being permanently stored is displayed as shown in FIG. 17 (see step S507 in FIG. 8). The message 271 also includes a message to the effect that a signal indicating that automatic travel is possible is displayed on the HMIs 33 and 42 when the same landmark as the landmark in the permanent memory is detected during manual travel from the next time onward. At this time, the destination of permanent storage may be a memory such as an ECU or an SD card.

When the NO button 270b is selected on the selection screen 270, a message 272 indicating that permanent storage has not been performed is displayed as shown in FIG. 18 (see step S506 in FIG. 8).

In the present embodiment configured as described above, it is possible to improve the accuracy of the information as the landmark of the object used for controlling the running of the vehicle.

<Appendix>
It should be noted that the present invention is not limited to the above-described embodiments, and includes various modifications and combinations within the scope of the invention. Moreover, the present invention is not limited to those having all the configurations described in the above embodiments, and includes those having some of the configurations omitted. Further, each of the above configurations, functions, etc. may be realized by designing a part or all of them, for example, with an integrated circuit. Moreover, each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function.

DESCRIPTION OF SYMBOLS 1... Engine, 2... Transmission, 3... Propeller shaft, 4... Differential gear, 5... Drive shaft, 6... Wheel, 7a-7d... Imaging sensor, 8... Vehicle control device, 9... Sensors, 10... Brake device, DESCRIPTION OF SYMBOLS 10a... Wheel speed sensor 11... Electric power steering 32... Input switch part 33... Touch operation function part 34... Wheel sensor 35... Position detector 36... Communication apparatus 42... Display device 43... Voice output Device 51 Vehicle position estimation unit 52 External recognition information conversion unit 53 Surrounding environment storage unit 54 Stored information collation unit 55 Vehicle control unit 56 Information control unit 100 Vehicle (own vehicle ), 101 Parking position 102 Parking start position 102 Point 103 Telephone pole 104 Traffic light 105 Pedestrian crossing 106 Road marking 107 Sign 108 White line 109 Driving route 109 Route 201 Sign 201a Frame 202 Traffic light 202a Frame 203 Crosswalk 211a Frame 212a Frame 220 Memory capacity 220a Frame line 240 Message 241 Message 250 Setting screen 250a Permanent memory selection button 250b Navi setting button 260 Information list 260b Image file 260c Memory person 260d Location information 261 Information list 261b Memory person 261c Location Information 262 Route information 270 Selection screen 270a YES button 270b NO button 271 Message 272 Message

Claims (4)

A driving information control device that recognizes a specific object around the vehicle as a landmark from an image acquired by an imaging sensor provided in the vehicle and stores the recognized object as information used for controlling the running of the vehicle,
An image captured in advance by the imaging sensor is displayed on a display screen, and a specific object in the image selected by an input operation by a user's contact operation on the display screen is displayed on the predetermined route of the vehicle. A driving information control device characterized by storing as landmarks used for control . an imaging sensor that images the surroundings of the vehicle;
A display input device capable of displaying an image captured by an imaging sensor on a display screen and performing an input operation by a user touching the display screen, and the driving information control device according to claim 1,
The driving information control system, wherein the driving information control device includes a vehicle control unit that controls driving of the vehicle based on the landmark. In the driving information control system according to claim 2,
further equipped with an audio output device,
The driving information control system is characterized in that, when the landmark is stored by the user's operation on the display/input device, the driving information control device notifies the user of that fact through the voice output device. In the driving information control system according to claim 2,
Further comprising a position information acquisition device for acquiring position information of the vehicle,
The driving information control system, wherein the driving information control device displays the landmark and its position together on the display input device.

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