Perimeter monitoring device

Abstract

The peripheral monitoring device includes a photographing device configured to photograph a peripheral area of a vehicle, and a control unit configured to display a peripheral screen including a predetermined peripheral image generated based on an image photographed by the photographing device when predetermined display conditions are satisfied.

Description

TECHNICAL FIELD

[0001] The present application relates to a peripheral monitoring device that displays a peripheral image including a predetermined peripheral image on a display device mounted on a vehicle in a case where a predetermined display condition is established. BACKGROUND

[0002] Conventionally, a peripheral monitoring device that displays a peripheral image including a peripheral image on a display device is known. For example, a peripheral monitoring device (hereinafter, referred to as "conventional device") described in Japanese Patent Application Laid-Open No. 2012-71833 automatically displays a peripheral image including an image of a range including a vehicle body portion having the highest possibility of contact in a case where the vehicle is traveling on a narrow road or a narrow curve. SUMMARY

[0003] The present inventors are studying a peripheral monitoring device that automatically displays a peripheral image in a case where the vehicle is located in the vicinity of a "registered position" that is stored in advance by the driver. Such a peripheral monitoring device needs to erase the registered position due to an upper limit of the storage capacity of a storage device that stores the registered position or the desire of the driver.

[0004] The peripheral monitoring device causes the driver to select a registered position to be erased in a case where the registered position is erased. In this case, the peripheral monitoring device needs to display a screen that enables the driver to determine which position the registered position is on to the driver.

[0005] Although a peripheral monitoring device that displays a registered position on a map of map data stored in a navigation device mounted on a vehicle can be considered, there are the following problems.

[0006] • It cannot be applied to a vehicle that does not have map data.

[0007] • In a case where a plurality of registered positions exist at a relatively close distance, the driver must perform a zoom-in operation for zooming in the map.

[0008] The present application is made in order to address the aforementioned problems. That is, one of the objects of the present application is to provide a peripheral monitoring device that can be applied to a vehicle that does not have map data and enables the driver to determine which position the registered position is on without a zoom-in operation of the map.

[0009] The peripheral monitoring device of the present application (hereinafter, also referred to as "the present device") includes:

[0010] a photographing device (22FR, 22RR, 22L, 22R) configured to photograph a peripheral area of the vehicle; and

[0011] The control unit (20) is configured to cause a surrounding picture including a predetermined surrounding image generated based on an image captured by the imaging device to be displayed on a display device (30) mounted on the vehicle when a predetermined display condition is satisfied,

[0012] The control unit is configured to:

[0013] When the driver of the vehicle performs a registration operation for registering a current position of the vehicle as a registration position (step 705: YES), the surrounding image generated based on an image captured by the imaging device at the current position is acquired as a registration-time image (step 715), and registration position information in which the registration-time image and the current position are associated is stored (step 725),

[0014] When the position condition that the vehicle is located within a predetermined first range (AR1) centered on the registration position is satisfied (step 525: YES), the surrounding picture is displayed on the display device by causing the display condition to be satisfied (step 540) (step 605: YES, step 630, step 640),

[0015] When a predetermined erasure condition is satisfied (step 720: NO), a selection picture (320) including the registration-time image of the stored registration position information is displayed on the display device (step 730),

[0016] The registration position information of the registration-time image selected by the driver in the selection picture is erased (step 740).

[0017] The device of the present application displays a selection picture including a registration-time image, and erases the registration position information of the registration-time image selected by the driver in the selection picture. Thus, the driver can determine which position is the registration position of the registration position information by visually confirming the registration-time image included in the selection picture. Therefore, the device of the present application can also be applied to a vehicle that does not have map data, and the driver can determine which position is the registration position without an enlargement operation of a map.

[0018] In one aspect of the device of the present application,

[0019] The control unit is configured to, when the surrounding picture is displayed on the display device as a result of the position condition being satisfied (step 820: YES), end the display of the surrounding picture when the vehicle becomes located outside a second range set to be wider than the first range centered on the registration position (step 835: YES) (step 840).

[0020] In the present aspect, the display of the surrounding image is ended when the vehicle becomes located outside of a "second range that is set wider than the first range with the registered position as the center" rather than when the vehicle becomes located outside of the first range. Thus, it is possible to reduce the possibility that the display of the surrounding image is repeatedly started and ended even when the accuracy of the determination of the current position of the vehicle VA is poor, so that the vehicle is determined to be located within the first range or determined to be located outside of the first range. Therefore, it is possible to reduce the possibility that the driver becomes tired of the repeated starting and ending of the display of the surrounding image.

[0021] In one aspect of the device of the present application,

[0022] The control unit is configured to:

[0023] determine the current position of the vehicle (25) based on positioning signals received from a plurality of artificial positioning satellites,

[0024] In a case where the current position of the vehicle becomes undeterminable during a period in which the surrounding image is displayed on the display device due to the position condition being satisfied (step 825, "No"), the display of the surrounding image is ended (step 840) when a travel distance of the vehicle from a point in time at which the current position of the vehicle became undeterminable becomes a predetermined threshold distance or more (step 850, "Yes").

[0025] In the present aspect, the display of the surrounding image is ended when the current position of the vehicle becomes undeterminable and the travel distance from the point in time at which the current position of the vehicle became undeterminable becomes a threshold distance or more. Thus, even in a case where the current position of the vehicle becomes undeterminable because the vehicle is located in an underground parking lot or the like and thus cannot receive positioning signals, it is possible to appropriately end the display of the surrounding image.

[0026] In one aspect of the device of the present application,

[0027] The control unit is configured to:

[0028] acquire at least one of an image of a travel direction of the vehicle (302) and an overhead image of a surrounding area of the vehicle (304) as the surrounding image (step 615, step 715),

[0029] display the surrounding image including the surrounding image and the selection image on the display device (step 630, step 640, step 730).

[0030] Thus, the driver can grasp the situation of at least one of the travel direction of the vehicle and the surrounding area of the vehicle by visually confirming the surrounding image.

[0031] In one aspect of the device of the present application,

[0032] The control unit is configured to, in the case where the driver has performed the registration operation (step 705 "Yes"), display the selection screen on the display device by making the erasing condition true when the number of the stored registration position information is equal to or greater than a predetermined threshold (step 720 "No").

[0033] In this aspect, in the case where the number of the stored registration position information (the number of registrations) is equal to or greater than the threshold, the selection screen is displayed to allow the driver to select the registration position information to be erased. Thus, it is possible to prevent the storage capacity of the registration position information from becoming too large.

[0034] In one aspect of the device of the present application,

[0035] The control unit is configured to, in the case where either the operation condition in which the driver has performed a request operation to request the display of the surrounding screen (step 520 "Yes") or the obstacle condition in which an obstacle is detected in the surroundings of the vehicle (step 530 "Yes") is true, display the surrounding screen on the display device by making the display condition true.

[0036] In this aspect, since the surrounding screen is displayed in the case where the operation condition is true, the driver can cause the surrounding screen to be displayed by performing the request operation when the driver wants the surrounding screen to be displayed. Also, in this aspect, since the surrounding screen is displayed in the case where the obstacle condition is true, the surrounding screen can be displayed in the case where an obstacle exists in the surroundings of the vehicle, and it is possible to improve the likelihood that the driver can recognize the obstacle.

[0037] In the above aspect,

[0038] The display device is a touch panel type display device,

[0039] The control unit is configured to:

[0040] In the case where the surrounding screen is displayed on the display device, a registration switch image (306) is also displayed on the display device together with the surrounding screen,

[0041] In the case where the driver has touched the registration switch image (step 705 "Yes"), it is considered that the driver has performed the registration operation, the registration time image is acquired, and the registration position information is stored (step 725).

[0042] In this aspect, since the registration switch image is displayed together with the surrounding screen, it is possible to improve the operability of the driver when the driver performs the registration operation.

[0043] In the above-described aspect,

[0044] The control unit is configured to:

[0045] When the driver touches the registration switch image in a case where the vehicle speed is equal to or lower than a predetermined threshold vehicle speed (step 620 "Yes"), it is considered that the driver has performed the registration operation,

[0046] In a case where the vehicle speed is greater than the threshold vehicle speed (step 620 "No"), even if the driver touches the registration switch image, it is not considered that the driver has performed the registration operation.

[0047] Since the driver is considered to have performed the registration operation only when the driver touches the registration switch image in a case where the vehicle speed is equal to or lower than the threshold vehicle speed, it is possible to reduce the possibility that the driver wants to touch the registration switch image in a case where the vehicle speed is greater than the threshold vehicle speed.

[0048] Further, in the above description, in order to assist understanding of the invention, names and / or reference numerals used in the embodiments are added in parentheses with respect to the structure of the invention corresponding to the embodiments described later. However, the respective constituent elements of the invention are not limited to the embodiments defined by the names and / or reference numerals. Other objects, other features, and other advantages of the present invention will be easily understood from the following description of embodiments of the present invention with reference to the accompanying drawings. Figure 1 The description of the embodiments of the present invention will be described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0049] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like numerals denote like elements, wherein:

[0050] Figure 1 is a schematic system configuration diagram of a peripheral monitoring device of an embodiment of the present invention.

[0051] Figure 2A is a diagram for explaining an outline of the operation of a peripheral monitoring device of an embodiment of the present invention.

[0052] Figure 2B is a diagram for explaining an outline of the operation of a peripheral monitoring device of an embodiment of the present invention.

[0053] Figure 2C is a diagram for explaining an outline of the operation of a peripheral monitoring device of an embodiment of the present invention.

[0054] Figure 2D is a diagram for explaining an outline of the operation of a peripheral monitoring device of an embodiment of the present invention.

[0055] Figure 3 is a diagram illustrating a selection screen displayed by the display device shown in Figure 1

[0056] Figure 4 is a diagram illustrating the first range and the second range.

[0057] Figure 5 is a diagram illustrating Figure 1

[0058] Figure 6 is a diagram illustrating Figure 1

[0059] Figure 7 is a diagram illustrating Figure 1

[0060] Figure 8 is a diagram illustrating Figure 1

[0061] Figure 9 is a diagram illustrating Figure 1 DETAILED DESCRIPTION

[0062] <STRUCTURE>

[0063] As shown in Figure 1

[0064] The surrounding monitoring device 10 is mounted on the vehicle VA.

[0065] ECU is an abbreviation for Electronic Control Unit, and is an electronic control circuit having a microcomputer including a CPU, a ROM, a RAM, and an interface as main constituent components. The ECU is sometimes referred to as a "control unit", a "controller", or a "computer". The CPU realizes various functions by executing instructions (routines, programs) stored in the memory (ROM). The functions of the ECU can also be distributed among a plurality of ECUs.

[0066] ​​​​​​​The periphery monitoring device 10 is provided with a wheel speed sensor 21, a front camera 22FR, a rear camera 22RR, a left camera 22L, a right camera 22R, four front sonars 23FR, four rear sonars 23RR, a camera switch (SW) 24, and a GNSS (Global Navigation Satellite System) receiver 25. These are connected to the PVMECU 20 in a manner capable of data exchange.

[0067] The wheel speed sensor 21 is provided for each wheel of the vehicle VA. Each wheel speed sensor 21 generates a wheel pulse signal each time the corresponding wheel rotates by a predetermined angle. The PVMECU 20 counts the number of pulses per unit time of the wheel pulse signal generated by each wheel speed sensor 21, and acquires the rotational speed of each wheel on the basis of the number of pulses. Also, the PVMECU 20 acquires the vehicle speed Vs representing the speed of the vehicle VA on the basis of the rotational speeds of the wheels. As an example, the PVMECU 20 acquires the average of the wheel speeds of the four wheels as the vehicle speed Vs.

[0068] The front camera 22FR is provided, for example, near the center in the vehicle width direction of the front grille FG of the vehicle VA. The front camera 22FR acquires an image of the area in front of the vehicle VA, that is, a front image, and transmits the front image to the PVMECU 20.

[0069] The rear camera 22RR is provided, for example, near the center in the vehicle width direction of the rear door (not shown) of the vehicle VA. The rear camera 22RR acquires an image of the area behind the vehicle VA, that is, a rear image, and transmits the rear image to the PVMECU 20.

[0070] The left camera 22L is provided, for example, in the left side mirror LSM. The left camera 22L acquires an image of the area on the left side of the vehicle VA, that is, a left side image, by photographing the area, and transmits the left side image to the PVMECU 20.

[0071] The right camera 22R is provided, for example, in the right side mirror RSM. The right camera 22R acquires an image of the area on the right side of the vehicle VA, that is, a right side image, and transmits the right side image to the PVMECU 20.

[0072] If the images photographed by the cameras 22FR to 22R are combined, an image of the area around (360 degrees) the vehicle VA is obtained.

[0073] The four front sonars 23FR are provided at the left end, the left center, the right center, and the right end of the front bumper FB of the vehicle VA, respectively.

[0074] The front sonar 23FR radiates a sound wave, receives a sound wave reflected by a stereoscopic object (hereinafter, sometimes referred to as "obstacle"). The front sonar 23FR acquires a distance from the vehicle VA to the stereoscopic object and a lateral position of the stereoscopic object with respect to the vehicle VA based on the received sound wave as front stereoscopic object information, and transmits the front stereoscopic object information to the PVMECU 20.

[0075] The PVMECU 20 is capable of detecting a stereoscopic object existing in a region from a left front side to a right front side of the vehicle VA based on the front stereoscopic object information received from each front sonar FR 23.

[0076] The four rear sonars 23RR are respectively disposed at a left end, a left center, a right center, and a right end of a rear bumper (not shown) of the vehicle VA.

[0077] The rear sonar 23RR radiates a sound wave, receives a sound wave reflected by a stereoscopic object, acquires a distance to the stereoscopic object and a lateral position of the stereoscopic object based on the received sound wave as rear stereoscopic object information, and transmits the rear stereoscopic object information to the PVMECU 20.

[0078] The PVMECU 20 is capable of detecting a stereoscopic object existing in a region from a left rear side to a right rear side of the vehicle VA based on the rear stereoscopic object information received from each rear sonar 23RR.

[0079] The camera SW 24 is disposed near a steering wheel (not shown) of the vehicle VA at a position operable by a driver of the vehicle VA. If the driver operates the camera SW 24, the PVMECU 20 transmits a captured image of a region in front of the vehicle VA to the display device 30. Figures 2A-2D The front mode screen 300 shown in FIG. 3 is displayed on the display device 30. Further, the front mode screen 300 is sometimes referred to as "peripheral screen".

[0080] The GNSS receiver 25 is a device that receives a positioning signal transmitted from a plurality of artificial positioning satellites. The PVMECU 20 determines a current position (latitude and longitude) of the vehicle VA based on the positioning signal received by the GNSS receiver 25.

[0081] Further, the peripheral monitoring device 10 is provided with a display device 30 and a storage device 31. They are connected to the PVMECU 20 in a manner capable of performing data exchange.

[0082] The display device 30 is disposed in a vehicle cabin of the vehicle VA at a position visible by the driver, and is a touch panel type display through which the driver can perform input by touching a screen displayed on the display device 30. For example, the display device 30 is a multimedia display provided near a center of an instrument panel of the vehicle VA.

[0083] The storage device 26 is a nonvolatile storage device that enables the PVMECU 20 to read and write data. For example, the storage device 26 is a hard disk drive, but is not limited to a hard disk drive, and can be any known storage device or storage medium that enables the PVMECU 20 to read and write data.

[0084] The storage device 26 has an image storage section 310 and a registration position information storage section 312. The registration-time image described later is stored in the image storage section 310. The registration position described later and the registration position information in which the registration-time image is associated are stored in the registration position information storage section 312.

[0085] (Outline of Operation)

[0086] The outline of the operation of the surrounding monitoring device 10 will be described with reference to Figures 2A-2D and Figure 3

[0087] In a case where the vehicle VA enters the T-shaped road as shown in Figure 2A , since visibility is poor in the T-shaped road, the driver wants to confirm the situation on the left and right of the T-shaped road, and operates the camera SW 24. In a case where the vehicle speed Vs is equal to or lower than the first threshold vehicle speed Vsth1 in a case where the camera SW 24 is operated, the surrounding monitoring device 10 displays the front mode screen 300 on the display device 30.

[0088] The front mode screen 300 includes a traveling direction image area 302, a panoramic (PV) image area 304, and a registration switch (SW) image 306.

[0089] The traveling direction image area 302 displays a traveling direction image generated on the basis of the front image acquired by the front camera 22FR.

[0090] The PV image area 304 displays a PV image generated on the basis of the front image, the rear image, the left side image, and the right side image. The PV image is a bird's-eye view image when the surrounding area of the vehicle VA is viewed from a viewpoint vertically above the vehicle VA.

[0091] The registration SW image 306 is an image that the driver touches in a case where the current position is registered as a registration position. If the driver touches the registration SW image 306 in a case where the vehicle speed Vs is equal to or lower than a second threshold vehicle speed vsth that is smaller than the first threshold vehicle speed Vsth1, the surrounding monitoring device 10 regards the touch operation as a registration operation, and registers the current position of the vehicle VA as a registration position.

[0092] After that, as shown in Figure 2B ​As shown, the vehicle VA is parked in the vicinity (just before) of the stop line (i.e., the vehicle speed Vs becomes lower than the 2nd threshold vehicle speed Vsth2). The driver desires to cause the front mode screen 300 to be displayed when the vehicle VA passes through the T-shaped road in future, and touches the registration SW image 306.

[0093] In a case where the vehicle speed Vs is lower than the 2nd threshold vehicle speed Vsth2 and the driver has touched the registration SW image 306, the surrounding monitoring device 10 determines whether the number (hereinafter, operation "registration number") N of the registration position information stored in the registration position information storage section 312 is smaller than a threshold Nth.

[0094] In a case where the registration number N is smaller than the threshold Nth, as shown in Figure 2C As shown, the surrounding monitoring device 10 acquires the front image, the rear image, the left side image, and the right side image, generates the PV image on the basis of these images and generates the traveling direction image on the basis of the front image, and stores the traveling direction image and the PV image as the registration time image in the image storage section 310. Also in this case, the surrounding monitoring device 10 stores the registration position information in which the current position of the vehicle VA and the registration time image are associated in the registration position information storage section 312. In detail, the surrounding monitoring device 10 stores the registration position information in which the current position of the vehicle VA and the "save path indicating the place where the registration time image is stored" are associated in the registration position information storage section 312.

[0095] On the other hand, in a case where the registration number N is equal to or larger than the threshold Nth, as shown in Figure 2D As shown, the surrounding monitoring device 10 displays Figure 3 The selection screen 320 is a screen for causing the driver to select the registration position information to be erased.

[0096] The selection screen 320 will be described with reference to Figure 3 The selection screen 320 will be described with reference to

[0097] The selection screen 320 displays the registration time image of the registration position information stored in the registration position information storage section 312.

[0098] The selection screen 320 includes a check box area 322, a registration time image area 324, an OK image 326, and a cancel image 328.

[0099] The check box image corresponding to each registration time image is displayed in the check box area 322. In a case where the registration time image is not selected, the check box image corresponding to the registration time image is white, and in a case where the registration time image is selected, the check box image corresponding to the registration time image changes to black.

[0100] The image area 324 displays the registration-time images (the travel-direction image and the PV image) at the time of registration.

[0101] In a case where the OK image 326 is touched in a state where at least one registration-time image is selected, the surrounding monitoring device 10 erases the registration position information of the selected registration-time image from the registration position information storage section 312 and also erases the registration-time image of the registration position information from the image storage section 310. Also, the surrounding monitoring device 10 stores the registration position information in which the current position of the vehicle VA and the newly acquired registration-time image are associated to the registration position information storage section 312, and stores the registration-time image to the image storage section 310.

[0102] In a case where the cancel image 328 is touched in a state where at least one registration-time image is selected, the surrounding monitoring device 10 cancels the selection. Also, in a case where the cancel image 328 is touched in a state where none of the registration-time images is selected, the surrounding monitoring device 10 cancels the storage of the new registration position information.

[0103] The surrounding monitoring device 10 of the present embodiment displays the selection screen 320 including the registration-time images of the registration position information stored in the registration position information storage section 312. Thereby, the driver easily determines which position the registration position information is, and thus can erase the registration position information that is not needed.

[0104] The surrounding monitoring device that displays the registration position of the registration position information on the map in order for the driver to select the registration position information to be erased cannot be applied to the vehicle VA that does not have the map data. In contrast, the surrounding monitoring device 10 of the present embodiment stores the registration-time image at the time of storage (registration) of the registration position information, and thus can also be applied to the vehicle VA that does not have the map data. Also, according to the surrounding monitoring device 10 of the present embodiment, even in a case where a plurality of registration positions exist in a relatively close distance, the driver can determine which position the registration position is by visually confirming the registration-time images, and thus does not need the zoom-in operation of the map.

[0105] (Display Condition)

[0106] In a case where the display condition is established, the surrounding monitoring device 10 starts the display of the pre-mode screen 300 to the display device 30.

[0107] The display condition is established in a case where the vehicle speed Vs is equal to or lower than the 1st threshold vehicle speed Vsth1 and the shift position SP is a shift position other than the parking (P) range and the reverse (R) range, and in a case where any one of the following operation condition, the obstacle condition, and the position condition is established.

[0108] Operation condition: The camera SW 24 is operated.

[0109] Obstacle condition: at least one of the front sonar 23FR and the rear sonar 23RR detects a three-dimensional object (obstacle).

[0110] Position condition: the vehicle VA is located within a predetermined first range AR1 (refer to FIG. 2) from a registered position at which the registered position information is registered. Figure 4

[0111] As shown in FIG. 1, for example, the first range AR1 is a circular shape having a predetermined radius r1 centered on the registered position. Figure 4

[0112] (End condition)

[0113] In a case where the end condition is established, the surrounding monitoring device 10 ends the display of the front mode screen 300 to the display device 30, and a screen that is displayed on the display device 30 before the front mode screen 300 is displayed is displayed on the display device 30.

[0114] The end condition is established in a case where the following condition 1 is established.

[0115] Condition 1: the vehicle speed Vs becomes larger than a first threshold vehicle speed Vsth1.

[0116] Further, in a case where the display condition is established because the obstacle condition is established, even if the condition 1 is not established, the end condition is established in a case where the following condition 2 is established.

[0117] Condition 2: neither the front sonar 23FR nor the rear sonar 23RR detects a three-dimensional object.

[0118] Further, in a case where the display condition is established because the position condition is established, even if the condition 1 is not established, the end condition is established in a case where either of the following condition 3 and condition 4 is established.

[0119] Condition 3: the vehicle VA is located outside a second range AR2 shown in FIG. 2. Figure 4 As shown in FIG. 2, for example, the second range AR2 is a circular shape having a predetermined radius r2 centered on the registered position. The radius r2 is longer than the radius r1. Thus, the second range AR2 becomes a wider range than the first range AR1.

[0120] Figure 4

[0121] ​​​​If the display of the front mode screen 300 ends when the condition that the vehicle VA is outside the first range AR1 is met, then even if the accuracy of determining the current position of the vehicle VA is poor, it will still be determined that the current position of the vehicle is either within or outside the first range. Because of this, the start and end of the display of the front mode screen 300 are repeated, which may bore the driver. In this embodiment, since the second range AR2 is set to be wider than the first range AR1, the possibility of the start and end of the display of the front mode screen 300 being repeated can be reduced, thus reducing the possibility of driver boredom.

[0122] Condition 4: When the GNSS receiver 25 becomes unable to receive the positioning signal (i.e., the current position of the vehicle VA becomes undeterminable), the distance traveled by the vehicle VA from the time when the positioning signal becomes unreceived (distance traveled during loss) D becomes a threshold distance Dth or more.

[0123] If the display of the forward mode screen 300 ends when the condition that the GNSS receiver 25 becomes unable to receive the positioning signal is met, then even if the driver wants to see the forward mode screen 300, the display will end, and the driver may become annoyed. According to this embodiment, even if the GNSS receiver 25 becomes unable to receive the positioning signal, the display of the forward mode screen 300 will not end if the vehicle VA has not traveled more than a threshold distance Dth. If the vehicle VA has traveled more than a threshold distance Dth, the necessity for the driver to view the forward mode screen 300 is likely to be lost. Therefore, the possibility of the driver becoming annoyed as described above can be reduced.

[0124] (Specific tasks)

[0125] <Display Condition Decision Routine>

[0126] The CPU of PVMECU20 (hereinafter, unless otherwise specified, "CPU" refers to the CPU of PVMECU20) executes the following every predetermined time interval: Figure 5 The flowchart shows the display condition determination routine.

[0127] Therefore, if the predetermined timing is reached, the CPU will start from... Figure 5 The process begins at step 500 and proceeds to step 505. In step 505, the CPU determines whether all values ​​of the first display flag Xdp1, the second display flag Xdp2, and the third display flag Xdp3 are "0".

[0128] The value of the first display flag Xdpl is set to "1" in the case where the display condition is established because the above operation condition is established, and is set to "0" in the case where the above end condition is established. Further, the CPU sets the value of the first display flag Xdpl to "0" in an initial routine executed when the unillustrated ignition key switch of the vehicle VA is changed from the off position to the on position.

[0129] The value of the second display flag Xdp2 is set to "1" in the case where the display condition is established because the above position condition is established, and is set to "0" in the case where the above end condition is established. Further, the CPU sets the value of the second display flag Xdp2 to "0" in the initial routine.

[0130] The value of the third display flag Xdp3 is set to "1" in the case where the display condition is established because the above obstacle condition is established, and is set to "0" in the case where the above end condition is established. Further, the CPU sets the value of the third display flag Xdp3 to "0" in the initial routine.

[0131] In the case where the values of all of the first display flag Xdpl, the second display flag Xdp2, and the third display flag Xdp3 are "0", the CPU determines "Yes" in step 505, and proceeds to step 510.

[0132] In step 510, the CPU determines whether the vehicle speed Vs is equal to or less than the first threshold vehicle speed Vsth1. In the case where the vehicle speed Vs is greater than the first threshold vehicle speed Vsth1, the CPU determines "No" in step 510, and proceeds to step 595 to temporarily end the present routine.

[0133] In the case where the vehicle speed Vs is equal to or less than the first threshold vehicle speed Vsth1, the CPU determines "Yes" in step 510, and proceeds to step 515. In step 515, the CPU determines whether the shift position SP is either one of the P range and the R range.

[0134] In the case where the shift position SP is either one of the P range and the R range, the CPU determines "Yes" in step 515, and proceeds to step 595 to temporarily end the present routine.

[0135] In the case where the shift position SP is not either one of the P range and the R range, the CPU determines "No" in step 515, and proceeds to step 520. In step 520, the CPU determines whether the camera SW 24 is operated.

[0136] In the case where the camera SW 24 is not operated, the CPU determines "No" in step 520, and proceeds to step 525. In step 525, the CPU determines whether the vehicle VA is located within the first range AR1.

[0137] In the case where the vehicle VA is not located within the first range ARl, the CPU determines "NO" in step 525, and proceeds to step 530. In step 530, the CPU determines whether at least one of the front sonar 23FR and the rear sonar 23RR has detected an obstacle, based on the front object information and the rear object information.

[0138] In the case where neither the front sonar 23FR nor the rear sonar 23RR has detected an obstacle, the CPU determines "NO" in step 530, and proceeds to step 595 to temporarily end the routine.

[0139] On the other hand, in the case where the camera SW 24 is operated when the CPU proceeds to step 520, the CPU determines "YES" in step 520, and proceeds to step 535. In this case, since the operation condition is satisfied, the display condition is satisfied, and therefore, in step 535, the CPU sets the value of the first display flag Xdp l to "1", and proceeds to step 595 to temporarily end the routine.

[0140] On the other hand, in the case where the vehicle VA is located within the first range ARl when the CPU proceeds to step 525, the CPU determines "YES" in step 525, and proceeds to step 540. In this case, since the position condition is satisfied, the display condition is satisfied, and therefore, in step 540, the CPU sets the value of the second display flag Xdp2 to "1", and proceeds to step 595 to temporarily end the routine.

[0141] On the other hand, in the case where at least one of the front sonar 23FR and the rear sonar 23RR has detected an obstacle when the CPU proceeds to step 530, the CPU determines "YES" in step 530, and proceeds to step 545. In this case, since the obstacle condition is satisfied, the display condition is satisfied, and therefore, in step 545, the CPU sets the value of the third display flag Xdp3 to "1", and proceeds to step 595 to temporarily end the routine.

[0142] On the other hand, in the case where the value of any one of the first display flag Xdp l, the second display flag Xdp2, and the third display flag Xdp3 is "1" when the CPU proceeds to step 505, the CPU determines "NO" in step 505, and proceeds to step 595 to temporarily end the routine.

[0143] <Display Control Routine>

[0144] The CPU executes the display control routine illustrated by a flowchart in Figure 6 at predetermined times.

[0145] Therefore, if it becomes a predetermined timing, the CPU proceeds to Figure 6The process starts at step 600, and proceeds to step 605. In step 605, the CPU determines whether the value of any of the first display flag Xdp1, the second display flag Xdp2, and the third display flag Xdp3 is "1".

[0146] In the case where the values of all of the first display flag Xdp1, the second display flag Xdp2, and the third display flag Xdp3 are "0", the CPU determines "No" in step 605, proceeds to step 695, and temporarily ends the routine.

[0147] In the case where the value of any of the first display flag Xdp1, the second display flag Xdp2, and the third display flag Xdp3 is "1", the CPU determines "Yes" in step 605, and sequentially executes steps 610 to 620.

[0148] Step 610: The CPU acquires the front image, the rear image, the left side image, and the right side image from each camera 22FR to 22R.

[0149] Step 615: The CPU generates the PV image based on the front image, the rear image, the left side image, and the right side image, and generates the travel direction image based on the front image.

[0150] Step 620: The CPU determines whether the vehicle speed Vs is below the second threshold vehicle speed Vsth2.

[0151] In the case where the vehicle speed Vs is below the second threshold vehicle speed Vsth2, the CPU determines "Yes" in step 620, and sequentially executes steps 625 and 630.

[0152] Step 625: The CPU sets the first registered SW image as the registration SW image 306.

[0153] Step 630: The CPU transmits the first display instruction including the travel direction image, the PV image, and the first registered SW image to the display device 30.

[0154] Thereafter, the CPU proceeds to step 695, and temporarily ends the routine.

[0155] The display device 30 displays the front mode screen 300 including the travel direction image, the PV image, and the first registered SW image included in the first display instruction, if the first display instruction is received. The display device 30 transmits touch information indicating that the registration SW image 306 is touched to the PVMECU 20, in the case where the first registered SW image is touched.

[0156] On the other hand, in the case where the vehicle speed Vs is larger than the second threshold vehicle speed Vsth2, the CPU determines "No" in step 620, and sequentially executes step 635 and step 640.

[0157] Step 635: The CPU sets the second registration SW image as the registration SW image 306.

[0158] The second registration SW image is preferably an image of a registration SW in a form that is less conspicuous than the first registration SW image. For example, the first registration SW image is a solid line, and the second registration SW image is a dotted line. The color of the second registration SW image can also be a color closer to the color of the background of the front mode screen 300 than the color of the first registration SW image.

[0159] Step 640: The CPU transmits a second display instruction including the travel direction image, the PV image, and the second registration SW image.

[0160] Thereafter, the CPU proceeds to step 695, and temporarily ends the present routine.

[0161] The display device 30 displays the front mode screen 300 including the travel direction image, the PV image, and the second registration SW image included in the second display instruction if the second display instruction is received. Even if the second registration SW image is touched, the display device 30 does not transmit the above-mentioned touch information to the PVMECU 20.

[0162] Since the registration SW image 306 is also displayed together with the travel direction image and the PV image in the front mode screen 300, it is easy for the driver to register the current position of the vehicle VA as the registration position.

[0163] Further, in the case where the vehicle speed Vs is larger than the second threshold vehicle speed Vsth2, even if the registration SW image 306 is touched, the CPU does not recognize that the registration operation of the registration position is performed. On the other hand, in the case where the vehicle speed Vs is the second threshold vehicle speed Vsth2 or less, in the case where the registration SW image 306 is touched, the CPU recognizes that the registration operation is performed. Thus, it is possible to reduce the possibility that the driver wants to perform the touch operation to the registration SW image and performs careless driving in the case where the vehicle VA is traveling at a vehicle speed Vs larger than the second threshold vehicle speed Vsth2.

[0164] <Registration Position Information Registration Routine>

[0165] The CPU executes the registration position information registration routine illustrated by a flowchart in Figure 7 every time a predetermined time elapses.

[0166] Thus, if it becomes the predetermined timing, the CPU sets the registration position information in Figure 7The process starts with Step 700, and proceeds to Step 705. In Step 705, the CPU determines whether or not touch information has been received (i.e., whether or not the registration SW image 306 has been touched).

[0167] In the case where the registration SW image 306 has not been touched, the CPU determines "No" in Step 705, proceeds to Step 795, and temporarily ends the routine.

[0168] In the case where the registration SW image 306 has been touched, the CPU determines "Yes" in Step 705, and successively executes Steps 710 through 720.

[0169] Step 710: The CPU acquires the current position of the vehicle VA based on the position measurement signal received by the GNSS receiver 25.

[0170] Step 715: The CPU generates a PV image based on the front image, the rear image, the left side image, and the right side image acquired from the cameras 22FR through 22R, and generates a travel direction image based on the front image, and acquires the travel direction image and the PV image as the registration-time image.

[0171] Step 720: The CPU determines whether or not the number (registration number) N of pieces of registration position information stored in the registration-time position information is less than a threshold value Nth.

[0172] Step 725: The CPU stores the registration position information in which the current position of the vehicle VA and the registration-time image are associated, to the registration position information storage section 312, and stores the registration-time image to the image storage section 310.

[0173] Thereafter, the CPU proceeds to Step 795, and temporarily ends the routine.

[0174] On the other hand, in the case where the registration number N is equal to or greater than the threshold value Nth when the CPU proceeds to Step 720, the CPU determines "No" in Step 720, and successively executes Step 730 and Step 735.

[0175] Step 730: The CPU displays the selection screen 320 on the display device 30.

[0176] Step 735: The CPU determines whether or not the OK image 326 has been touched in a state where at least one of the registration-time images has been selected in the selection screen 320.

[0177] If OK image 326 is touched while at least one registration image is selected, the CPU determines "yes" in step 735 and proceeds to step 740. In step 740, the CPU erases the registration position information of the selected registration image from the registration position information storage unit 312 and erases the registration image from the image storage unit 310. Afterwards, the CPU proceeds to step 725 to store new registration position information, proceeds to step 795, and temporarily terminates the current routine.

[0178] If the OK image 326 is not touched when the CPU enters step 735, the CPU determines "No" in step 735 and proceeds to step 745. In step 745, the CPU determines whether the deselected image 328 was touched while the image was not selected during registration on the selection screen 320.

[0179] If the cancel image 328 is not touched, the CPU determines "no" in step 745 and returns to step 735.

[0180] If image 328 is touched while the image was not selected during registration, the CPU determines "yes" in step 745 and proceeds to step 750. In step 750, the CPU ends the display of selection screen 320 and displays the previous mode screen 300. Afterwards, the CPU proceeds to step 795 and temporarily terminates this routine.

[0181] <Termination Condition Determination Routine>

[0182] The CPU executes at predetermined intervals. Figure 8 The flowchart shows the termination condition determination routine.

[0183] Therefore, if the predetermined timing is reached, the CPU will start from... Figure 8 The process begins at step 800 and proceeds to step 805. In step 805, the CPU determines whether the value of any one of the first display flag Xdp1, the second display flag Xdp2, and the third display flag Xdp3 is "1".

[0184] If all the values ​​of the first display flag Xdp1, the second display flag Xdp2, and the third display flag Xdp3 are "0", the CPU determines "No" in step 805, proceeds to step 895, and temporarily ends the routine.

[0185] If any of the first display flag Xdp1, the second display flag Xdp2, and the third display flag Xdp3 has a value of "1", the CPU determines "yes" in step 805 and proceeds to step 810. In step 810, the CPU determines whether the vehicle speed Vs is greater than the first threshold vehicle speed Vsth1.

[0186] When the vehicle speed Vs is greater than the first threshold vehicle speed Vsth1, the CPU determines "Yes" in step 810, and proceeds to step 815. In step 815, the CPU sets the values of the first display flag Xdp1, the second display flag Xdp2, and the third display flag Xdp3 to "0". Thereafter, the CPU proceeds to step 895, and temporarily ends the routine.

[0187] When the vehicle speed Vs is less than or equal to the first threshold vehicle speed Vsth1, the CPU determines "No" in step 810, and proceeds to step 820. In step 820, the CPU determines whether the value of the second display flag Xdp2 is "1".

[0188] When the value of the second display flag Xdp2 is "1", the CPU determines "Yes" in step 820, and proceeds to step 825. In step 825, the CPU determines whether the current position of the vehicle VA has been successfully determined (i.e., whether the GNSS receiver 25 has received a positioning signal).

[0189] When the current position of the vehicle VA has been successfully determined (i.e., when the GNSS receiver 25 has received a positioning signal), the CPU determines "Yes" in step 825, and sequentially executes step 830 and step 835.

[0190] Step 830: The CPU sets the value of the loss flag Xlost to "0", and sets the distance D traveled in loss to "0".

[0191] The value of the loss flag Xlost is set to "1" when the current position of the vehicle VA cannot be determined, and is set to "0" when the current position of the vehicle VA has been successfully determined. Further, the CPU sets the value of the loss flag Xlost to "0" in the initial routine.

[0192] The distance D traveled in loss is the distance traveled by the vehicle VA during the period when the current position of the vehicle VA cannot be determined.

[0193] Step 835: The CPU determines whether the vehicle VA is located outside the second range AR2. The second range AR2 is a range centered on the registered position used in the satisfaction of the position condition when the value of the second display flag Xdp2 is set to "1".

[0194] When the vehicle VA is located outside the second range AR2, the CPU determines "Yes" in step 835, and proceeds to step 840. In step 840, the CPU sets the values of the second display flag Xdp2 and the loss flag Xlost to "0", and sets the distance D traveled in loss to "0". Thereafter, the CPU proceeds to step 895, and temporarily ends the routine.

[0195] In the case where the vehicle VA is not located outside the second range AR2 (i.e., in the case where the vehicle VA is located within the second range AR2), the CPU determines "NO" in step 835, proceeds to step 895, and temporarily ends the present routine.

[0196] On the other hand, in the case where the current position of the vehicle VA cannot be determined when the CPU proceeds to step 825 (i.e., in the case where the GNSS receiver 25 does not receive the positioning signal), the CPU determines "NO" in step 825, sequentially executes step 845 and step 850.

[0197] Step 845: The CPU executes a lost distance traveled amount acquisition subroutine.

[0198] In fact, if the CPU proceeds to step 845, the CPU executes the subroutine illustrated by the flowchart in Figure 9 . In this subroutine, the CPU acquires the lost distance traveled amount D described above.

[0199] Step 850: The CPU determines whether the lost distance traveled amount D is equal to or greater than a threshold distance Dth.

[0200] In the case where the lost distance traveled amount D is equal to or greater than the threshold distance Dth, the CPU determines "YES" in step 850, proceeds to step 840, and sets the value of the second display flag Xdp2 to "0". Thereafter, the CPU proceeds to step 895 and temporarily ends the present routine.

[0201] In the case where the lost distance traveled amount D is less than the threshold distance Dth, the CPU determines "NO" in step 850, proceeds to step 895, and temporarily ends the present routine.

[0202] On the other hand, in the case where the value of the second display flag Xdp2 is "0" when the CPU proceeds to step 820, the CPU determines "NO" in step 820, and proceeds to step 855.

[0203] In step 855, the CPU determines whether the value of the third display flag Xdp3 is "1".

[0204] In the case where the value of the third display flag Xdp3 is "1", the CPU determines "YES" in step 855, and proceeds to step 860. In step 860, the CPU determines whether at least one of the front sonar 23FR and the rear sonar 23RR detects an obstacle.

[0205] In the case where at least one of the front sonar 23FR and the rear sonar 23RR detects an obstacle, the CPU determines "YES" in step 860, proceeds to step 895, and temporarily ends the present routine.

[0206] If neither the front sonar 23FR nor the rear sonar 23RR detects an obstacle, the CPU determines "No" in step 860 and proceeds to step 865. In step 865, the CPU sets the value of the third display flag Xdp3 to "0". Afterward, the CPU proceeds to step 895 and temporarily terminates the current routine.

[0207] On the other hand, if the value of the third display flag Xdp3 is "0" when the CPU enters step 855, the CPU determines "no" in step 855, enters step 895 and temporarily ends the routine.

[0208] <Loss Mid-Range Acquisition Subroutine>

[0209] If the CPU enters Figure 8 Step 845, as shown, then from Figure 9 The process begins at step 900 and proceeds to step 905. In step 905, the CPU determines whether the value of the loss flag Xlost is "0".

[0210] If the value of the loss flag Xlost is "0", the CPU determines "yes" in step 905 and proceeds to step 910. In step 910, the CPU sets the value of the loss flag Xlost to "1" and sets the lost travel distance D to "0". Afterwards, the CPU proceeds to step 995 and temporarily terminates this routine, then enters... Figure 8 Step 850 is shown.

[0211] On the other hand, if the value of the loss flag Xlost is "1", the CPU determines "no" in step 905 and executes steps 915 and 920 in sequence.

[0212] Step 915: The CPU retrieves the data from the last execution... Figure 8 The termination condition determination routine shown obtains the vehicle VA's travel distance Da during the period up to the current time point by counting the number of wheel pulse signals generated by the wheel speed sensor 21.

[0213] Step 920: The CPU adds the aforementioned travel distance Da to the lost travel distance D.

[0214] Afterwards, the CPU enters step 995 and temporarily terminates this routine, then proceeds to... Figure 8 Step 850 is shown.

[0215] As explained above, the peripheral monitoring device 10 displays the selection screen 320 of the registration-time image containing the registration position information stored in the registration position information storage section 312 in the case where the registration number N is equal to or more than the threshold value Nth, that is, in the case where the erasing condition is satisfied. The peripheral monitoring device 10 erases the registration position information corresponding to the registration-time image selected in the selection screen 320 from the registration position information storage section 312.

[0216] Thus, the driver can easily determine which registration position information is the one by visually confirming the selection screen 320. Therefore, the driver can correctly select the unnecessary registration position information to be erased. Also, this peripheral monitoring device 10 can be applied to the vehicle VA which does not have map data.

[0217] Also, the peripheral monitoring device 10 ends the display of the front mode screen 300 in the case where the vehicle VA becomes located outside the second range AR2 which is wider than the first range ARl centered on the registration position. Thus, it is possible to reduce the possibility that the display of the front mode screen 300 is repeatedly started and ended.

[0218] Also, the peripheral monitoring device 10 ends the display of the front mode screen 300 in the case where the current position of the vehicle VA becomes undeterminable (that is, in the case where the positioning signal can no longer be received), and the travel distance (travel distance in loss) D of the vehicle VA from the time point when the current position of the vehicle VA became undeterminable becomes equal to or more than the threshold distance Dth. For example, in the case where the vehicle VA is located in an underground parking lot or the like, the current position of the vehicle VA can sometimes become undeterminable. Even in such a case, it is possible to appropriately end the display of the front mode screen 300.

[0219] The present application is not limited to the above-described embodiments, and various modifications can be made within the scope of the present application.

[0220] (First Modification)

[0221] The front mode screen 300 can contain at least one of the travel direction image and the PV image. Also, the registration-time image can contain at least one of the travel direction image and the PV image.

[0222] (Second Modification)

[0223] The display device 30 displays an erasing switch (SW) image which is not shown. The erasing SW image is touched in the case where the driver desires the erasure of the registration position information. The PVECU 20 can be such that, if the registration number N is equal to or more than the threshold value Nth in the case where the erasing SW image is touched, the erasing condition is satisfied, and the selection screen 320 is displayed. As a result, the driver can select the registration position information to be erased by touching the erasing SW image.

[0224] (3rd modification example)

[0225] The 1st range AR1 and the 2nd range AR2 can be a shape other than a circular shape as long as the 2nd range AR2 is a shape wider than the 1st range AR1 with the registration position as the center.

[0226] (4th modification example)

[0227] The peripheral monitoring device 10 can not be provided with the front sonar 23FR and the rear sonar 23RR in a case where the peripheral obstacle of the vehicle VA can be recognized on the basis of the images captured by the cameras 22FR to 22R.

[0228] The front sonar 23FR and the rear sonar 23RR can be remote sensing devices that can detect an object by transmitting a wireless medium other than a sound wave and receiving a reflected wireless medium. Moreover, the number of the front sonar 23FR and the rear sonar 23RR is not limited to four.

[0229] The cameras 22FR to 22R can be cameras that can capture images of a region (a peripheral region) around (360 degrees) the vehicle VA, and the number of the cameras 22FR to 22R is not limited to four.

[0230] (5th modification example)

[0231] The PVMECU 20 of the 5th modification example displays the registration SW image 306 if the vehicle speed Vs is equal to or lower than the 2nd threshold vehicle speed Vsth2 and does not display the registration SW image 306 if the vehicle speed Vs is greater than the 2nd threshold vehicle speed Vsth2 in a case where the front mode screen 300 is displayed.

[0232] (6th modification example)

[0233] The PVMECU 20 of the 6th modification example displays the registration SW image 306 on the front mode screen 300 regardless of the magnitude relationship between the vehicle speed Vs and the 2nd threshold vehicle speed Vsth2. However, the PVMECU 20 performs determination of whether the registration SW image 306 is touched only in a case where the vehicle speed Vs is equal to or lower than the 2nd threshold vehicle speed Vsth2, and performs the processes after the step 710 illustrated in the flowchart of FIG. 7 in a case where the registration SW image 306 is touched. Figure 7

[0234] (7th modification example)

[0235] ​In the above-described embodiment, the PVMECU 20 displays the front mode screen 300 including the travel direction image generated based on the front image in the travel direction of the vehicle VA in the case where the shift position SP is other than the parking (P) range and the reverse (R) range. However, the PVMECU 02 can display a rear mode screen including a travel direction image generated based on a rear image in the travel direction of the vehicle VA in the case where the shift position SP is the reverse (R) range. The rear mode screen is the same structure as the front mode screen 300 except that the travel direction image is an image generated based on a rear direction image.

[0236] (8th Modification)

[0237] The periphery monitoring device 10 can be applied not only to the above-described engine vehicle but also to a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell electric vehicle (FCEV), and an electric vehicle (BEV).

Claims

1. A peripheral monitoring apparatus comprising: an imaging device configured to image a peripheral area of a vehicle; and a control unit configured to cause a peripheral screen including a predetermined peripheral image generated based on an image imaged by the imaging device to be displayed on a display device mounted on the vehicle when a predetermined display condition is satisfied, the control unit being configured to: acquire, as a registration-time image, the peripheral image generated based on an image imaged by the imaging device at a current position of the vehicle when a registration operation for registering the current position as a registration position is performed by a driver of the vehicle, store registration position information in which the registration-time image and the current position are associated with each other, cause the peripheral screen to be displayed on the display device by causing the display condition to be satisfied when a positional condition that the vehicle is located within a predetermined first range centered on the registration position is satisfied, cause a selection screen including the registration-time image of the registration position information to be displayed on the display device when the number of the registration position information stored is equal to or greater than a predetermined threshold value when the registration operation is performed by the driver, and erase the registration position information of the registration-time image selected by the driver in the selection screen.

2. The peripheral monitoring apparatus according to claim 1, the control unit being configured to end the display of the peripheral screen when the vehicle becomes located outside a second range set to be wider than the first range centered on the registration position when the peripheral screen is displayed on the display device due to the positional condition being satisfied.

3. The peripheral monitoring apparatus according to claim 1 or 2, the control unit being configured to: determine the current position of the vehicle based on a positioning signal received from a plurality of artificial positioning satellites, and end the display of the peripheral screen when a travel distance of the vehicle becomes equal to or greater than a predetermined threshold distance from a point in time at which the current position of the vehicle becomes undeterminable during a period in which the peripheral screen is displayed on the display device due to the positional condition being satisfied.

4. The peripheral monitoring apparatus according to claim 1 or 2, the control unit being configured to: acquire at least one of an image of a travel direction of the vehicle and an overhead image of a peripheral area of the vehicle as the peripheral image, and cause the peripheral screen including the peripheral image and the selection screen to be displayed on the display device.

5. The peripheral monitoring apparatus according to claim 1 or 2, the control unit being configured to cause the peripheral screen to be displayed on the display device by causing the display condition to be satisfied when either one of a driver operation of requesting the display of the peripheral screen and an obstacle condition in which an obstacle is detected in a periphery of the vehicle is satisfied in addition to the case in which the positional condition is satisfied.

6. The peripheral monitoring apparatus according to claim 5, the display device being a touch panel type display device, the control unit being configured to: ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ In a case where the display device displays the peripheral view, the registration switch image is also displayed on the display device together with the peripheral view, In a case where the driver touches the registration switch image, the registration operation is deemed to be performed by the driver, the registration-time image is acquired, and the registration position information is stored.

7. The peripheral monitoring device according to claim 6, the control unit is configured to: In a case where the driver touches the registration switch image when the vehicle speed, i.e., the vehicle speed, is below a predetermined threshold vehicle speed, the registration operation is deemed to be performed by the driver, In a case where the vehicle speed is greater than the threshold vehicle speed, even if the driver touches the registration switch image, the registration operation is not deemed to be performed by the driver.

Images