Driving assist system

Abstract

To provide a driving assist system that inhibits reverse travel from occurring when leaving from a parking zone.SOLUTION: When an automobile S is parked in reverse in a parking zone within a parking lot, a forward image taken by a front camera 2 is used for detecting whether an advancing direction of a vehicle T which travels along an automobile travel road R is a direction of moving in a rightward direction or a direction of moving in a leftward direction. When it is found at a time of leaving the parking zone that all of advancing directions detected during parking are identical and the number of detected advancing directions is equal to or larger than a predetermined number of advancing directions, an audio output device 4 or display device 5 is used for guiding that one-way traffic regarding the advancing direction as a passage direction is ongoing.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a technique for assisting driving when a vehicle leaves a parking space in a parking lot. [Background technology]

[0002] A known technology for assisting drivers when leaving a parking space in a parking lot is one that calculates the direction in which safety checks are required when leaving the parking space onto the road, based on map information that shows the layout of parking spaces and roads within the parking lot and the one-way or two-way traffic direction of the road, and issues a warning if safety check operations are not performed in the calculated direction when leaving the parking lot (for example, Patent Document 1).

[0003] Furthermore, as a technique related to the present invention, there is known a technique for recognizing road markings and road signs from a captured image and identifying the direction of traffic, including one-way streets (for example, Patent Documents 2 and 3). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-5286 [Patent Document 2] Japanese Patent Application Publication No. 2019-56953 [Patent Document 3] International Publication No. 2020 / 15778 Summary of the Invention [Problem to be solved by the invention]

[0005] In order to prevent congestion and collisions, traffic lanes within parking lots are often restricted to one-way traffic. However, in many cases, one-way directions are only indicated by signs at the entrance or road markings, and drivers using parking lots may overlook the one-way directions. Also, drivers may forget about the one-way directions when leaving a parking lot after parking for a long time. This can cause drivers exiting a parking space to end up driving in the wrong direction on a one-way street. If the on-board device is equipped with map information showing the layout of parking spaces and roads within a parking lot and the one-way or two-way traffic direction of the road, it can provide guidance on the direction of travel based on the map information to prevent wrong-way driving. However, for parking lots that do not have such map information or for vehicles that do not have on-board devices equipped with such map information, such guidance on the direction of travel cannot be provided.

[0006] Furthermore, the above describes the case of exiting a parking space onto a roadway, but the same applies to the case of exiting a parking space facing a one-way road onto the road. Therefore, an object of the present invention is to prevent vehicles leaving a parking space from driving in the wrong direction, violating one-way street regulations, without requiring map information on one-way streets. [Means for solving the problem]

[0007] In order to achieve the above object, the present invention provides a driving assistance system that is mounted on a vehicle and assists the vehicle in driving when it leaves a parking space in a parking lot, the system comprising: a direction of travel detection means that, for each other vehicle traveling in the vicinity of a parking space on an exit approach road, which is a road or lane that the vehicle first enters when leaving the parking space while parked in the parking space, detects, as the direction of travel of the other vehicle, one of two opposite directions of travel that would be opposite to each other if the exit approach road were a two-way road, which direction of travel matches the direction of movement of the other vehicle; and a one-way guidance means that, when the driver of the vehicle leaves the parking space, and all of the directions of travel detected by the direction of travel detection means while the vehicle is parked in the parking space are the same direction of travel, and if the number of detected directions of travel detected by the direction of travel detection means while the vehicle is parked in the parking space is greater than a first threshold value that is a predetermined number greater than or equal to 1, provides the driver with one-way guidance in the direction of travel in which all of the directions of travel are the same.

[0008] Here, the driving assistance system may be equipped with a camera that captures an image in front of the vehicle, and the direction of travel detection means may detect the direction of travel of the other vehicle based on an image captured by the camera when the vehicle is parking backward into the parking space. The driving assistance system may also be equipped with a front camera that takes pictures in front of the vehicle and a rear camera that takes pictures behind the vehicle, and the direction of travel detection means may detect the direction of travel of the other vehicle based on an image taken by the front camera when the vehicle is parked backward into the parking space, and may detect the direction of travel of the other vehicle based on an image taken by the rear camera when the vehicle is parked forward into the parking space.

[0009] The driving assistance system may further include road width detection means for detecting a road width of the exit approach road, and the first threshold value may be a number equal to or greater than 2. The one-way guidance means may provide guidance to the driver of the vehicle along a one-way road in which all of the travel directions are the same when the driver of the vehicle exits the parking space if all of the travel directions detected by the travel direction detection means while the vehicle is parked in the parking space are the same travel direction and the number of detected travel directions detected by the travel direction detection means while the vehicle is parked in the parking space is greater than the first threshold value, or if all of the travel directions detected by the travel direction detection means while the vehicle is parked in the parking space are the same travel direction and the number of detected travel directions detected by the travel direction detection means while the vehicle is parked in the parking space is less than the first threshold value and greater than a second threshold value that is equal to or less than the first threshold value and is a number equal to or greater than 1, and the road width detected by the road width detection means is narrower than a predetermined width.

[0010] The driving assistance system may also be provided with a camera that photographs the exterior of the vehicle and a marking identification means that recognizes at least one of road markings and signs based on the image photographed by the camera, and identifies whether the approach road when leaving the depot is one-way or not, and if so, the direction of travel of the one-way street. The first threshold value may be a number equal to or greater than two, and the one-way guidance means may provide guidance to the driver of the vehicle along a one-way street in the same traffic direction when the driver of the vehicle exits the parking space if all of the directions of travel detected by the travel direction detection means while the vehicle is parked in the parking space are the same traffic direction and the number of detected directions of travel detected by the travel direction detection means while the vehicle is parked in the parking space is greater than the first threshold value, or if all of the directions of travel detected by the travel direction detection means while the vehicle is parked in the parking space are the same traffic direction and the number of detected directions of travel detected by the travel direction detection means while the vehicle is parked in the parking space is greater than the first threshold value, and is greater than a second threshold value that is equal to or less than the first threshold value but is a number equal to or greater than one that is smaller than the first threshold value, and the sign identification means has identified a one-way street in the same traffic direction as the traffic direction in which all of the directions of travel are the same on the exit approach road.

[0011] Furthermore, the above driving assistance system may be provided with a head-up display that displays an image to the driver so that it is superimposed on the scenery ahead, and the one-way street guidance means may display an arrow on the head-up display that is superimposed on the exit approach road and visible to the driver, pointing in the direction of travel as seen by the driver, as one-way street guidance for the direction of travel in which all of the directions of travel are the same when the vehicle is parked in reverse into the parking space.

[0012] Alternatively, in the above driving assistance system, the one-way street guidance means may provide guidance on one-way streets in the travel direction by at least one of displaying an arrow indicating the travel direction and outputting a voice message notifying the travel direction. According to the above driving assistance system, the exit access road is the first road or street that a vehicle enters when leaving the parking space, and while the vehicle is parked in the parking space, the system can identify whether the exit access road is one-way and, if so, the direction of travel, from the direction of travel of other vehicles traveling on the exit access road, and provide guidance on one-way traffic when leaving the parking space.

[0013] Therefore, without needing map information for one-way traffic, it is possible to provide driving assistance to the driver so that the vehicle does not leave the parking space in a direction that violates one-way traffic regulations. As a result, it is possible to prevent vehicles leaving the parking space from running in the wrong direction that violates one-way traffic regulations. [Effects of the Invention]

[0014] As described above, according to the present invention, it is possible to prevent vehicles leaving a parking space from driving in the wrong direction, violating one-way street regulations, without requiring one-way street map information. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a block diagram showing a configuration of an in-vehicle system according to an embodiment of the present invention; [Figure 2]FIG. 2 is a diagram showing a shooting range of a camera according to an embodiment of the present invention. [Figure 3] 4 is a flowchart showing a shipping support process according to an embodiment of the present invention. [Figure 4] 10 is a flowchart illustrating a process of identifying a travel direction according to an embodiment of the present invention. [Figure 5] 10A and 10B are diagrams illustrating a processing example of a traffic direction identification process according to an embodiment of the present invention. [Figure 6] 1A to 1C are diagrams illustrating examples of road markings and signs used to identify one-way streets in an embodiment of the present invention. [Figure 7] 1 is a diagram showing an example of traffic direction guidance performed in an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, an embodiment of the present invention will be described. FIG. 1 shows the configuration of an in-vehicle system according to this embodiment. The in-vehicle system is a system installed in an automobile, and includes a driving assistance device 1, a front camera 2, a rear camera 3, an audio output device 4 that has a speaker and outputs audio from the speaker, and a display device 5 such as an LCD display or HUD (head-up display). The driving assistance device 1 also includes a vehicle state acquisition unit 11, a control unit 12, a surrounding situation identification unit 13, a travel direction identification unit 14, and a travel direction guidance unit 15. 2, the front camera 2 is a camera that captures the view ahead of the vehicle and is located, for example, at the position of the rearview mirror on the front windshield. The rear camera 3 is a camera that captures the view behind the vehicle and is located, for example, above the rear windshield.

[0017] The front camera 2 and the rear camera 3 may be shared as cameras for a drive recorder. Returning to Fig. 1, the vehicle state acquisition unit 11 of the driving assistance device 1 acquires information such as the vehicle's shift position, such as P (parking) or D (drive), and the on / off state of the vehicle's power, from a vehicle control / management system such as an ECU. If the vehicle is an engine vehicle (internal combustion engine vehicle), the state in which the engine is running is the power-on state, and the state in which the engine is stopped is the power-off state. If the vehicle is an EV (electric vehicle), the state in which the motor is running is the power-on state, and the state in which the motor is stopped is the power-off state.

[0018] Next, the surrounding situation identification unit 13 of the driving assistance device 1 analyzes the images captured by the front camera 2 and the rear camera 3, and identifies the following situations. Hereinafter, for convenience, roads, streets, passageways, and other paths on which automobiles travel will be collectively referred to as "automobile roads." The surrounding situation identification unit 13 identifies from the captured image whether the vehicle is traveling on a road or parked in a parking space in a parking lot. Furthermore, when the vehicle is parked in a parking space in a parking lot, the surrounding situation identification unit 13 identifies the parking orientation in the parking space from the captured image. Here, the parking orientations to be identified include forward parking (forward parking) and reverse parking (backing up). Furthermore, the surrounding condition identification unit 13 detects the road width (width) of the approach road at the time of exit from the captured image when the vehicle is parked in a parking space in the parking lot. Here, the approach road at the time of exit is the vehicle travel road that the vehicle first enters when exiting the parking space, and in the case of reverse parking, the vehicle travel road adjacent to the front of the parking space where the vehicle is parked is the approach road at the time of exit, and in the case of forward parking, the vehicle travel road adjacent to the rear of the parking space where the vehicle is parked is the approach road at the time of exit.

[0019] In addition, when the vehicle is traveling on a road, the surrounding conditions identification unit 13 recognizes road markings, signs, and one-way street restrictions from the captured image, and identifies whether the road on which the vehicle is traveling is one-way, and if the road on which the vehicle is traveling is one-way, identifies the direction of travel on the one-way street.

[0020] Next, the control unit 12 of the driving assistance device 1 performs a parking exit assistance process as driving assistance when the vehicle leaves a parking space in the parking lot. FIG. 3 shows the procedure for this delivery support process. As shown in the figure, in the leaving assistance process, the control unit 12 of the driving assistance device 1 monitors the occurrence of parking of the vehicle (step 302). Here, for example, the occurrence of parking is detected when it is detected from the state acquired by the vehicle state acquisition unit 11 that the power of the vehicle is turned off with the shift position in P (parking).

[0021] Then, when an automobile is parked, the surrounding conditions identification unit 13 acquires information about whether the automobile is parked in a parking space in the parking lot, and the direction of parking (forward parking, backward parking, etc.) if the automobile is parked in a parking space in the parking lot (step 304).

[0022] Then, it is determined whether the car is parked in a parking space in the parking lot (step 306), and if it is not parked, the process returns to step 302. On the other hand, if the car is parked in a parking space in a parking lot (step 306), it is determined whether the parking direction is reverse parking (step 308) or forward parking (step 310), and if the parking direction is reverse parking, the front camera 2 is set as the monitoring camera (step 312), and if the parking direction is forward parking, the rear camera 3 is set as the monitoring camera (step 314).If the parking direction is neither reverse parking nor forward parking, the process returns to step 302.

[0023] On the other hand, if a monitoring camera is set in step 312 or step 314, the travel direction identifying unit 14 is caused to start a travel direction identifying process (step 316). Then, if it is detected from the state acquired by the vehicle state acquisition unit 11 that the power of the automobile has been turned on (step 318), the traffic direction identification unit 14 is instructed to execute traffic direction identification (step 320), the traffic direction guidance unit 15 is made to execute traffic direction guidance processing (step 322), and the processing returns to step 302.

[0024] The following describes the traffic direction identification process that is started by the traffic direction identification unit 14 in step 316 of the above-described leaving assistance process, and the traffic direction guidance process that is performed by the traffic direction guidance unit 15 in step 322. First, the travel direction identification process performed by the travel direction identification unit 14 will be described. FIG. 4 shows the procedure for this traffic direction identification process. As shown in the figure, in the traffic direction identification process, the traffic direction identification unit 14 detects vehicles traveling on the approach road at the time of leaving from images captured by the surveillance camera (step 402), while monitoring the occurrence of the detection of a new vehicle traveling on the approach road at the time of leaving (step 404) and the occurrence of an instruction to perform traffic direction identification from the control unit 12 (step 406).

[0025] As mentioned above, the exit entrance road is the road that a vehicle first enters when exiting a parking space. When a vehicle is parked in reverse, the front camera 2 is set as the surveillance camera, and when a vehicle is parked in forward, the rear camera 3 is set as the surveillance camera. If a new vehicle is detected traveling on the exit access road (step 404), the traveling direction of the traveling vehicle is detected from the image captured by the surveillance camera (step 408). Here, the traveling direction is determined as either a left-to-right direction or a right-to-left direction, using the left and right sides when the exit access road is viewed from inside the parking space in a direction perpendicular to the exit access road.

[0026] Here, for example, as shown in Figure 5a, when the vehicle S is parked backward into a parking space in a parking lot, the front camera 2 is set as a surveillance camera, and the vehicle driving path R in front of the vehicle S becomes the entrance path when leaving the parking lot. Then, vehicle T traveling along vehicle travel lane R and crossing in front of vehicle S is photographed at each time by front camera 2 installed in the monitoring camera as shown in Fig. 5b. Then, in step 408, the image T' of the other vehicle photographed at each time is tracked, and the traveling direction of vehicle T traveling along vehicle travel lane R is detected from the difference in the position of the image T' of the other vehicle at each time.

[0027] Returning to FIG. 4, if the traveling direction of a vehicle traveling on the exit approach road is detected (step 408), the number of detected traveling directions is incremented by 1 (step 410). For example, if the detected traveling direction is traveling from left to right, the number of detected traveling directions traveling from left to right is incremented by 1 from the current number of detected traveling directions. The initial value of the number of detected traveling directions for each traveling direction is set to 0.

[0028] On the other hand, when an instruction to identify the travel direction is issued from the control unit 12 (step 406), it is checked whether the travel direction has been detected, that is, whether the number of detections for at least one of the travel direction moving from left to right and the travel direction moving from right to left is 1 or more (step 412).If the number of detections for both travel directions is 0 and the travel direction has not been detected, the process proceeds to step 422.

[0029] On the other hand, if a traveling direction has been detected (step 412), it is checked whether a different traveling direction is included in the traveling directions detected so far (step 414). Here, if the number of detected traveling directions, both moving from left to right and moving from right to left, is one or more, it is determined that a different traveling direction is included.

[0030] If the detected travel direction includes a different travel direction (step 414), two-way traffic is identified as the identification result (step 416), and the traffic direction identification process ends. On the other hand, if the detected directions of travel do not include different directions of travel (step 414), that is, if all the detected directions of travel are the same, a check is made to see if the number of detected directions of travel detected so far is greater than a predetermined threshold value Th1 (for example, 10) (step 418).If it is greater, the number of detections for one of the directions of travel moving from left to right and the direction of travel moving from right to left will be 0, and the number of detections for the other direction will be greater than threshold value Th1.As a result of the identification, a one-way street is identified (step 420) in which the direction of travel with the number of detections greater than threshold value Th1 (the detected direction of travel) is the direction of travel, and the traffic direction identification process is terminated.

[0031] On the other hand, if the number of detected travel directions is not greater than the predetermined threshold value Th1 (step 418), that is, if one of the travel directions moving from left to right and the travel direction moving from right to left is 0 and the other is equal to or less than the threshold value Th1 but equal to or greater than 1, proceed to step 422. If the process proceeds to step 422 from step 412 or step 418, an attempt is made to estimate one-way streets and traffic directions (step 422). If the estimation is successful (step 424), the estimated traffic direction is identified as a one-way street as the identification result (step 426), and the traffic direction identification process ends.

[0032] Here, in step 422, for example, if the road width W of the exit approach road shown in FIG. 5a detected by the surrounding condition identification unit 13 is smaller than a predetermined width Wth and the direction of travel has been detected, the traffic direction of the exit approach road is estimated to be a one-way road with the detected direction of travel as the traffic direction. The predetermined width Wth is the minimum road width (e.g., 5.5 m) required for a two-way vehicle travel path minus a predetermined length (e.g., 4 m). However, if the road width W of the exit approach road is smaller than the predetermined width Wth and the number of detections is equal to or greater than a threshold value Th2 (where 2≦Th2≦Th1), the traffic direction of the exit approach road may be estimated to be a one-way road with the detected direction of travel as the traffic direction.

[0033] In step 422, for example, if the surrounding conditions identification unit 13 has identified the one-way traffic of the road on which the vehicle was traveling just before parking into the parking space and its traffic direction from road markings 601 as shown in Fig. 6a or signs 602 as shown in Fig. 6b, and the number of detected travel directions for the travel direction identified by the surrounding conditions identification unit 13 is equal to or greater than threshold value Th3 (where 1≦Th3≦Th1), the one-way traffic direction identified by the surrounding conditions identification unit 13 for the road on which the vehicle was traveling just before parking is estimated as the traffic direction for the approach road at the time of leaving. However, even if the travel direction is not detected (when the number of detected travel directions for both travel directions is 0), the one-way traffic direction identified by the surrounding conditions identification unit 13 may be estimated.

[0034] On the other hand, if it is determined in step 424 that the estimation was not successful, the identification result is deemed to be unidentifiable (step 428), and the travel direction identification process ends. Next, the traffic direction guidance process performed by the traffic direction guidance unit 15 will be described. In the traffic direction guidance process, the traffic direction guidance unit 15 waits for the traffic direction identification process by the traffic direction identification unit 14 to finish, acquires the identification result by the traffic direction identification process, and if the identification result is two-way traffic or cannot be identified, outputs a voice message such as "Please be careful when leaving the parking lot" from the voice output device 4.

[0035] If the identification result indicates that the road is one-way and the traffic direction, guidance on the traffic direction of the one-way road is provided using at least one of the audio output device 4 and the display device 5. The guidance using the voice output device 4 is given by outputting a voice message such as "This is a one-way street, please proceed in the direction of XX", for example. In the case of reverse parking, if the identified traffic direction is moving to the right, the XX direction in this voice message will be the right direction, and the voice message will be "Please go to the right as this is a one-way street." Also, if the identified traffic direction is moving to the left in the case of reverse parking, the XX direction will be the left direction.

[0036] In addition, in the case of forward parking, contrary to the case of reverse parking, if the identified traffic direction is a direction moving to the right, the XX direction will be a left direction, and if the identified traffic direction is a direction moving to the left, the XX direction will be a right direction. Furthermore, guidance using the display device 5 is provided by displaying, for example, a message indicating that the road is one-way and an arrow indicating the direction of travel, as shown in FIG. 7a. In this case, in the case of reverse parking, the arrow points to the right if the identified traffic direction is moving to the right, and points to the left if the identified traffic direction is moving to the left.In the case of forward parking, the arrow points to the left if the identified traffic direction is moving to the right, and points to the right if the identified traffic direction is moving to the left, which is the opposite of the case of reverse parking.

[0037] Furthermore, when a HUD (head-up display) that displays an image superimposed on the view ahead is used as the display device 5, guidance using the display device 5 for reverse parking may be provided by displaying an arrow 700 indicating the direction of travel superimposed on the approach road when leaving the parking lot, as shown in Figure 7b.

[0038] The embodiments of the present invention have been described above. In the above, we have explained the case where the approach road when exiting is a road within the parking lot. However, in the above embodiment, when the parking space where the automobile S is parked faces road R in the parking lot, as shown in Figure 5c, road R is applied as the approach road when exiting. In addition, in the above embodiment, the front camera 2 and the rear camera 3 are used to detect the direction of travel of the vehicle traveling on the approach road when leaving the premises, but this detection of the direction of travel may be performed using the position and movement vector of the vehicle traveling on the approach road when leaving the premises detected using a radar device, LiDAR, or other sensor.

[0039] As described above, according to this embodiment, the exit access road is the first road or street that a vehicle enters when leaving the parking space, and based on the direction of travel of each vehicle traveling on the exit access road while parked in the parking space, it is possible to identify whether the exit access road is one-way and, if so, the direction of travel, and provide guidance on one-way traffic when leaving the space.

[0040] Therefore, without needing map information for one-way traffic, it is possible to provide driving assistance to the driver so that the vehicle does not leave the parking space in a direction that violates one-way traffic regulations. As a result, it is possible to prevent vehicles leaving the parking space from running in the wrong direction that violates one-way traffic regulations. [Explanation of symbols]

[0041] 1...driving assistance device, 2...front camera, 3...rear camera, 4...audio output device, 5...display device, 11...vehicle state acquisition unit, 12...control unit, 13...surrounding condition identification unit, 14...traffic direction identification unit, 15...traffic direction guidance unit.

Claims

1. A driving assistance system that is mounted on a vehicle and assists the vehicle in driving when leaving a parking space in a parking lot, a travel direction detection means for detecting, for each other vehicle traveling around a parking space on an exit approach road, which is a road or carriageway that a vehicle first enters when exiting the parking space while parked in the parking space, the travel direction that matches the direction of movement of the other vehicle out of two travel directions that are opposite to each other if the exit approach road is a two-way road; and one-way guidance means for providing the driver with one-way guidance in a direction in which all of the directions of travel detected by the direction of travel detection means while the vehicle is parked in the parking space are the same when the driver of the vehicle is leaving the parking space, if the number of detected directions of travel detected by the direction of travel detection means while the vehicle is parked in the parking space is greater than a first threshold value which is a predetermined number greater than or equal to 1.

2. 2. The driving assistance system according to claim 1, a camera for capturing an image of the area in front of the vehicle; a driving assistance system characterized in that the travel direction detection means detects the travel direction of the other vehicle based on an image captured by the camera when the vehicle is reverse-parked in the parking space.

3. 2. The driving assistance system according to claim 1, a front camera for capturing an image in front of the vehicle and a rear camera for capturing an image in rear of the vehicle; The driving assistance system is characterized in that the travel direction detection means detects the travel direction of the other vehicle based on an image taken by the front camera when the vehicle is parked backward in the parking space, and detects the travel direction of the other vehicle based on an image taken by the rear camera when the vehicle is parked forward in the parking space.

4. 2. The driving assistance system according to claim 1, a road width detection means for detecting the width of the approach road when leaving the garage; the first threshold is a number equal to or greater than two; The one-way guidance means, when the driver of the vehicle leaves the parking space, all of the travel directions detected by the travel direction detection means while the vehicle is parked in the parking space are the same traffic direction, and the number of detected travel directions detected by the travel direction detection means while the vehicle is parked in the parking space is greater than the first threshold value; When all of the directions of travel detected by the traveling direction detection means while the vehicle is parked in the parking space are the same traffic direction, the number of detected directions of travel detected by the traveling direction detection means while the vehicle is parked in the parking space is equal to or less than the first threshold value and is greater than a second threshold value which is a number equal to or greater than the first threshold value, and the road width detected by the road width detection means is narrower than a predetermined width, A driving assistance system that provides the driver with guidance on one-way streets in which all of the travel directions are the same.

5. 2. The driving assistance system according to claim 1, a camera for photographing the exterior of the vehicle; a marking identification means for recognizing at least one of road markings and signs based on the image captured by the camera, and for identifying whether the approach road at the time of leaving is one-way or not, and if the approach road at the time of leaving is one-way, the direction of travel of the one-way road; the first threshold is a number equal to or greater than two; The one-way guidance means, when the driver of the vehicle leaves the parking space, all of the travel directions detected by the travel direction detection means while the vehicle is parked in the parking space are the same traffic direction, and the number of detected travel directions detected by the travel direction detection means while the vehicle is parked in the parking space is greater than the first threshold value; When all of the travel directions detected by the travel direction detection means while the vehicle is parked in the parking space are the same traffic direction, the number of detected travel directions detected by the travel direction detection means while the vehicle is parked in the parking space is equal to or less than the first threshold value and is greater than a second threshold value which is a number equal to or greater than the first threshold value, and the sign identification means identifies a one-way street in the exit approach road in the same traffic direction as the traffic direction in which all of the travel directions are the same, A driving assistance system that provides the driver with guidance on one-way streets in which all of the travel directions are the same.

6. A driving assistance system according to claim 1, 2, 3, 4 or 5, It is equipped with a head-up display that displays an image to the driver so that it is superimposed on the view ahead. The one-way guidance means displays an arrow on a head-up display, which is superimposed on the exit approach road and is visible to the driver, pointing in the direction of travel as seen by the driver, as guidance for the one-way direction in which all of the directions of travel are the same when the vehicle is reversed into the parking space.

7. A driving assistance system according to claim 1, 2, 3, 4 or 5, The one-way guidance means provides guidance on one-way streets in the travel direction by at least one of displaying an arrow indicating the travel direction and outputting a voice message notifying the driver of the travel direction.

Images