Control program and control method

Abstract

To materialize accurate outputs related to the travel location of a vehicle by utilization of a mobile terminal.SOLUTION: The control program stored in the storage medium of a mobile terminal includes instructions for causing the processor of the mobile terminal to execute: taking the setting position Ps of the mobile terminal in a host vehicle as a point of reference and recognizing a lane marker marked position Pm that is marked on a road, as external recognition processing for externally captured image data Do generated by capturing an outside image of the host vehicle from the mobile terminal; taking the setting position Ps as a point of reference and recognizing a position Pn of interest defined to the host vehicle, as internal recognition processing on internally captured image data Di generated by capturing an internal image of the host vehicle from the mobile terminal; and estimating the position Pn of interest converted to a relative position based on the marked position Pm to be a travel position and causing it to be reflected in the output to the inside of the host vehicle, as output processing related to the travel position of the host vehicle.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present disclosure relates to a technology for controlling driving assistance of a vehicle using a mobile terminal that can be installed inside the vehicle. [Background technology]

[0002] In the technology disclosed in Patent Document 1, a navigation device such as a mobile phone, which is a mobile terminal, is installed inside the vehicle to assist driving. Route guidance information in this technology is generated by capturing images of the exterior of the vehicle using a camera in the navigation device, and a navigation display is output to guide the vehicle along a recognized driving lane based on the image information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-32118 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology disclosed in Patent Document 1, it is assumed that the setting position of a mobile phone or the like serving as a navigation device in a vehicle is determined according to the preferences of the occupant. In this case, there is a concern that an error may occur in the vehicle's driving position output as route guidance information because the relative position of the mobile device to the driving lane recognized based on image information captured by the mobile device varies depending on the setting position.

[0005] An object of the present disclosure is to provide a control program that realizes an accurate output related to the traveling position of a vehicle by using a mobile terminal. Another object of the present disclosure is to provide a control method that realizes an accurate output related to the traveling position of a vehicle by using a mobile terminal. [Means for solving the problem]

[0006] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference characters in parentheses in this section indicate the correspondence with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0007] A first aspect of the present disclosure is A control program stored in a storage medium (62) of a mobile terminal (1) that can be installed inside a host vehicle (10), the control program including instructions to be executed by a processor (60) in the mobile terminal that controls driving assistance for the host vehicle, As an external recognition process for external image data (Do) generated by capturing an image of the outside of the host vehicle from the mobile terminal, the marking position (Pm) of a lane marker (90) marked on a road (9) is recognized based on a setting position (Ps) of the mobile terminal on the host vehicle; As an interior recognition process for the interior image data (Di) generated by capturing an image of the interior of the host vehicle from the mobile terminal, a focus position (Pn) defined in the host vehicle is recognized based on the setting position of the mobile terminal in the host vehicle; As an output process related to the running position of the host vehicle on the road, the program includes instructions to execute the following: converting the target position into a relative position based on the marking position, estimating the target position as the running position, and reflecting this in the output to the inside of the host vehicle.

[0008] A second aspect of the present disclosure is A control method executed by a processor (60) of a mobile terminal (1) that can be installed inside a host vehicle (10) for controlling driving assistance of the host vehicle (10), comprising: As an external recognition process for external image data (Do) generated by capturing an image of the outside of the host vehicle from the mobile terminal, the marking position (Pm) of a lane marker (90) marked on a road (9) is recognized based on a setting position (Ps) of the mobile terminal on the host vehicle; As an interior recognition process for the interior image data (Di) generated by capturing an image of the interior of the host vehicle from the mobile terminal, a focus position (Pn) defined in the host vehicle is recognized based on the setting position of the mobile terminal in the host vehicle; The output processing related to the running position of the host vehicle on the road includes estimating the target position converted into a relative position based on the marking position as the running position and reflecting this in the output to the inside of the host vehicle.

[0009] In this way, in the first and second aspects, the external recognition processing for the external image data generated by capturing an image of the outside of the host vehicle from the mobile terminal recognizes the marking positions of lane markers marked on the road based on the setting position of the mobile terminal in the host vehicle. At the same time, in the first and second aspects, the internal recognition processing for the internal image data generated by capturing an image of the inside of the host vehicle from the mobile terminal recognizes the focus position defined in the host vehicle based on the setting position of the mobile terminal in the host vehicle.

[0010] Therefore, according to the first and second aspects, as an output process related to the running position of the host vehicle on the road, the target position converted into a relative position based on the marking position is estimated as the running position reflected in the output to the inside of the host vehicle. This estimation makes it possible to output an accurate running position of the host vehicle while suppressing the influence of the setting position of the mobile terminal. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram illustrating the internal environment of a host vehicle to which an embodiment is applied. [Figure 2] FIG. 1 is a schematic diagram illustrating an external environment of a host vehicle to which an embodiment is applied. [Figure 3] FIG. 1 is a front view illustrating the physical configuration of a mobile terminal according to an embodiment. [Figure 4] FIG. 2 is a rear view illustrating the physical configuration of a mobile terminal according to one embodiment. [Figure 5] FIG. 2 is a block diagram showing the electrical configuration of a mobile terminal according to an embodiment. [Figure 6] FIG. 1 is a schematic diagram illustrating internal imaging data according to one embodiment. [Figure 7] FIG. 1 is a schematic diagram illustrating external imaging data according to one embodiment. [Figure 8] FIG. 2 is a block diagram illustrating a functional configuration of a mobile terminal according to an embodiment. [Figure 9] 1 is a flowchart illustrating a control flow according to one embodiment. [Figure 10] FIG. 2 is a schematic diagram illustrating a control flow according to an embodiment. [Figure 11] FIG. 2 is a schematic diagram illustrating a control flow according to an embodiment. [Figure 12] FIG. 10 is a front view illustrating a control flow according to an embodiment. [Figure 13] 10 is a flowchart showing a control flow according to a modified example of FIG. 9. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0013] As shown in FIG. 1, in one embodiment, a mobile terminal 1 can be installed inside a host vehicle 10. Here, the host vehicle 10 is a moving body, such as a car or truck, that can travel on a road 9 as shown in FIG. 2 with an occupant on board. The host vehicle 10 can be considered an ego-vehicle from a perspective centered on the host vehicle 10. The host vehicle 10 is provided with at least one of manual driving operations by an occupant and automated driving operations by a vehicle control device. When both operations are provided, the automated driving mode can be realized by advanced driving assistance control, such as driving assistance or partial driving automation, in which the occupant performs some or all of the dynamic driving tasks.

[0014] 3 and 4, the mobile terminal 1 is, for example, a smartphone or tablet terminal that is carried from outside and taken out by an occupant of the host vehicle 10. The mobile terminal 1 may be fixed in position inside the host vehicle 10, for example, via a holder on the instrument panel, as shown in FIG.

[0015] 3 to 5, the mobile terminal 1 includes a casing 2, a display unit 3, a communication unit 4, an imaging unit 5, and a control unit 6. The casing 2 is made of, for example, metal and / or resin and is formed in the shape of a flat rectangular box as shown in FIGS.

[0016] 3 and 5 is, for example, a liquid crystal panel or an organic EL panel, with a display screen that is physically exposed on the inner surface of the casing 2. The display unit 3 displays, on the screen, information to be presented to the occupant of the host vehicle 10, particularly in this embodiment, navigation information for assisting the occupant in driving the host vehicle 10.

[0017] The communication unit 4 shown in FIG. 5 acquires communication information usable by the mobile terminal 1 via wireless communication. The communication unit 4 may be a positioning type that receives positioning signals from GNSS (Global Navigation Satellite System) satellites present in the external world of the host vehicle 10. The positioning type communication unit 4 is, for example, a GNSS receiver. The communication unit 4 may be a V2X type that transmits and receives communication signals to and from a V2X system present in the external world of the host vehicle 10. The V2X type communication unit 4 is, for example, at least one of a DSRC (Dedicated Short Range Communications) communication device and a cellular V2X (C-V2X) communication device. The communication unit 4 may be an in-vehicle communication type that can transmit and receive communication signals to and from a communication device of the host vehicle 10. The in-vehicle communication type communication unit 4 is, for example, at least one of a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, an infrared communication device, etc.

[0018] 3 to 5, the imaging unit 5 has two types of monocular cameras 50 and 52. The in-camera 50 is, for example, a CMOS (Complementary Metal Oxide Semiconductor) sensor, and has an imaging opening optically exposed on the inner surface of the casing 2 to form an imaging field of view, as shown in Fig. 3. The out-camera 52 is, for example, a CMOS sensor, and has an imaging opening optically opened on the outer surface of the casing 2 to form an imaging field of view, as shown in Fig. 4.

[0019] The mobile terminal 1 is set in a normal position, with the inner surface of the casing 2 on the inner camera 50 side facing rearward inside the host vehicle 10 as shown in Fig. 1, and the outer surface of the casing 2 on the outer camera 52 side facing forward outside the host vehicle 10 as shown in Fig. 2. Hereinafter, the position where the mobile terminal 1 is set in the normal position will be referred to as the setting position Ps (see Figs. 10 and 11 described later).

[0020] The in-camera 50 in the normal orientation at the setting position Ps captures an image of the interior of the host vehicle 10 that fits within its imaging field of view, thereby generating internal imaging data Di as shown in Fig. 6. At this time, at least one of the center pillar 12, rear pillar 13, side windshield 14, rear windshield 15, and rear seat 16 within the host vehicle 10 will fit within the imaging field of view of the in-camera 50 and will be captured in the internal imaging data Di.

[0021] The outer camera 52, which is in the normal attitude at the setting position Ps, captures an image of the outside of the host vehicle 10 that fits within its imaging field of view through the front windshield 11 (see FIG. 1), thereby generating external image data Do as shown in FIG. 7. At this time, the road surface of the road 9 outside the host vehicle 10 fits within the imaging field of view of the outer camera 52 and is captured in the external image data Do. Therefore, particularly in this embodiment, when the host vehicle 10 is traveling on the road 9, it is preferable to determine the normal attitude at the setting position Ps so that lane markers 90, which are marked in the form of lines to demarcate the driving lanes on the road 9, are captured in the external image data Do.

[0022] The control unit 6 shown in Fig. 5 includes a dedicated computer. The control unit 6 is connected to the display unit 3 and the communication unit 4, thereby enabling it to control the operation of these units 3 and 4. The dedicated computer constituting the control unit 6 includes at least one processor 60 and one storage medium 62. The processor 60 includes at least one type of core selected from the group consisting of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a RISC (Reduced Instruction Set Computer)-CPU.

[0023] The storage medium 62 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs, data, etc. Here, "storage" may refer to accumulation in which data is retained even when the mobile terminal 1 is turned on or off, or may refer to temporary storage in which data is erased when the mobile terminal 1 is turned on or off.

[0024] A portion of the storage medium 62 functions as a map database that stores map information usable by the mobile terminal 1. The map database acquires and stores the latest map information, for example, by communicating with an external center via a V2X-type communication unit 4. Here, the map information is converted into two-dimensional or three-dimensional data as information representing the driving environment of the host vehicle 10. The map information may include road information representing at least one of the following: the position, shape, and road surface condition of the road 9. The map information may also include marking information representing at least one of the following: the position and shape of signs and lane markers 90 attached to the road 9. The map information may also include structure information representing at least one of the following: the position and shape of buildings and traffic lights facing the road 9.

[0025] Another part of the storage medium 62 may function as an application memory that stores a driving assistance application, which is a control program for controlling driving assistance of the host vehicle 10. The processor 60 in the control unit 6 of the mobile terminal 1 executes a plurality of instructions included in the driving assistance program stored in the application memory. This causes the control unit 6 to construct a plurality of functional blocks for controlling the driving assistance of the host vehicle 10. The plurality of functional blocks constructed by the control unit 6 include a navigation block 100, an internal recognition block 120, and an external recognition block 140, as shown in FIG. 8 .

[0026] A control method in which the control unit 6 of the mobile terminal 1 controls driving assistance for the host vehicle 10 is executed in accordance with the control flow shown in Fig. 9 by cooperation of these blocks 100, 120, and 140. This control flow is executed in response to a command to start a driving assistance application being input to the mobile terminal 1 by an occupant of the host vehicle 10. Note that each "S" in this control flow represents a step executed by multiple commands included in the control program.

[0027] In S10, the navigation block 100 determines whether the mobile terminal 1 is set in a normal position at a setting position Ps inside the host vehicle 10, which is in a stopped state. In this case, the stopped state may be a completely stopped state in which the host vehicle 10's internal combustion engine and / or electric motor is stopped, causing the host vehicle 10 to travel at a zero speed. In addition, the stopped state may be an idle state in which the host vehicle 10's internal combustion engine is idling, causing the host vehicle 10 to travel at a zero speed. Regardless of the stopped state, the determination in S10 may be based on at least one of the following: position information, which is communication information from the positioning type communication unit 4; speed information and / or position information, which is communication information from the communication device of the host vehicle 10 via the in-vehicle communication unit 4; and sensing information from the inertial sensor of the mobile terminal 1.

[0028] S10 is repeatedly executed while a negative determination is made in S10. If a positive determination is made in S10, the control flow proceeds to S20. In S20, the navigation block 100 starts navigation display so that the running position of the host vehicle 10, which is superimposed on the map information, is output from the display unit 3 to the inside of the host vehicle 10.

[0029] In S30 following S20 in the control flow, the interior recognition block 120 acquires interior image data Di generated by capturing images of the interior of the host vehicle 10 from the mobile terminal 1. Furthermore, in S40 following S30 in the control flow, the interior recognition block 120 performs interior recognition processing on the acquired interior image data Di.

[0030] Specifically, in the internal recognition process, coordinates that identify a position of interest Pn defined in the host vehicle 10 are recognized in an orthogonal coordinate system based on the setting position Ps of the mobile terminal 1 inside the host vehicle 10, as shown in Fig. 10. In this case, the orthogonal coordinate system for recognizing the position of interest Pn may be defined by three orthogonal axes that are imaginarily extended from the zero point along the three orthogonal sides of the casing 2, with the zero point being, for example, the image capture origin of the in-camera 50 or the out-camera 52 at the setting position Ps.

[0031] Here, particularly, as the focus positions Pn in this embodiment, a first focus position Pn1 defined at the center 17 in the lateral direction (i.e., the left-right direction) of the host vehicle 10 and second focus positions Pn2 defined at the side edge portions 18, 19 on both sides in the lateral direction of the vehicle 10 are recognized. As described above, in S40, the coordinates of each focus position Pn1, Pn2 are recognized from the coordinates in a Cartesian coordinate system of at least one of the above-mentioned elements 12 to 16, etc., as targets reflected in the internal image data Di. Therefore, to recognize the coordinates of each focus position Pn1, Pn2, it is preferable to use an estimation method that analyzes the aberration of the elements 12 to 16, etc. with respect to a near target using, for example, a DNN (Deep Neural Network) model and estimates the coordinates of each portion 17 to 19 from the distance to the near target.

[0032] 9, in S50 following S40 in the control flow, the navigation block 100 determines whether the host vehicle 10 has started traveling on the road 9. This determination may be based on at least one of, for example, location information, which is communication information from a positioning type communication unit 4, speed information and / or location information, which is communication information from a communication device of the host vehicle 10 via an in-vehicle communication type communication unit 4, and sensing information from an inertial sensor of the mobile terminal 1.

[0033] While a negative determination is made in S50, S50 is repeatedly executed. If a positive determination is made in S50, the control flow proceeds to S60. In S60, the exterior recognition block 140 acquires exterior image data Do generated by capturing an image of the exterior of the host vehicle 10 from the mobile terminal 1.

[0034] In S70 following S60 in the control flow, the external recognition block 140 performs external recognition processing on the acquired external image data Do. Specifically, in the external recognition processing, targets reflected in the external image data Do are recognized in the external environment of the vehicle 10, including the road 9 on which the vehicle 10 is traveling.

[0035] In S80 following S70 in the control flow, the external recognition block 140 determines whether or not lane markers 90 marked on the road 9 as external objects have been recognized through external recognition processing of the external image data Do. This determination is essentially equivalent to monitoring whether or not the host vehicle 10 is located on a driving lane defined by the lane markers 90 marked on the road 9. Therefore, if a positive determination is made in S80, the control flow proceeds to S90.

[0036] In S90, the external recognition block 140 performs additional external recognition processing on the external image data Do containing the recognized lane markers 90. Specifically, in the additional external recognition processing, coordinates specifying the marking position Pm of the lane markers 90 marked on the road 9 outside and in front of the host vehicle 10 are recognized in an orthogonal coordinate system based on the setting position Ps of the mobile terminal 1 inside the host vehicle 10, as shown in FIG. 10 . In this case, the orthogonal coordinate system for recognizing the marking position Pm may be defined by three imaginary orthogonal axes extending from the zero point along three orthogonal sides of the casing 2, with the origin of image capture of, for example, the in-camera 50 or the out-camera 52 at the setting position Ps as the zero point of the coordinate reference. Therefore, to recognize the coordinate of the marking position Pm, an estimation method may be used, for example, by analyzing the recognized width of the lane marker 90 based on a general standard width using a DNN model, and estimating the coordinates from the distance to a specific point on the marker 90.

[0037] 9, in S100 following S90 in the control flow, the navigation block 100 performs output processing related to the traveling position of the host vehicle 10 on the road 9 based on the coordinate-recognized positions Pn and Pm. Specifically, the output processing first converts the coordinates of the first and second target positions Pn1 and Pn2, which are the target position Pn of the host vehicle 10, into coordinates of relative positions based on the marked position Pm of the lane marker 90, as shown in FIG. 11. As a result, in the output processing, the relative positions of the target positions Pn1 and Pn2 with respect to the marked position Pm are estimated as the true traveling position of the host vehicle 10 on the road 9.

[0038] Furthermore, in the output process of S100, a navigation display is realized so that the traveling position of the host vehicle 10 estimated at the relative position of the focus position Pn with respect to the marking position Pm is output from the display unit 3 to the inside of the host vehicle 10. At this time, the navigation display is output in which the traveling position estimated at the relative position of the first focus position Pn1 with respect to the marking position Pm is assigned to a traveling lane in accordance with the left-right relationship with the marking position Pm in the width direction (i.e., the left-right direction) of the road 9, as exemplified by a triangular mark in Fig. 12. Therefore, particularly in this embodiment, it is preferable that the navigation display be output so that the traveling lane to which the traveling position estimated at the relative position of the first focus position Pn1 with respect to the marking position Pm is assigned is changed in response to the left-right relationship with the marking position Pm in the width direction of the road 9 being reversed from the left-right relationship at S100 in the previous execution of the control flow.

[0039] In the output process of S100, in response to the approach distance of the travel position estimated based on the relative position of the second focus position Pn2 with respect to the marking position Pm decreasing to within a warning range in the width direction of the road 9, a navigation display output may be added to warn the host vehicle 10 of the decrease. In this case, whether or not a warning is necessary may be determined based on the approach distance between the second focus position Pn2 on each side and the nearest marking position Pm on the corresponding side. In addition to the navigation display output, the warning may also be realized by an alarm output or audio output from an audio unit of the mobile terminal 1. The warning range that determines whether or not such a warning is necessary may be set to a range that is less than a threshold value, such as a minimum distance, related to the safety margin that must be maintained between the host vehicle 10 and the lane marker 90 in order for the host vehicle 10 to stay in the current travel lane.

[0040] 9, if a negative determination is made in S80, the control flow proceeds to S110. In S110, the navigation block 100 outputs a navigation display different from that in S100 as another output process related to the traveling position of the host vehicle 10 on the road 9. Specifically, the navigation display is realized so that the traveling position of the host vehicle 10 estimated based on the position information, which is communication information from the positioning type communication unit 4, is output from the display unit 3 to the inside of the host vehicle 10.

[0041] In either S100 or S110, when the output process for the current execution of the control flow is completed in relation to the driving position reflected in the output to the inside of the host vehicle 10, the flow proceeds to S120. In S120, the navigation block 100 determines whether an end condition for the driving assistance application is met. The end condition may be met when an occupant of the host vehicle 10 inputs an end command for the driving assistance application to the mobile terminal 1. The end condition may also be met when the setting of the mobile terminal 1 is released at the setting position Ps. The end condition may also be met when the power source, which is an internal combustion engine and / or an electric motor, in the host vehicle 10 stops. Here, the stop of the power source may be monitored based on communication information from a communication device of the host vehicle 10 via, for example, the in-vehicle communication unit 4.

[0042] If a negative determination is made in S120, the control flow returns to S60, and the steps from S60 onwards are repeated. On the other hand, if a positive determination is made in S120, the navigation display on the display unit 3 is erased, and the control flow ends.

[0043] (Action and effect) The effects of the present embodiment described above will be explained below.

[0044] In this embodiment, as an external recognition process for external image data Do generated by capturing an image of the outside of the host vehicle 10 from the mobile terminal 1, the marking position Pm of the lane markers 90 marked on the road 9 is recognized based on the setting position Ps of the mobile terminal 1 on the host vehicle 10. At the same time, in this embodiment, as an internal recognition process for internal image data Di generated by capturing an image of the inside of the host vehicle 10 from the mobile terminal 1, a focus position Pn defined on the host vehicle 10 is recognized based on the setting position Ps of the mobile terminal 1 on the host vehicle 10.

[0045] For these reasons, in this embodiment, as an output process related to the traveling position of the host vehicle 10 on the road 9, the target position Pn converted into a relative position based on the marking position Pm is estimated as the traveling position reflected in the output to the inside of the host vehicle 10. This estimation makes it possible to output information related to the accurate traveling position of the host vehicle 10, while suppressing the influence of the setting position Ps of the mobile terminal 1.

[0046] According to this embodiment, the first focus position Pn1 is recognized as the focus position Pn defined at the lateral center 17 of the host vehicle 10. As a result, for the marking position Pm, the driving position can be estimated with high accuracy to the relative position of the first focus position Pn1 at the lateral center 17, and a navigation display of the driving position can be output inside the host vehicle 10. Therefore, at this time, the driving position estimated at the relative position of the first focus position Pn1 to the marking position Pm can be accurately assigned to a driving lane corresponding to the left-right relationship with the marking position Pm in the width direction of the road 9, and can be displayed on the navigation. Furthermore, for the marking position Pm, a navigation display can be realized that changes the driving lane to which the driving position is assigned as appropriate in response to a reversal of the left-right relationship of the driving position estimated at the relative position of the first focus position Pn1.

[0047] According to this embodiment, the second focus position Pn2 is recognized as the focus position Pn defined at the lateral side edges 18, 19 of the host vehicle 10. This makes it possible to output a navigation display to the inside of the host vehicle 10 in a timely manner in response to the approach distance of the traveling position that can be estimated with high accuracy to the relative position of the second focus position Pn2 at the lateral side edges 18, 19 for the marking position Pm decreasing within the warning range in the width direction of the road 9.

[0048] In this embodiment, the target position Pn, which is a fixed position of the host vehicle 10, is recognized by the host vehicle 10 in a vibration-free or low-vibration stopped state, thereby improving the recognition accuracy of the target position Pn. Further, according to this embodiment, the marking position Pm of the lane marker 90, which changes dynamically with respect to the host vehicle 10, is recognized by the host vehicle 10 on the driving lane defined by the marker 90, thereby enabling the relative position of the target position Pn with high accuracy to be sequentially estimated with respect to the dynamically changing marking position Pm. Therefore, accurate output related to the driving position of the host vehicle 10 is continuously possible.

[0049] (Other embodiments) Although one embodiment has been described above, the present disclosure should not be construed as being limited to the embodiment described above, and can be applied to various embodiments within the scope that does not deviate from the gist of the present disclosure.

[0050] 13, if a negative determination is made in S120 after S50 is executed between S20 and S30, the control flow may return to S30 after S50, thereby repeating S30 and S40 together with S60 and subsequent steps. In the control flow of the modified example, the second focus position Pn2 is excluded from the recognition target in S30, and therefore a warning navigation display may not be realized in S100 where the relative position of the second focus position Pn2 with respect to the marking position Pm is excluded from the estimation target.

[0051] In the control flow of the modified example, in S30, the first focus position Pn1 is excluded from the recognition target, and therefore the relative position of the first focus position Pn1 with respect to the marking position Pm is excluded from the estimation target in S100. Therefore, in S100, where the navigation display equivalent to S110 is realized, a navigation display of a warning in response to the estimation of the relative position of the second focus position Pn2 with respect to the marking position Pm may be added. [Explanation of symbols]

[0052] 1: Mobile terminal, 9: Road, 10: Host vehicle, 17: Center, 18, 19: Side edges, 60: Processor, 62: Storage medium, 90: Lane marker, Di: Internal image data, Do: External image data, Pm: Marking position, Pn: Note position, Ps: Setting position

Claims

1. A control program stored in a storage medium (62) of a mobile terminal (1) that can be set inside a host vehicle (10), the control program including instructions to be executed by a processor (60) in the mobile terminal that controls driving assistance for the host vehicle, As an external recognition process for external image data (Do) generated by capturing an image of the outside of the host vehicle from the mobile terminal, the marking position (Pm) of a lane marker (90) marked on a road (9) is recognized based on a setting position (Ps) of the mobile terminal in the host vehicle; As an interior recognition process for the interior image data (Di) generated by capturing an image of the interior of the host vehicle from the mobile terminal, a focus position (Pn) defined in the host vehicle is recognized based on the setting position of the mobile terminal in the host vehicle; a control program including the instructions for executing an output process related to the running position of the host vehicle on the road, in which the target position is converted into a relative position based on the marking position, and the target position is estimated as the running position and reflected in an output to the inside of the host vehicle.

2. The internal recognition process includes: recognizing the focus position defined at a lateral center (17) of the host vehicle; The output process includes:

2. The control program according to claim 1, further comprising outputting to the inside of the host vehicle a navigation display of the estimated traveling position at the relative position of the position of interest with respect to the marked position.

3. The output process includes:

3. The control program according to claim 2, further comprising outputting the navigation display in which the driving position estimated based on the relative position of the target position with respect to the marking position is assigned to a driving lane in accordance with a left-right relationship with the marking position in the width direction of the road.

4. The output process includes:

4. The control program according to claim 3, further comprising outputting the navigation display so as to change the driving lane to which the driving position is assigned in response to a reversal of the left-right relationship of the driving position estimated based on the relative position of the target position with respect to the marked position.

5. The internal recognition process includes: recognizing the focus position defined at a lateral edge (18, 19) of the host vehicle; The output process includes:

2. The control program according to claim 1, further comprising: in response to a decrease in an approach distance of the traveling position estimated based on the relative position of the target position to the sign position in the width direction of the road to within a warning range, outputting a navigation display to warn an interior of the host vehicle of the decrease.

6. The internal recognition process includes: recognizing the position of interest in the host vehicle while the host vehicle is stopped; The external recognition process includes:

2. The control program according to claim 1, further comprising: recognizing the marking position in the host vehicle on a driving lane defined by the lane markers on the road.

7. A control method executed by a processor (60) of a mobile terminal (1) that can be set inside a host vehicle (10) for controlling driving assistance of the host vehicle (10), comprising: As an external recognition process for external image data (Do) generated by capturing an image of the outside of the host vehicle from the mobile terminal, the marking position (Pm) of a lane marker (90) marked on a road (9) is recognized based on a setting position (Ps) of the mobile terminal in the host vehicle; As an interior recognition process for the interior image data (Di) generated by capturing an image of the interior of the host vehicle from the mobile terminal, a focus position (Pn) defined in the host vehicle is recognized based on the setting position of the mobile terminal in the host vehicle; A control method including, as an output process related to the running position of the host vehicle on the road, estimating the target position converted into a relative position based on the marking position as the running position and reflecting this in an output to the inside of the host vehicle.

Images