Driver assistance device, driver assistance method, and driver assistance program

Abstract

To provide a driving support device, a driving support method, and a driving support program that are capable of controlling a vehicle with high accuracy.SOLUTION: A driving support device performs driving support on the basis of information on a distance between a vehicle and an obstacle, and includes: a distance information generation section for acquiring the information on the distance detected by sonar and generating sonar distance information in which the information on the distance corresponding to each position of the vehicle is associated with information on the position of the vehicle; and a distance information storage section for storing the sonar distance information.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a driving support device, a driving support method, and a driving support program.

Background Art

[0002] Conventionally, there is known a technique of changing the orientation and inclination of an alternative image corresponding to an obstacle detected by an obstacle detection means to match a virtual viewpoint and superimposing it on an overhead image. In Patent Document 1, using digital image data of an image captured by an imaging device and movement data of a vehicle, data identifying a three-dimensional object and the distance from the vehicle to the three-dimensional object are calculated, and these data are added to convert to an overhead view image from above. A parking support device is disclosed.

Prior Art Documents

Patent Documents

[0003] [[ID=2,3]]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, high accuracy may not be obtained in vehicle control based on an image captured by an imaging device.

[0005] The present disclosure solves the above problems and aims to provide a driving support device, a driving support method, and a driving support program capable of controlling a vehicle with high accuracy.

Means for Solving the Problems

[0006] To solve the above problems, one embodiment of the driver assistance device according to the present disclosure is a driver assistance device that provides driver assistance based on distance information between a vehicle and an obstacle, comprising: a distance information generation unit that acquires distance information detected by sonar and generates sonar distance information that associates distance information corresponding to each position of the vehicle with information of each position of the vehicle; and a distance information storage unit that stores the sonar distance information.

[0007] Furthermore, one embodiment of the driving assistance method relating to this disclosure is a driving assistance method that provides driving assistance based on distance information between a vehicle and an obstacle, and includes a distance information generation step of acquiring the distance information detected by sonar and generating sonar distance information by associating the distance information corresponding to each position of the vehicle with the information of each position of the vehicle, and a distance information storage step of storing the sonar distance information.

[0008] Furthermore, one embodiment of the driving assistance program relating to this disclosure is a driving assistance program that provides driving assistance based on distance information between a vehicle and an obstacle, and causes a computer to perform a distance information generation step of acquiring the distance information detected by sonar and generating sonar distance information that associates the distance information corresponding to each position of the vehicle with the information of each position of the vehicle, and a distance information storage step of storing the sonar distance information. [Effects of the Invention]

[0009] According to this disclosure, it is possible to control the vehicle with high precision. [Brief explanation of the drawing]

[0010] [Figure 1] This figure shows the vehicle in this embodiment parked in a parking space. [Figure 2] This figure shows the display of the fixing material marker on the all-around monitor in this embodiment. [Figure 3] This is a configuration diagram showing the configuration of the driver assistance device in this embodiment. [Figure 4]This is a flowchart of the route information registration process for the driver assistance system in this embodiment. [Figure 5] This is a flowchart of the route regeneration process of the driver assistance system in this embodiment. [Figure 6] This figure shows the automatic parking system according to this embodiment. [Figure 7] This diagram shows the positional relationship between the vehicle and the registered route in this embodiment. [Figure 8] This diagram shows the automatic parking system in the presence of obstacles according to this embodiment. [Figure 9] This diagram shows the automatic parking system in the presence of obstacles according to this embodiment. [Modes for carrying out the invention]

[0011] The embodiments of this disclosure will be described below with reference to the drawings. The embodiments described below are all specific examples of this disclosure. Therefore, the components, their arrangement and connection configurations, and the steps and their order shown in the following embodiments are examples and are not intended to limit this disclosure. Furthermore, components in the following embodiments that are not described in an independent claim will be described as optional components.

[0012] Furthermore, each figure is a schematic diagram and not necessarily a strictly accurate representation. In each figure, substantially identical components are denoted by the same reference numerals, and redundant explanations are omitted or simplified.

[0013] Figure 1 shows the state in which vehicle 1 is parked in parking space 2 in this embodiment. When vehicle 1 automatically parks in parking space 2, it can park using route information 3 that has been registered in advance by manually parking.

[0014] Also, when there are obstacles around the vehicle 1 during manual parking and automatic parking, the box-shaped stationary object markers 4 and 5 are displayed on a display unit such as a monitor. Note that the shape of the stationary object markers 4 and 5 is not limited to a box shape, and other shapes such as a wall shape may be used.

[0015] The obstacles include bicycles, motorcycles, stationary objects on flower beds or land, etc., and may also include people, animals, etc. The stationary object markers 4 and 5 change the displayed size according to the size of the obstacle. The stationary object marker 4 indicates that the obstacle is larger than the obstacle of the stationary object marker 5.

[0016] During automatic parking, the vehicle 1 can use the route information 3 to reverse in the direction of the arrow 6 and safely complete parking without contacting the obstacles indicated by the stationary object markers 4 and 5.

[0017] Also, the in-vehicle camera (Figure 2) is a surrounding sensor mounted on the vehicle 1 to monitor the surrounding environment of the vehicle 1. In the present embodiment, the in-vehicle camera is applied, for example, to detect obstacles existing around the vehicle 1 and estimate the position of the vehicle 1 from the positional relationship between the vehicle 1 and the obstacles existing around the vehicle 1.

[0018] The in-vehicle camera is composed of, for example, four cameras arranged so as to be able to photograph the four directions of the front, rear, left, and right directions of the vehicle 1. The in-vehicle camera outputs the camera image generated by itself to the driving support device 21 (Figure 3).

[0019] Also, a sonar sensor is used to more accurately estimate the self-position of the vehicle 1, and the sonar sensor outputs the sensor information obtained as a result of detecting an obstacle to the driving support device 21.

[0020] Furthermore, the on-board sensors are various sensors that detect the driving state of the vehicle 1. The on-board sensors include, for example, an accelerator position sensor that detects the accelerator opening, a steering angle sensor that detects the steering angle of the steering device, an acceleration sensor that detects the acceleration acting on the vehicle 1 in the longitudinal direction, a torque sensor that detects the torque acting on the power transmission mechanism between the wheels of the vehicle 1 and the engine or drive motor, and a vehicle speed sensor that detects the vehicle speed of the vehicle 1.

[0021] Figure 2 shows the display of fixed object markers 4 and 5 on the all-around monitor 11 in this embodiment. The all-around monitor 11 is a display unit installed at the front inside the vehicle 1, and the all-around monitor 11 displays the setting screen 12, the generated image 13, and the camera image 14. The all-around monitor 11 may also be used for a car navigation system or a TV, etc.

[0022] In automatic or manual parking mode, the settings screen 12 displays the Parking Assist indicator. Additionally, the settings screen 12 allows users to change the displayed image settings by touching the camera image or settings options.

[0023] The generated image 13 shows the vehicle 1 and the fixed object markers 4 and 5 as viewed from above. As shown in Figure 2, by displaying the fixed object markers 4 and 5 only when an obstacle is near the vehicle 1, warnings can be given only when there is danger without confusing the occupants.

[0024] In addition, the three cameras 15 located on the left, right, and rear of vehicle 1 are displayed, and the camera image 14 allows the occupants of vehicle 1 to see which area behind vehicle 1 is being photographed by camera 15. Furthermore, by coloring the fixed object markers 4 and 5 with orange and green respectively, the presence of obstacles can be easily seen by the occupants of vehicle 1.

[0025] Camera image 14 shows the rear of vehicle 1 as captured by camera 15. For example, multiple orange fixed object markers 4 are displayed on the right rear of vehicle 1, and a green fixed object marker 5 is displayed on the left rear of vehicle 1.

[0026] Furthermore, displaying the orange line 16 to the fixed object marker 4 makes it easier for the occupants to grasp the distance to the fixed object marker 4. Also, displaying the green line 17 allows the occupants to confirm that even if vehicle 1 moves backward, it will not collide with the fixed object marker 5, but will collide with the fixed object marker 4.

[0027] Figure 3 is a configuration diagram showing the configuration of the driving support device 21 in this embodiment. The driving support device 21 includes a map information generation unit 22, a distance information generation unit 23, a map information storage unit 24, a route information storage unit 25, a distance information storage unit 26, a playback unit 32, a distance comparison unit 33, and a fixed object marker generation unit 34.

[0028] When registering a parking route, the map information generation unit 22 performs self-position estimation based on camera images and CAN information, and generates feature point map information that registers the feature points of obstacles around the vehicle 1.

[0029] Furthermore, the map information generation unit 22 stores the generated feature point map information in the map information storage unit 24, and stores the route information of the vehicle 1 obtained as a result of self-position estimation in the route information storage unit 25.

[0030] This process is performed using SLAM (Simultaneous Localization and Mapping) technology, which simultaneously estimates the vehicle's own position and generates an environmental map.

[0031] Vehicle 1, equipped with SLAM, estimates the amount of movement from the amount of wheel rotation and image sensors such as sonar sensors and cameras, and at the same time generates feature point map information, which is map information of obstacles around vehicle 1, using sensors such as cameras.

[0032] The distance information generation unit 23 generates distance information based on the distance information from the vehicle 1 to obstacles around the vehicle 1 obtained from the sonar sensor, and associates this information with the vehicle's own position information. The distance information generation unit 23 then stores the generated distance information in the distance information storage unit 26. Note that the map information storage unit 24, route information storage unit 25, and distance information storage unit 26 are not limited to separate configurations, but may be a single storage unit.

[0033] When a parking route is reproduced, the playback unit 32 estimates its own position based on camera images, CAN information, feature point map information, and route information, generates vehicle control information to control vehicle 1 to travel along the route registered as route information, and outputs the vehicle control information to a device such as an ECU (Electronic Control Unit) that controls the driving of vehicle 1.

[0034] The distance comparison unit 33 compares the distance information from vehicle 1 to obstacles around vehicle 1, obtained from the sonar sensor, with the sonar distance information stored in the distance information storage unit 26 when route information was registered, and generates caution map information that includes information such as the location and size of obstacles that require attention.

[0035] The fixed object marker generation unit 34 generates fixed object marker information indicating fixed objects located near vehicle 1 from the attention map information. Based on this information, the monitor 11 displays fixed object markers 4 and 5 as shown in Figure 2.

[0036] This section describes how to display fixture markers for fixtures around a vehicle. It is possible that obstacles not present during the initial registration may be detected during the playback of the parking route. However, obstacles not present during registration can be distinguished from fixtures fixed to the ground using methods such as projection differences.

[0037] Figure 4 is a flowchart of the route information registration process of the driver assistance device 21 in this embodiment. The map information generation unit 22 of the driver assistance device 21 initializes the feature point map information (step S1). The distance information generation unit 23 initializes the sonar distance information (step S2).

[0038] Then, the map information generation unit 22 acquires the camera image 14 and CAN information (step S3), and updates the feature point map information by SLAM (Simultaneous Localization and Mapping) processing (step S4).

[0039] Subsequently, the distance information generation unit 23 acquires distance information from the sonar sensor (step S5) and updates the sonar distance information (step S6).

[0040] If the registration of parking route information is not completed (step S7, NO), the map information generation unit 22 and the distance information generation unit 23 repeat the process from step S3 onwards. If the registration of parking route information is completed (step S7, YES), this route information registration process ends.

[0041] Figure 5 is a flowchart of the route regeneration process of the driver assistance device 21 in this embodiment. The regeneration unit 32 of the driver assistance device 21 selects feature point map information corresponding to the current position of the vehicle 1 (step S11), and then selects sonar distance information (step S12).

[0042] Then, the playback unit 32 determines whether the vehicle 1 has moved a predetermined distance (step S13), and if it has moved a predetermined distance (step S13, YES), it acquires the camera image 14 (step S14) and estimates its own position by SLAM processing (step S15).

[0043] Subsequently, the distance comparison unit 33 acquires distance information from the sonar sensor and obtains sonar distance information corresponding to the vehicle 1's own position registered in the distance information storage unit 26 (step S16), and calculates the difference d between them using the following formula (step S17). d = (Sonar distance obtained from sonar sensor) -(Registered sonar distance corresponding to self-position)

[0044] Then, if the difference d is smaller than a predetermined value (step S18, YES), the fixing object marker generation unit 34 overlays the fixing object marker onto the image of the all-around monitor 11 because the vehicle 1 is approaching the obstacle (step S19). Here, the predetermined value is a negative value and can be set appropriately according to the tolerance of the distance at which the vehicle 1 approaches the obstacle.

[0045] In step S13, if vehicle 1 has not moved a predetermined distance (step S13, NO), if the process in step S19 is completed, or if the difference d is greater than or equal to a predetermined value (step S18, NO), the regeneration unit 32 determines whether parking is complete (step S20). If parking is complete (step S20, YES), this route regeneration process ends.

[0046] If parking is not complete (step S20, NO), the process from step S13 onwards will continue.

[0047] Figure 6 shows an example of automatic parking in this embodiment. For example, vehicle 1 is parked on a public road in order to automatically park in a parking space 40 at home. A sonar distance 41 is virtually displayed at the rear of vehicle 1. There is a wall 43, a gate 44, and a house 45 surrounding the parking space 40. Vehicle 1 travels along a registered route 42 (shown by a dashed line) and parks in the parking space 40.

[0048] In this embodiment, three modes are available for automatic parking. However, automatic parking is not limited to these three modes, and other modes may also be available.

[0049] First, let's explain Mode 1. As shown in Figure 6, Mode 1 is the case when there are no changes in obstacles compared to when the route information was registered, and the system automatically parks by following the registered route 42.

[0050] In mode 1, the distance comparison unit 33 calculates the difference d in step S17 of Figure 5 using the following calculation formula described above. d = (Sonar distance obtained from sonar sensor) -(Registered sonar distance corresponding to self-position)

[0051] Here, when the distance comparison unit 33 selects a registered sonar distance corresponding to its own position, it searches for the position of vehicle 1 at the time of route information registration, searches for the position closest to its current position, and selects the registered sonar distance corresponding to that position.

[0052] The sampling interval for the route information to be registered is arbitrary, depending on the system performance. Also, the origin 46 of vehicle 1 is, for example, the center of the rear axle.

[0053] If the difference d is smaller than the predetermined value mentioned above, it is recognized that vehicle 1 is approaching an obstacle, and the fixed object marker is displayed on monitor 11.

[0054] Figure 7 shows the positional relationship between vehicle 1 and registered route 42 in this embodiment. When vehicle 1 deviates from registered route 42 and is located at its own position A, the registered vehicle position closest to its own position A is C. Therefore, position C is searched for as the position of vehicle 1 at the time of route information registration that is closest to its current own position A, and the difference d is calculated.

[0055] Furthermore, if vehicle 1 deviates from the registered route 42 and is located at its own position B, the registered vehicle position closest to its own position B is D. Therefore, position D is searched for as the position of vehicle 1 at the time of route information registration that is closest to its current own position B, and the above difference d is calculated. Note that the sonar setting offset in Figure 7 indicates the relative installation position of the sonar sensor from the vehicle origin 46.

[0056] Furthermore, in Mode 1, it is possible that obstacles that were not present during registration may be detected during the playback of the parking route. However, obstacles that were not present during registration can be distinguished from fixed structures fixed to the land using methods such as projection difference.

[0057] Next, Mode 2 will be explained. Figure 8 shows the automatic parking in the case of an obstacle 52 in this embodiment. Mode 2 is the case when an obstacle 52 that was not present when the parking route was registered is detected during playback of the parking route, but the vehicle is automatically parked using the solid line route 51 that follows the registered route 42. The obstacle 52 is a visitor's bicycle or a potted plant that was placed in the parking space 40 from the house 45.

[0058] In this case, in step S17 of Figure 5, the formula for calculating the difference d in mode 1 is replaced by the following formula. d = (Acquired sonar distance) - (Registered sonar distance corresponding to self-position) + (Distance of the obstacle overhang corresponding to the current position)

[0059] In this calculation formula, the acquired sonar distance and the registered sonar distance corresponding to the self-position are the same as those in Mode 1. The obstacle overhang distance corresponding to the self-position is, for example, the overhang distance of obstacle 52 from wall 43 towards path 51.

[0060] If the difference d is smaller than the predetermined value mentioned above, it is recognized that vehicle 1 is approaching obstacle 52, and a fixed object marker is displayed on monitor 11.

[0061] Next, Mode 3 will be explained. Figure 9 shows the automatic parking in the case of an obstacle 52 in this embodiment. Mode 3 is the case in which the automatic parking follows a corrected detour route 61 (a solid line) that is obtained by correcting the registered route 42 in order to detect and avoid obstacles 52 that were not present when the parking route was registered during playback of the parking route.

[0062] In this case, in step S17 of Figure 5, the formula for calculating the difference d in mode 1 is replaced by the following formula. d = (Acquired sonar distance) - (Registered sonar distance corresponding to self-position) + (Distance of the obstacle overhang corresponding to the current position) + (Distance between the registered route corresponding to the current location and the detour route)

[0063] In this calculation formula, the acquired sonar distance, the registered sonar distance corresponding to the self-position, and the obstacle overhang distance corresponding to the self-position are the same as those in Mode 1 and Mode 2.

[0064] If the difference d is smaller than a predetermined value, it is recognized that vehicle 1 is approaching obstacle 52, and a fixed object marker is displayed on monitor 11.

[0065] In all three modes—Mode 1, Mode 2, and Mode 3—the fixed object marker is displayed on the monitor 11, allowing the occupants of Vehicle 1 to pay attention to whether Vehicle 1 will collide with an obstacle.

[0066] Furthermore, when registering route information and when playing back route information, if vehicle 1 approaches an obstacle and a fixed object marker is displayed, the driver assistance device 21 outputs a warning sound from the audio output unit. The type of warning sound output by the audio output unit may be different between route information registration and playback. For example, since manual driving is performed when registering route information and more caution is required, the audio output unit may output a more urgent warning sound during route information registration than during playback.

[0067] Furthermore, the audio output unit may change the type of warning sound it outputs when playing back route information, depending on the degree to which vehicle 1 has deviated from the registered route. For example, the audio output unit may output a more urgent warning sound as vehicle 1 deviates further from the registered route.

[0068] Furthermore, collision avoidance devices such as AEB (Autonomous Emergency Braking) in vehicle 1 automatically apply the brakes when vehicle 1 detects an obstacle, thereby stopping vehicle 1's speed or bringing vehicle 1 to a complete stop. The control criteria for vehicle 1 may be changed between the time route information is registered and when it is played back.

[0069] For example, since manual driving is performed when route information is registered, requiring greater caution, the collision avoidance device may set the distance between vehicle 1 and the obstacle to which the brakes are applied when route information is registered to be greater than the distance between vehicle 1 and the obstacle to which the brakes are applied when route information is played back.

[0070] Furthermore, if the vehicle 1 deviates from the registered route, the fixing object marker generation unit 34 may display the fixing object marker in the direction of the deviation more prominently than the fixing object marker on the opposite side of the deviation. This emphasis includes not only making the marker more noticeable, but also not displaying the fixing object marker on the opposite side.

[0071] Although embodiments have been described above, this disclosure is not limited to the embodiments described above.

[0072] For example, in the above embodiment, each component may be realized by executing a software program suitable for each component. Alternatively, each component may be realized by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0073] Furthermore, general or specific embodiments of the present invention may be implemented as an apparatus, method, integrated circuit, computer program, or recording medium such as a computer-readable CD-ROM. Alternatively, they may be implemented in any combination of the apparatus, method, integrated circuit, computer program, and recording medium.

[0074] Furthermore, this disclosure also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art could conceive, or forms realized by arbitrarily combining the components and functions of each embodiment without departing from the spirit of this disclosure. [Industrial applicability]

[0075] This disclosure can be used in driver assistance devices, driver assistance methods, and driver assistance programs. [Explanation of Symbols]

[0076] 1 vehicle 2 Parking spaces 3. Registration route information 4. Fixative Marker 11 monitors 12. Settings screen 13. Generated image 14 Camera Images 15 Cameras 21 Driving assistance systems 22 Map Information Generation Unit 23 Distance information generation section 24 Map Information Storage Unit 25 Route information storage unit 26 Distance information storage section 32 Playback Department 33 Distance Comparison Section 34 Fixing Marker Generation Section 40 parking spaces 41 Registered sonar distance 42 Registration Route 46. ​​Vehicle origin 52 Obstacles 61 Detour Route

Claims

1. A driver assistance device that provides driving assistance based on information about the distance between the vehicle and an obstacle detected by a sonar sensor mounted on the vehicle, A map information generation unit that estimates the vehicle's position using a camera mounted on the vehicle and registers the vehicle's travel route information when the vehicle is being driven manually, When registering the route information, a distance information generation unit acquires the distance information detected by the sonar sensor and registers it in the storage unit as sonar distance information associated with the vehicle's position. A playback unit that estimates the position of the vehicle using the camera and drives the vehicle according to the registered route information, When the route information is played back, the sonar sensor detects the distance, compares the distance obtained at that time with the distance registered as sonar distance information corresponding to the vehicle's position at that time, and if it is determined that the vehicle is approaching the obstacle based on the comparison result, a distance comparison unit generates warning information related to the obstacle. A driver assistance system equipped with the following features.

2. The driving support device according to claim 1, further comprising a marker generation unit that generates information about markers relating to obstacles to be displayed on a display unit based on the warning information when the route information is played back.

3. The driving assistance device according to claim 2, wherein the marker generation unit generates marker information when the difference between the distance detected by the sonar sensor and the distance registered as sonar distance information corresponding to the vehicle's position at that time is smaller than a first threshold (where the first threshold is a negative value).

4. It is further equipped with an audio output section that outputs a warning sound, The driving assistance device according to claim 2, wherein the audio output unit is of different types: the warning sound output when the distance detected by the sonar sensor is within a predetermined distance during the registration of the route information, and the warning sound output when the distance detected by the sonar sensor is within a predetermined distance during the playback of the route information.

5. It is further equipped with an audio output section that outputs a warning sound, The driving assistance device according to claim 2, wherein when the audio output unit plays back the route information, if it is detected that the vehicle's position has deviated from the registered route information based on the comparison result of the distance comparison unit, the audio output unit outputs different types of warning sounds according to the degree of deviation from the route.

6. The vehicle is further equipped with a collision avoidance device that activates the brakes of the vehicle when the aforementioned obstacle is detected. The collision avoidance device, according to claim 1, wherein the distance between the vehicle that activates the brakes and the obstacle when the route information is registered is greater than the distance between the vehicle that activates the brakes and the obstacle when the route information is played back.

7. The driving assistance device according to claim 2, wherein, when the marker generation unit plays back the route information, if it is detected that the vehicle's position has deviated from the registered route information based on the comparison result of the distance comparison unit, the marker in the direction of the deviation is displayed with greater emphasis than the marker on the opposite side of the direction of the deviation.

8. The marker generation unit, during the playback of the route information, detects an obstacle that was not present at the time of registration of the route information, which protrudes from the obstacle registered at the time of registration of the route information, and The driving assistance device according to claim 2, which generates marker information when the difference between the distance detected by the sonar sensor during playback of the route information and the distance registered as sonar distance information corresponding to the position of the vehicle at that time, plus the overhang distance of an unregistered obstacle, is smaller than a second threshold (where the second threshold is a negative value).

9. When the vehicle is traveling on a detour route that avoids the obstacle, rather than the route registered as the route information, The marker generation unit, during the playback of the route information, detects an obstacle that was not present at the time of registration of the route information, which protrudes from the obstacle registered at the time of registration of the route information, and The driving assistance device according to claim 2, which generates marker information when the difference between the distance detected by the sonar sensor during playback of the route information and the distance registered as sonar distance information corresponding to the position of the vehicle at that time, plus the overhang distance of an unregistered obstacle and the distance between the registered route information and the detour route, is smaller than a third threshold (where the third threshold is a negative value).

10. A driving assistance method that provides driving assistance based on information about the distance between the vehicle and an obstacle detected by a sonar sensor mounted on the vehicle, When the vehicle is being driven manually, a route information registration step is performed to estimate the vehicle's position using a camera mounted on the vehicle and to register the route information of the vehicle's journey. In the aforementioned route information registration step, the distance information detected by the sonar sensor is acquired and registered in the storage unit as sonar distance information associated with the vehicle's position, A playback step in which the position of the vehicle is estimated using the camera and the vehicle is driven according to the registered route information, In the playback step, the sonar sensor detects the distance, compares the distance obtained at that time with the distance registered as sonar distance information corresponding to the position of the vehicle at that time, and if it is determined that the vehicle is approaching the obstacle based on the comparison result, a warning information generation step is made to generate warning information related to the obstacle. Driving assistance methods including

11. The driving assistance method according to claim 10, further comprising a marker generation step in which, based on the warning information, information about a marker relating to the obstacle to be displayed on the display unit is generated in the playback step.

12. The driving assistance method according to claim 11, wherein in the marker generation step, if the difference between the distance detected by the sonar sensor when the route information is regenerated and the distance stored as sonar distance information corresponding to the position of the vehicle at that time is smaller than a first threshold (where the first threshold is a negative value), the marker information is generated.

13. It further includes an audio output step that outputs a warning sound, The driving assistance method according to claim 11, wherein in the voice output step, the warning sound output when the distance detected by the sonar sensor becomes within a predetermined distance during the registration of the route information and the warning sound output when the distance detected by the sonar sensor becomes within the predetermined distance during the playback of the route information are of different types.

14. It further includes an audio output step that outputs a warning sound, The driving assistance method according to claim 11, wherein in the voice output step, when the route information is played back, if it is detected that the vehicle's position has deviated from the registered route information based on the comparison result, different types of warning sounds are output according to the degree of deviation from the route.

15. The collision avoidance step further includes activating the brakes of the vehicle when the aforementioned obstacle is detected, The driving assistance method according to claim 10, wherein in the collision avoidance step, the distance between the vehicle that applies the brakes and the obstacle when the route information is registered is greater than the distance between the vehicle that applies the brakes and the obstacle when the route information is played back.

16. The driving assistance method according to claim 11, wherein in the marker generation step, if it is detected in the playback step that the vehicle's position has deviated from the registered route information based on the comparison result, the marker in the direction of the deviation is displayed with greater emphasis than the marker on the opposite side of the direction of the deviation.

17. In the marker generation step, if an obstacle that was not present at the time of registration of the route information is detected in the playback step, and it is found to be protruding from the obstacle registered at the time of registration of the route information, The driving assistance method according to claim 11, wherein if the value obtained by adding the overhang distance of an unregistered obstacle to the difference between the distance detected by the sonar sensor when the route information is played back and the distance stored as sonar distance information corresponding to the position of the vehicle at that time is smaller than a second threshold (where the second threshold is a negative value), the marker information is generated.

18. When the vehicle is traveling on a detour route that avoids the obstacle, rather than the route registered as the route information, In the marker generation step, in the playback step, the obstacle that was not present at the time of registration of the route information is detected in a form that extends beyond the obstacle registered at the time of registration of the route information, and, The driving assistance method according to claim 11, wherein if the value obtained by adding the overhang distance of an unregistered obstacle and the distance between the registered route and the detour route to the difference between the distance detected by the sonar sensor when the route information is played back and the distance stored as sonar distance information corresponding to the position of the vehicle at that time is smaller than a third threshold (where the third threshold is a negative value), the marker information is generated.

19. A driving assistance program that provides driving assistance based on information about the distance between the vehicle and an obstacle detected by a sonar sensor mounted on the vehicle, On the computer, When the vehicle is being driven manually, a route information registration step is performed to estimate the vehicle's position using a camera mounted on the vehicle and to register the route information of the vehicle's journey. In the aforementioned route information registration step, the distance information detected by the sonar sensor is acquired and registered in the storage unit as sonar distance information associated with the vehicle's position, A playback step in which the position of the vehicle is estimated using the camera and the vehicle is driven according to the registered route information, In the playback step, the sonar sensor detects the distance, compares the distance obtained at that time with the distance registered as sonar distance information corresponding to the position of the vehicle at that time, and if it is determined that the vehicle is approaching the obstacle based on the comparison result, a warning information generation step is made to generate warning information related to the obstacle. A driver assistance program that enables the execution of certain actions.

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