Patent Publication Number: US-2019188494-A1

Title: Vehicle driving assist device, instruction display device and vehicle lamp

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application claims priority from Japanese Patent Application No. 2017-242280, filed Dec. 19, 2017, the entire content of which is incorporated herein by reference. 
     TECHNICAL FIELD 
     Aspects of the present invention relate to a vehicle driving assist device, an instruction display device and a vehicle lamp which automatically assist following driving based on instruction information while following a transmission source of the instruction information. 
     BACKGROUND ART 
     JP-A-2016-60314 (FIGS. 1 and 2 and Paragraphs [0025] to [0028]) discloses a preceding vehicle detection system in which a near-infrared LED light source is provided in a sub-tail lamp of a preceding vehicle to generate invisible bright spots, which are detected by an imaging device of a following vehicle, and thus the preceding vehicle can be accurately detected. Further, JP-A-2015-225558 (first embodiment ([0024]) and FIGS. 1 and 4) discloses a vehicle-to-vehicle communication system in which a data frame including an own vehicle ID and own vehicle information is transmitted and received between a plurality of vehicles both in optical communication and DSRC wireless communication, and both the communication IDs are compared to determine a preceding vehicle, so that erroneous detection of the preceding vehicle is prevented. 
     In the preceding vehicle detection system of JP-A-2016-60314, erroneous recognition of the preceding vehicle which is a transmission source is reduced by marking the bright spots emitted from the preceding vehicle with near-infrared LED light. However, only the presence or absence of the preceding vehicle can be detected since the detected light is bright spots. 
     Further, in the vehicle-to-vehicle communication system of JP-A-2015-225558, detailed automatic driving assist control based on the received communication information becomes possible without erroneously determining the vehicle which is the transmission source, but an automatic driving assist system is expensive and cannot be easily realized since both optical communication and wireless communication systems and a complicated information analysis device are required. 
     SUMMARY 
     Accordingly, an aspect of the present invention provides a simple vehicle driving assist device, an instruction display device, and a vehicle lamp which can realize automatic following driving based on instruction information while easily determining a transmission source of the instruction information. 
     According to an embodiment of the present invention, there is provided a vehicle driving assist device which is mounted on a vehicle and includes an instruction recognition device which is configured to recognize operation instruction information for a vehicle displayed on a road surface, and the vehicle on which the vehicle driving assist device is mounted is operated based on the operation instruction information. 
     According to the above configuration, the instruction recognition device of the vehicle limitedly recognizes the operation instruction information for the vehicle displayed on the road surface obliquely below the vehicle, and the vehicle driving assist device automatically operates the vehicle based on instruction in the operation instruction information. 
     According to another embodiment of the present invention, there is provided an instruction display device which is configured to display operation instruction information for another vehicle on a road surface with near-infrared light. 
     According to the above configuration, the instruction display device displays the operation instruction information for another vehicle by near-infrared light limitedly on the road surface obliquely below the vehicle on which the instruction display device is mounted. 
     In the instruction display device, the operation instruction information may be displayed on the road surface between the vehicle and another vehicle which includes a driving assist device having an instruction recognition device configured to recognize operation instruction information. 
     According to the above configuration, the instruction display device provided in the vehicle displays the operation instruction information of the vehicle with invisible light on the road surface limited between the vehicle and another vehicle which includes the driving assist device having the instruction recognition device configured to recognize the operation instruction information, and thus the another vehicle automatically operates based on the instruction information of the vehicle on which the instruction display device serving as a transmission source is mounted. 
     Further, the instruction display device may be mounted on the vehicle which includes the driving assist device having an instruction recognition device configured to recognize the operation instruction information. 
     According to the above configuration, the instruction display device is further mounted on a following vehicle which follows a preceding vehicle by the driving assist device, displays operation instruction information for another following vehicle including the driving assist device on a road surface. 
     In the vehicle driving assist device, the instruction information may be a graphic indication formed on the road surface in advance. 
     According to the above configuration, the instruction recognition device recognizes instruction information from an indication which is formed in advance as a line, symbol, character, figure, pattern, or the like by a stud, paint, stone or the like on the road surface in the vicinity of the vehicle, and the driving assist device automatically operates the vehicle based on the recognized instruction information. 
     According to a further embodiment of the present invention, there is provided a vehicle lamp including the above vehicle driving assist device. 
     The instruction recognition device of the vehicle lamp recognizes the instruction information which is related to the vehicle and is displayed limitedly on the road surface in a vicinity of the vehicle, and the vehicle driving assist device automatically operates the vehicle based on an instruction in the operation instruction information. 
     According to a still further embodiment of the present invention, there is provided a vehicle lamp including the above instruction display device. 
     According to the above configuration, the instruction display device of the vehicle lamp displays operation instruction information on operation for a following vehicle by near-infrared light limitedly on the road surface in the vicinity of the vehicle on which the instruction display device is mounted. 
     According to the above vehicle driving assist device, the operation instruction information for the vehicle indicated on the road surface obliquely below the vehicle periphery is recognized by the instruction recognition device, the recognition area of the instruction information is limited to the periphery of the vehicle on which the driving assist device is mounted, and instruction information of the vehicle away from the vehicle on which the driving assist device is mounted cannot be recognized, so that the transmission source of the instruction information can be easily determined and the automatic following driving based on the recognized instruction information can be easily realized even though no complicated device is provided. 
     According to the above instruction display device, the display area of the operation instruction information of another vehicle by near-infrared light is limited on the road surface around the vehicle on which the instruction display device is mounted, and only operation instruction information of another predetermined vehicle which is approaching the vehicle on which the instruction display device is mounted and includes the driving assist device with the instruction recognition device can be recognized, so that the transmission source of the operation instruction information can be easily determined and the automatic following driving based on the recognized operation instruction information can be easily realized. 
     According to the instruction display device, since the display area of the instruction information from the vehicle on which the instruction display device is mounted is limited to the road surface between the preceding vehicle and the following vehicle, the vehicle on which the instruction display device which is the transmission source of the instruction information is mounted is simply determined by the vehicle on which the driving assist device is mounted, and the automatic following driving of the following vehicle with respect to the preceding vehicle and operation instruction information communication between the preceding vehicle and the following vehicle can be easily realized. In addition, by using invisible light, information on the automatic following driving can be exchanged between vehicles without giving unnecessary information to a driver of a vehicle, a pedestrian, or the like. 
     According to the instruction display device, the display area of the operation instruction information from the following vehicle which follows a predetermined preceding vehicle is limited to the road surface between the following vehicle and another following vehicle including the driving assist device having the instruction recognition device, and the operation instruction information can be recognized only by the another following vehicle, so that the automatic following driving in which a plurality of vehicles follow in series can be easily realized. 
     According to the vehicle driving assist device, since the instruction recognition device recognizes the operation instruction information based on a paint pattern or the like formed on the road in advance and the vehicle on which the driving assist device is mounted automatically operates based on the instruction information, accurate automatic following driving can be easily realized. 
     According to the vehicle lamp, the recognition area of the operation instruction information of the vehicle by the instruction recognition device is limited to the vicinity of the vehicle on which the vehicle lamp is mounted, so that the transmission source of the instruction information can be easily determined and the automatic following driving based on the recognized instruction information can be easily realized even if there is no complicated device. 
     According to the vehicle lamp, the display area of the instruction information on the operation of the following vehicle is limited to the road surface in the vicinity of the vehicle on which the instruction display device is mounted, and the following vehicle including the driving assist device capable of recognizing the operation instruction information is only limited to the vehicle approaching the vehicle on which the vehicle lamp is mounted, so that the transmission source of the operation instruction information can be easily determined and the automatic following driving based on the recognized operation instruction information can be easily realized. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a conceptual diagram illustrating a driving assist device and an instruction display device according to an embodiment,  FIG. 1A  is a conceptual diagram in which a vehicle including a driving assist device and a vehicle including an instruction display device are exchanged. 
         FIG. 2A  is a front view of a first vehicle including a driving assist device, and  FIG. 2B  shows a block diagram of the driving assist device. 
         FIG. 3A  is a rear view of a second vehicle including an instruction display device,  FIG. 3B  is a cross-sectional view taken along IIIB-IIIB of  FIG. 3A  and showing the instruction display device, and  FIG. 3C  is a perspective view of a scanning mechanism. 
         FIG. 4A  is a diagram illustrating operation instruction information including a matrix type two-dimensional code, and  FIG. 4B  is a diagram illustrating operation instruction information indicated on a road surface in advance. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Hereinafter, embodiments of the present invention will be described with reference to  FIG. 1  to  FIGS. 4A and 4B . In each drawing, directions of each part of a vehicle headlamp and directions of a road viewed by a driver of a vehicle on which the vehicle headlamp is mounted is represented as follows: upper: lower: left: right: front: front: rear=Up: Lo: Le: Ri: Fr: Re. 
     An overall configuration of an automatic driving assist system  100  including a vehicle driving assist device  2  and an instruction display device  4  according to this embodiment will be described with reference to  FIG. 1 . Reference numeral  1  denotes a first vehicle in which the driving assist device  2  is mounted, and reference numeral  3  denotes a second vehicle in which the instruction display device  4  is mounted. The second vehicle  3  is traveling on the same lane S 1  and precedes the first vehicle  1 . 
     As shown in  FIG. 1 , the preceding second vehicle  3  displays an operation instruction information indication M 1  by invisible light which is near-infrared light from the instruction display device  4  provided in a left-rear combination lamp  23 , to a road surface near and behind the second vehicle  3 . The operation instruction information indication M 1  includes figures and characters in a predetermined form serving as operation instruction information for a following vehicle. 
     The driving assist device  2  of the following first vehicle  1  shown in  FIG. 1  and  FIGS. 2A and 2B  includes an imaging device  7  which is an instruction recognition device and an ECU  8  serving as an operation control device. The imaging device  7  is provided to direct obliquely downward in a left headlamp  5  toward a road surface near and in front of the first vehicle  1 , and takes an image of and recognizes figures and characters of the operation instruction information indication M 1  displayed on the road surface in the front in an imaging range E 1 . The recognized operation instruction information is analyzed by the ECU  8  serving as an operation control device of the driving assist device  2  and sent to an automatic driving system  12  of the first vehicle  1 , and the first vehicle  1  is automatically operated to follow the proceeding second vehicle  3 . 
     The operation instruction information indication M 1 , which is displayed in an irradiation range E 2  by the instruction display device  4  of the second vehicle  3  as shown in  FIG. 1 , is displayed on a road surface SP 1  between the vicinity of the second vehicle  3  and the following first vehicle  1  in the lane S 1 . Therefore, the operation instruction information indication M 1  is difficult to be recognized by a vehicle other than the first vehicle  1  which is the immediate following vehicle, so that it is less likely to erroneously operate an unexpected following vehicle including a driving assist device equivalent to that of the first vehicle  1 . Further, since the imaging device  7  of the driving assist device  2  of the first vehicle  1  is directed obliquely downward toward the road surface near and in front of the first vehicle  1 , the first vehicle  1  is less likely to erroneously recognize operation instruction information from an unexpected preceding vehicle other than the second vehicle  3  and can easily determine the second vehicle  3  which is the transmission source. 
     As a result, according to the automatic driving assist system  100  including the vehicle driving assist device  2  and the instruction display device  4 , the system is easily configured such that interference from other unexpected vehicles is less likely to occur in operation instruction information exchanged between the first vehicle  1  and the second vehicle  3 , and accurate automatic following operation of the second vehicle  3  following the preceding first vehicle  1  can be easily realized. 
     As shown in  FIG. 1 , in the first vehicle  1 , an instruction display device  4 ′ with a configuration similar to that of the second vehicle  3  may be mounted in a rear combination lamp  17 , in addition to the driving assist device  2  for following the second vehicle  3 . In this case, according to the automatic driving assist system  100  of the present embodiment, another following vehicle  18  including a driving assist device  2 ′ similar to that of the first vehicle  1  can further follow the first vehicle  1 , and two vehicles following the second vehicle  3  in series can perform automatic following driving. Further, according to the automatic driving assist system  100  of the present embodiment, by preparing two or more following vehicles with both the driving assist device similar to that of the first vehicle  1  and the instruction display device similar to that of the second vehicle, three or more vehicles following the second vehicle  3  in series can also perform automatic following driving. 
     In  FIG. 1 , the instruction display device  4 ,  4 ′ is mounted on the left combination lamp of the preceding vehicle  3 ,  1  and the driving assist device  2 ,  2 ′ is mounted on the left headlamp of the following vehicle  1 ,  18 , but alternatively or in addition, as shown in  FIG. 1A , a driving assist device  2 ″ similar to the driving assist device  2  may be mounted on a right-rear combination lamp  24  of the second vehicle  3  which is the preceding vehicle, and an instruction display device  4 ″ similar to the instruction display device  4  may be mounted on a right headlamp  6  of the first vehicle  1  which is the following vehicle. 
     The instruction display device  4 ″ of the first vehicle  1  shown in  FIG. 1A  is provided to direct obliquely downward toward a road surface in front of the vehicle and is configured to display the operation instruction information indication M 1  on the road surface SPI between the first vehicle  1  and the second vehicle  3 . An imaging device of the driving assist device vehicle  2 ″ of the second vehicle  3  is provided to direct obliquely downward toward a road surface behind the vehicle and is configured to take an image of and recognize figures or characters of the operation instruction information indication M 1  in the imaging range E 1 . According to an automatic driving assist system  100 ′ including the vehicle driving assist device  2 ″ and the instruction display device  4 ″, the driving assist device  2 ″ of the preceding second vehicle  3  receives the operation instruction information from the first vehicle  1  which performs the automatic following driving so as to cause an on-vehicle monitor, a speaker or the like in the second vehicle  3  to operate to inform a driver of the second vehicle  3  of an automatic following driving state of the first vehicle  1  by characters, figures, sounds, or the like. 
     Next, the driving assist device  2  of the present embodiment will be described with reference to  FIGS. 2A and 2B . The first vehicle  1  in  FIG. 2A  includes a left headlamp  5  including a high-beam headlamp unit  5   a  and a low-beam headlamp unit  5   b,  and a right headlamp  6  including a high-beam headlamp unit  6   a  and a low-beam headlamp unit  6   b.  The driving assist device  2  is provided behind a front lens  5   c  of the left headlamp  5 . 
     The driving assist device  2  shown in  FIG. 2B  includes the imaging device  7  and the ECU  8  which is a control device. The ECU  8  includes an instruction detection unit  9 , a Read Only Memory (ROM)  10  and an instruction processing unit  11  and is configured as an operation control device of the driving assist device. In the instruction processing unit  11 , the automatic driving system  12  of the first vehicle  1  and an on-vehicle monitor  13  are connected. Since the driving assist device  2  is provided in the left headlight  5  together with the ECU  8  independent of the control of a main body of the first vehicle  1 , it is advantageous that no extra load is applied to the control device which controls the operation of the main body of the first vehicle  1 . The driving assist device  2 ,  2 ′ may be provided in the right headlamp  6 , or may be provided at various parts directed to the front of the first vehicle  1 , such as a front end central portion of a roof of the first vehicle  1 . Further, the driving assist device  2 ″ may be provided in the left-rear combination lamp  23  of the second vehicle  3 , or may be provided at various parts directed to the rear of the second vehicle  3 , such as a rear end central portion of a roof of the second vehicle  3 . 
     The imaging device  7  shown in  FIG. 2B  includes a transparent biconvex lens  14 , an imaging element  15  and a holder  16 . The biconvex lens  14  is fixed to the holder  16  together with the imaging element  15  in front of the imaging element  15 . The front lens  5   c  of the left headlamp  5  shown in  FIG. 2A  includes a window portion  5   d  which is a through hole or a colorless transparent portion. The imaging device  7  is fixed to direct obliquely downward to the left headlight  5  such that the biconvex lens  14  is exposed forward from the window portion  5   d  and the biconvex lens  14  and the imaging element  15  are directed toward the road surface near and in front of the first vehicle  1 . 
     As shown in  FIG. 1 , in the lane S 1 , when the operation instruction information indication M 1  which is irradiated from the preceding second vehicle  3  and includes figures, characters and the like related to the operation instruction information on the road surface SP 1  between the second vehicle  3  and the following first vehicle  1 , is displayed with invisible light such as near-infrared light, the imaging device  7  of the driving assist device vehicle  2  of the first vehicle  1  forms an image of the invisible operation instruction information indication M 1  on the imaging element  15  by the biconvex lens  14 . 
     When the image of the operation instruction information indication M 1  is formed on the imaging element  15 , the ECU  8  detects occurrence of the operation instruction by the instruction detection unit  9 . Then, the instruction processing unit  11  compares the image of the operation instruction information indication M 1  with a specific operation instruction which is predetermined for each image stored in the ROM  10  and sends an operation instruction based on the taken image of the operation instruction information indication M 1  to the automatic driving system  12 . The automatic driving system  12  controls the first vehicle  1  to automatically operate regardless of the driving operation of the driver of the first vehicle  1  or to assist the driving operation, based on the operation instruction received from the driving assist device  2 . 
     The ECU  8  shown in  FIG. 2B  performs control such that a predetermined indication is displayed on the on-vehicle monitor  13  via the instruction processing unit  11 . The on-vehicle monitor  13  is configured to receive, for example, a control signal from the instruction processing unit  11  of the ECU  10  and display the state of the automatic driving operation with characters or figures which the driver can recognize, or display a message (such as exchange of sentences and greetings) emitted from the preceding second vehicle  3  by the driver or the like, with characters or the like. The driving assist device  2 ″ in  FIG. 1A  is configured to display a message which is related to the automatic following driving and is sent from the following first vehicle  1  (for example, a distance between the first vehicle  1  and the preceding second vehicle  3  is too large and the operation instruction information indication M 1  from the second vehicle  3  within the image imaging range E 1  cannot be recognized, and the automatic following driving cannot be performed) on the on-vehicle monitor  13  of the second vehicle  3  with characters or the like. 
     Next, the instruction display device  4  of the present embodiment will be described with reference to  FIGS. 3A to 3C . The second vehicle  3  in  FIG. 3A  includes a left-rear combination lamp  23  and a right-rear combination lamp  24 , the left and right combination lamps  23 ,  24  include tail and stop lamps  23   a,    24   a,  turn signal lamps  23   b,    24   b,  and backup lamps  23   c,    24   c,  and the instruction display device  4  of the present embodiment is provided in the left-rear combination lamp  23 . 
     The instruction display device  4  shown in  FIG. 3B  includes a base  25 , an ECU  26  which is a control device, a light source  27  such as an LED which generates near-infrared light, a substrate  28 , a scanning mechanism  29 , and a condenser lens  38 . The base  25  includes a body  25   a,  a rear cover  25   b,  and a metal support member  25   c.  In the body  25   a  formed of resin or the like, a rear opening is closed by the transparent rear cover  25   b.  The metal support member  25   c  includes a substrate fixing portion  25   d  and a scanning mechanism fixing portion  25   e  which protrude forward. An installation position of the instruction display device  4  is not limited to the left-rear combination lamp  23 , and may be provided in the right-rear combination lamp  24 , or at various portions directed to the front of the first vehicle  1 , such as the rear end central portion of the roof or a rear window of the second vehicle  3 . 
     As shown in  FIG. 3B , the ECU  26  and the light source  27  are mounted on a substrate  28  and are electrically connected to an on-vehicle operation panel or the like (not shown) in the second vehicle  3 . The substrate  28  is fixed to the substrate fixing portion  25   d  with the light source  27  facing downward. The scanning mechanism  29  is fixed to the scanning mechanism fixing portion  25   e  with a reflecting mirror  30  facing both the light source  27  and the rear cover  25   b,  and the condensing lens  38  which is a transparent plano-convex lens is fixed to the body  25   a  or the like so as to be positioned in an optical path between the light source  27  and the reflecting mirror  30 . The instruction display device  4  is fixed to a vehicle body  3   a  of the second vehicle  3  such that the rear cover  25   b  is exposed rearward. 
     The scanning mechanism  29  shown in  FIGS. 3B and 3C  is configured by an MEMS mirror or the like and includes the reflecting mirror  30 , a base  31 , a rotation body  32 , a pair of first torsion bars  33 , a pair of second torsion bars  34 , a pair of permanent magnets  35 , a pair of permanent magnets  36  and a terminal  37 . A reflecting surface  30 a is formed by performing processing such as silver vapor deposition or plating on a front surface of the reflecting mirror  30 . Further, the scanning mechanism  29  is supplied with power via a cable (not shown) connected to the terminal  37  and is connected to the ECU  26  to receive control. 
     The plate-shaped rotation body  32  in  FIGS. 3B and 3C  includes a first coil (not shown) which receives power from the terminal  37  and is supported on the base  31  to be tiltable to the left and right by the pair of first torsion bars  33 . The reflecting mirror  30  includes a second coil (not shown) which receives power from the terminal  37  and is supported by the rotation body  32  to be tiltable upward and downward by the pair of second torsion bars  34 . 
     The rotation body  32  shown in  FIG. 3C  is swing-rotated reciprocally at a high speed in a left-right direction (direction D 1 ) around an axis of the first torsion bar  33  by the first coil that is energized and controlled by the pair of permanent magnets  35  and a control mechanism (not shown) so as to tilt the reflecting mirror  30  to the left and right at a high speed. The reflecting mirror  30  is swing-rotated reciprocally at a high speed in an upper-lower direction (direction D 2 ) around an axis of the second torsion bar  34  by the second coil that is energized and controlled by the pair of permanent magnets  36  and a control mechanism (not shown). 
     The ECU  26  in  FIG. 3B  is connected to an operation panel (not shown) provided in an interior of the second vehicle  3  and is configured to turn on/off the light source  27  at a predetermined timing and scan the reflecting mirror  30 , which receives light B 1  from the light source  27 , in the upper-lower direction (direction D 1 ) and the left-right direction (direction D 2 ). The light B 1  passes through the rear cover  25   b  and is irradiated on the road surface behind the second vehicle  3 . The instruction display device  4  displays characters or figures of predetermined shape including a combination of dots or lines on the road surface behind the second vehicle  3  based on the operation to the operation panel (not shown) by the driver. For example, when the driver presses a following driving button displayed on the operation panel, the instruction display device  4  is configured to display an operation instruction information indication M 1  with invisible light which causes the following vehicle to follow the second vehicle  3  at a predetermined position away from the second vehicle  3 , on the road surface behind the second vehicle  3 . Then, the driving assist device  2  of the first vehicle  1  shown in  FIG. 1  and  FIG. 2B  sends the operation instruction based on the operation instruction information indication M 1  to the automatic driving system  12  so as to control the first vehicle  1  to automatically follow the second vehicle  3  in a predetermined manner. 
     The instruction display device  4  displays the operation instruction information indication M 1  on the road surface with invisible light which is near-infrared light. Therefore, even in a case where the instruction display device  4  and a road surface drawing device which draws (displays) a notation indication with visible light to a pedestrian or a driver of the vehicle, are both mounted to a vehicle, it is advantageous that the pedestrian or the like has no difficulty in reading even when the operation instruction information indication M 1  is drawn (displayed) on the road surface. 
     As shown in  FIG. 4A , the instruction display device  4  of the second vehicle  3  displays, for example, the operation instruction information indication M 1  as a matrix-type two-dimensional code, a stack type two-dimensional code, or the like with invisible light, and the driving assist device  2  of the first vehicle  1  obtains operation instruction information from an analysis result of an image of the two-dimensional code taken by the imaging device  7 . The operation instruction information indication M 1  is not limited to the two-dimensional code, and may be expressed in various manners such as a bar codes or characters. 
     As shown in  FIG. 4B , the operation instruction information indication is not limited to the optical representation displayed by invisible light from the instruction display device of the preceding vehicle, and may be a graphic indication which is provided in advance as a line, a marker, a character, a figure, a pattern, or the like by a road stud, paint, a stone, or the like on the road surface in advance. The operation instruction information indication M 2  shown in  FIG. 4B  is a guide and stop symbol for parking in a frame of a parking space SP 2  provided on a shoulder R 1  of the lane S 1 . 
     For example, the operation instruction information indication M 2  shown in  FIG. 4B  includes a pair of parallel guide lines m 21  formed with a predetermined width and a predetermined color, a deceleration line m 22  which goes straight perpendicular to the middle of the pair of guide lines and indicates a place approaching a predetermined parking space, and a stop line m 23  which goes straight perpendicular at the end of the guide lines m 21 . 
     For example, when the driving assist device  2  of the first vehicle  1  detects the guide line m 21  in the imaging range E 1  with the imaging device  7 , an instruction to travel so as not to travel over from the inside of the pair of guide lines m 21  is sent to the automatic driving system  12  in  FIG. 2B , and the first vehicle  1  automatically travels inside the pair of guide lines m 21 . Since the vehicle approaches the predetermined parking space SP 2  when the deceleration line m 22  is detected by the imaging device  7 , the driving assist device  2  sends a slow down operation instruction causing the vehicle to decelerate to a speed at which the vehicle can be stopped at any time to the automatic driving system  12  and the first vehicle  1  automatically performs slowing driving inside the pair of guide lines m 21 . Since the driving assist device  2  is within the predetermined parking space SP 2  when the stop line m 23  formed at the end of the guide lines m 21  is detected by the imaging device  7 , the driving assist device  2  sends a stop instruction to the automatic driving system  12  and the first vehicle  1  automatically stops without running over from the frame of the parking space SP 2 . 
     In a case where such an operation instruction information indication M 2  is provided from the lane S 1  on which the vehicle travels to the parking space SP 2  on the road shoulder RI, even if the driver of the first vehicle  1  is not good at parking, the first vehicle  1  can be automatically parked by the driving assist device  2  at an optimum position without straying out from the parking space SP 2 . Further, since a plurality of vehicles including the driving assist devices  2  are automatically parked in optimum positions without straying out from the parking spaces SP 2 , an provider of the parking lot does not need to set an extra margin for each area of the parking space in order to avoid collision between a vehicle and an adjacent vehicle which are prevented to deviate from the optimum position. Since the driving assist device  2  can accurately park a plurality of vehicles including the driving assist devices  2  in extremely narrow spaces between vehicles, space saving of the parking space can be achieved.