Judges 4:24

‘ And the hand of the children of Israel prevailed more and more against Jabin, the king of Canaan, until they had destroyed Jabin, the king of Canaan.'

Having commenced successfully Barak did not let up. Gradually with his men he broke Jabin's power base and eventually destroyed the king himself. Hazor and its confederates would no longer be a threat to them. Thus there was peace in that area for a generation while Israel re-established themselves, and they would be able to move around reasonably freely and settle in the plain of Esdraelon (Hebrew - Jezreel - Judges 5:31). But there is no mention of driving out the Canaanites. Obedience was only partial and they would still be a thorn in the side of Israel.