Parking support device

Abstract

To provide a parking support device which can clearly grasp a positional relation of an own vehicle with a parking route while a driver is moving an own vehicle toward a stop position when parking the own vehicle into a parking space.SOLUTION: A parking support device 10 comprises a surrounding situation acquisition part 41, a parking space detection part 42, a parking route calculation part 43, a display control part 44, a display unit 50, and an input reception part 52. The display control part 44 displays so that a positional relation between an own vehicle 20, a pallet P, and a parking route, and a positional relation between a 3D vehicle model VM, a 3D pallet model PM, and an enter guide line GL are identical. In the case where the 3D vehicle model VM is overlapped with the enter guide line GL, the display control part 44 displays the 3D vehicle model VM by semi-transmission. When receiving an input from a driver by means of the input reception part 52, the display control part 44 enlarges and displays an image of a predetermined range including the vicinity of a position where the own vehicle 20 stops out of images displayed on the display unit 50.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a parking assistance device. [Background technology]

[0002] Conventionally, many prior art technologies have been proposed to assist in parking by displaying an image depicting a parking path that guides the vehicle toward the parking space when parking the vehicle in the parking space (see, for example, Patent Documents 1 to 5). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2003-72495 A [Patent Document 2] JP 2004-114879 A [Patent Document 3] JP 2005-239048 A [Patent Document 4] JP 2009-298178 A [Patent Document 5] JP 2018-112970 A Summary of the Invention [Problem to be solved by the invention]

[0004] The prior arts described in the above Patent Documents 1 to 5 all display on a display device the positional relationship between a vehicle icon that typically represents the vehicle itself and the space in which the vehicle is to be parked (parking space) as an overhead image based on a rear camera view (camera image showing the rear). In addition, the prior arts display on a display device a parking route that connects the vehicle icon displayed at the location where the vehicle itself is located to the stopping position of the parking space.

[0005] For this reason, in the prior art, when parking the vehicle in a parking space, if the vehicle icon displayed on the display device overlaps with the parking path due to the movement of the vehicle, the parking path is hidden by the vehicle icon. Therefore, when the driver is moving the vehicle toward the stopping position, even if he sees the display with the parking path hidden, he cannot clearly grasp the positional relationship between the vehicle and the parking path. This problem also occurs in various parking forms, including general parking in which the parking space is an area divided by white lines or the like. In particular, when parking on a pallet in a mechanical parking lot, if the driver cannot grasp the positional relationship between the vehicle and the parking path while moving toward the stopping position, the driver must move to the stopping position on the pallet while feeling uneasy.

[0006] The present invention has been made with attention to the above-mentioned problems, and aims to provide a parking assistance device that enables a driver to clearly grasp the positional relationship between his / her vehicle and the parking route when parking his / her vehicle in a parking space and moving his / her vehicle toward the stopping position. [Means for solving the problem]

[0007] The parking assistance device of the present invention includes a surrounding condition acquisition unit, a parking space detection unit, a parking path calculation unit, a display control unit, a display device, and an input reception unit. The parking space detection unit detects a parking space where the vehicle can be parked using information acquired by the surrounding condition acquisition unit. The parking path calculation unit calculates a parking path from the location where the vehicle is located to the parking space using the information acquired by the surrounding condition acquisition unit and the parking space. The display control unit displays the vehicle so that the positional relationship between the vehicle, the parking space, and the parking path is similar to the positional relationship between an icon representing the vehicle, an icon representing the parking space, and a line representing the parking path. When the icon representing the vehicle and the line representing the parking path overlap, the display control unit displays the icon representing the vehicle semi-transparently. When the display control unit receives an input from the driver via the input reception unit, it displays an image of a predetermined range including the vicinity of the position where the vehicle will stop, among the images displayed on the display device, by enlarging it. Effect of the Invention

[0008] According to the parking assistance device of the present invention, when parking the vehicle in a parking space, the driver can clearly grasp the positional relationship between the vehicle and the parking route while moving the vehicle toward the stopping position. [Brief description of the drawings]

[0009] [Figure 1] 1 is a block diagram showing an overall configuration of a parking assistance device according to a first embodiment of the present invention; [Diagram 2] 4 shows a flowchart of a parking assistance display control process. [Diagram 3] 1 is an explanatory diagram of a vehicle position condition for starting parking assistance display control; [Figure 4] 4A and 4B are diagrams illustrating patterns of how the host vehicle is parked, in which the parking assistance display control is executed; [Diagram 5] 1 shows an example of a palette image from which the palette size is detected. [Figure 6] 11 shows an explanatory diagram of a color change pattern displayed based on a deviation determination. [Figure 7] An example of a 3D view image displayed when starting parking on a pallet is shown. [Figure 8] 13 is an explanatory diagram of a semi-transparent display function of a 3D vehicle model based on overlap determination. [Figure 9] FIG. 13 is an explanatory diagram of the generation of a touch area based on a warehousing guideline. [Figure 10] 11A and 11B are explanatory diagrams of the enlargement of a touch area based on a region area determination. [Figure 11] 13 is an explanatory diagram of a semi-transparent display function of a 3D vehicle model by touch detection. [Figure 12] 11A and 11B are diagrams for explaining the viewpoint position control action of the virtual camera by touch detection. [Figure 13] 13 is an explanatory diagram of an interrupt enlarged display action due to touch detection. [Figure 14] 1 shows an explanatory diagram of a method for drawing interrupt lines on a 3D view image. [Figure 15]13 is an explanatory diagram of the operation of specifying an intrusion direction for a 3D view image. [Figure 16] 13 shows an explanatory diagram of the supplementary effect of the cut-in direction on the 3D view image. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] An embodiment for implementing the parking assistance device of the present invention will be described based on Example 1. The parking assistance device of Example 1 is an application example that displays information guiding the driver to move to a position where the vehicle will be parked without the driver having to pay careful attention when parking the vehicle on a pallet in a mechanical parking lot. EXAMPLES

[0011] [Device configuration (Fig. 1)] As shown in FIG. 1, the parking assistance device 10 is mounted on a host vehicle 20, and includes a detection device 30, a parking assistance display ECU 40 (ECU is an abbreviation for “Electronic Control Unit”), and a display device 50.

[0012] The detection device 30 acquires necessary information for use in the parking assistance display control. The detection device 30 includes a vehicle position detection unit 31, a lidar 32, a sonar 33, a vehicle periphery camera 34, a vehicle bottom camera 35, a vehicle speed sensor 36, a steering angle sensor 37, and a range position sensor 38.

[0013] The vehicle position detection unit 31 is a detection unit that detects the position of the vehicle 20, and includes, for example, a GNSS receiver (GNSS is an abbreviation for "Global Navigation Satellite System") and a processor. The GNSS receiver receives signals transmitted from satellites. The processor calculates latitude and longitude (position information) indicating the position of the vehicle 20 based on the signals received by the GNSS receiver, and calculates the direction of the vehicle 20 based on the difference in the calculated position information. The vehicle position detection unit 31 outputs information indicating the calculated position and direction of the vehicle 20 to the parking assistance display ECU 40.

[0014] The LIDAR 32 is a 3D measuring device that uses laser light to three-dimensionally measure the distance to an object present around the vehicle 20, the direction of the object, the position of the object, the shape of the object, and the like, and is provided, for example, on the outer periphery of the vehicle 20. The laser light from the LIDAR 32 has a higher luminous flux density and a shorter wavelength than radio waves, and is irradiated toward surrounding objects outside the vehicle 20. The LIDAR 32 outputs the acquired 3D measurement results to the parking assistance display ECU 40.

[0015] The sonar 33 is an ultrasonic distance detector, and is provided, for example, at each of the front, rear, left and right corners of the vehicle 20. The sonar 33 outputs ultrasonic waves and detects the reflected waves from people, cars, structures, obstacles, etc. that are present within a predetermined distance from the vehicle 20, thereby detecting the distance to those objects. The sonar 70 outputs the obtained distance detection results to the parking assistance display ECU 40.

[0016] The vehicle surroundings camera 34 is an imaging means for detecting people, cars, structures, obstacles, and the like present around the vehicle 20 as image data, and is provided, for example, around the vehicle 20 with the lens optical axis facing outward. The vehicle surroundings camera 34 includes, for example, a front camera, a rear camera, a left side camera, and a right side camera. The vehicle surroundings camera 34 outputs image data acquired by an image sensor to the parking assistance display ECU 40.

[0017] The vehicle bottom camera 35 is an imaging means for detecting structures, obstacles, etc. present in the bottom area of ​​the vehicle as image data, and is provided, for example, at a front position on the bottom of the vehicle 20 or a rear position on the bottom. The vehicle bottom camera 35 outputs image data captured by an image sensor to the parking assistance display ECU 40. The image data from the vehicle bottom camera 35 is used, for example, as supplementary information indicating the shape and size of the unevenness of grooves (wheel guide grooves) on the pallet that guide the wheels when the vehicle 20 moves on the pallet to enter the parking lot.

[0018] The vehicle speed sensor 36 detects the vehicle speed, which is the traveling speed of the host vehicle 20. The steering angle sensor 37 detects the steering angle of the steering wheel (or the steering angle of the steered tires) caused by the driver's steering operation. The driver selects one range position from among a plurality of range positions, and the range position sensor 38 detects the range position selected by the selection operation. The plurality of range positions include a reverse range position selected when traveling backward, a drive range position selected when traveling forward, and a parking range position selected when parking. The vehicle speed sensor 36, the steering angle sensor 37, and the range position sensor 38 output their respective detection information to the parking assistance display ECU 40.

[0019] The parking assistance display ECU 40 controls the display of parking assistance based on input information obtained from the detection device 30 etc. The parking assistance display ECU 40 has a surroundings condition acquisition unit 41, a parking space detection unit 42, a parking path calculation unit 43, a display control unit 44, a traveling direction information acquisition unit 45, a traveling direction prediction unit 46, and a deviation determination unit 47.

[0020] The surrounding condition acquisition unit 41 acquires information on the surrounding conditions of the host vehicle 20 based on input information from the detection device 30. The input information from the detection device 30 includes 3D measurement information, distance information, image information, and the like acquired from the LIDAR 32, the sonar 33, and the vehicle surroundings camera 34.

[0021] The parking space detection unit 42 detects a parking space in which the vehicle 20 can be parked, using the information acquired by the surrounding condition acquisition unit 41. The parking space detection unit 42 determines whether the parking space is a pallet of a mechanical parking lot, and if it is determined to be a pallet, detects the size of the pallet (pallet size).

[0022] The parking path calculation unit 43 calculates a path (parking path) for the host vehicle 20 to move from the location where the host vehicle 20 is located to the parking space, using the information acquired by the surrounding condition acquisition unit 41 and the parking space detected by the parking space detection unit 42. When the parking space detection unit 42 determines that the parking space is a pallet in a mechanical parking lot, the parking path calculation unit 43 calculates a parking path that includes the wheel guide grooves in the path so that the tires of the host vehicle 20 pass through the wheel guide grooves provided on the pallet. The lines indicating the parking path calculated by the parking path calculation unit 43 are referred to as "entry guidelines" in the following explanation.

[0023] The display control unit 44 displays the vehicle 20 in such a way that the positional relationship between the vehicle 20, the parking space, and the parking route is similar to the positional relationship between the icon representing the vehicle 20, the icon representing the parking space, and the line representing the parking route. When the display control unit 44 determines that the parking space is a pallet, it displays the parking space in a three-dimensional manner using a 3D view image seen from the virtual camera. That is, the display control unit 44 generates a composite image (composite image) in such a way that the positional relationship between the vehicle 20, the pallet, and the parking route in the three-dimensional space is similar to the positional relationship between the 3D vehicle model representing the vehicle 20 in the three-dimensional space, the 3D pallet model representing the pallet, and the entrance guide line in the three-dimensional space. Note that the viewpoint direction, which is the direction of the optical axis of the virtual camera, is set to maintain a direction toward the coordinate origin, which is determined, for example, at the center position of the parking space, regardless of the viewpoint position, which is the center position of the virtual camera. The viewpoint position of the virtual camera can be set to be freely changed by moving a finger on an arc centered on the coordinate origin by, for example, moving the finger while touching the touch panel display screen 51 described later (contact movement operation). In addition, the viewpoint position of the virtual camera can also be controlled (viewpoint position control) so that the viewpoint position is automatically adjusted by moving along an arc when a predetermined condition is met.

[0024] When an icon representing the vehicle 20 overlaps with a line (= entrance guideline) indicating a parking route, the display control unit 44 displays the icon representing the vehicle 20 semi-transparently. When the display control unit 44 determines that the parking space is a pallet and the entrance guideline is not displayed at a preset rate (e.g., 50%) or more by the 3D vehicle model showing the exterior of the vehicle 20, the display control unit 44 changes the 3D vehicle model showing the exterior to a semi-transparent 3D vehicle model.

[0025] The traveling direction information acquisition unit 45 acquires information related to the traveling direction of the host vehicle 20. The information related to the traveling direction of the host vehicle 20 is, for example, vehicle speed information from the vehicle speed sensor 36, steering angle information from the steering angle sensor 37, and reverse range position information and forward range position information from the range position sensor 38.

[0026] The traveling direction prediction unit 46 predicts the traveling direction of the host vehicle 20 by using the information acquired by the traveling direction information acquisition unit 45. The line indicating the traveling direction of the host vehicle 20 is a "predicted course line" along which the host vehicle 20 is predicted to travel when moving while maintaining the current steering angle. The "entry guide line" can be said to be a line indicating a target movement trajectory when the host vehicle 20 moves backward or forward toward the stopping position relative to the "predicted course line."

[0027] The deviation judgment unit 47 judges whether the vehicle 20 deviates from the parking path using the traveling direction of the vehicle 20 predicted by the traveling direction prediction unit 46 and the parking path of the vehicle 20. "Deviation" means that the coincidence between the entrance guideline and the predicted course line cannot be maintained and the predicted course line moves away from the entrance guideline. When the deviation judgment unit 47 judges that deviation has occurred, the display control unit 44 changes the display mode of at least the entrance guideline. The display control unit 44 simultaneously displays the entrance guideline and the predicted course line, and changes the color (green, yellow, red) of the entrance guideline and the predicted course line according to the deviation judgment result from the deviation judgment unit 47. For example, when it is judged that the predicted course line has not deviated from the entrance guideline, the entrance guideline and the predicted course line are displayed in a display mode (green) indicating coincidence.

[0028] The display device 50 stereoscopically displays a 3D view image seen from a virtual camera when parking on a pallet. The display device 50 has a display screen 51 and an input receiving unit 52. The display device 50 may be a display device provided as a dedicated product for the parking assistance device, or may also serve as a display device used in a car navigation system. The display screen 51 is not limited to a liquid crystal display, and a head-up display (HUD) that displays a parking assistance image on the windshield may be used.

[0029] The display screen 51 displays a 3D view image that supports the driver's driving operation when parking in response to a display command from the display control unit 44. The display screen 51 is a touch panel type screen that accepts, as input, a tap operation where a finger touches a touch area of ​​the screen, a pinch out operation where an image displayed on the screen is requested to be enlarged, a pinch in operation where an image displayed on the screen is requested to be reduced, and the like.

[0030] The input reception unit 52 corresponds to a screen contact sensor provided on the display screen 51. When the input reception unit 52 receives an input (touch input) by a tap operation of touching a touch area set on the display screen 51 with a finger, the input reception unit 52 outputs information (touch detection information) that the reception of the touch input has been detected to the parking assistance display ECU 40.

[0031] When the vehicle model displayed when touch detection information is received from the input receiving unit 52 is a 3D vehicle model showing the exterior, the display control unit 44 makes the 3D vehicle model semi-transparent. When the display control unit 44 receives touch detection information from the input receiving unit 52 and determines that the viewpoint position of the virtual camera is low, the display control unit 44 performs control to automatically move the viewpoint position of the virtual camera upward on an arc. When the display control unit 44 receives touch detection information from the input receiving unit 52, the display control unit 44 interrupts and displays an enlarged image. The enlarged image is an image of a predetermined range including the vicinity of the position where the host vehicle 20 stops, among the 3D view images displayed on the display screen 51. When the display control unit 44 receives touch detection information again from the input receiving unit 52, the display control unit 44 ends the interrupt display of the enlarged image and the semi-transparent display of the 3D vehicle model in principle.

[0032] [Configuration and operation flow of the process for controlling parking assistance display (Fig. 2)] The configuration and operation flow of the process for controlling the parking assist display (parking assist display control process) executed in the parking assist display ECU 40 will be described below with reference to the flowchart shown in Fig. 2. Fig. 2 shows an example of the operation of the parking assist display ECU 40, and is not limited to the operation order and operation process shown in Fig. 2.

[0033] Step S1 is a step in which the display control unit 44 determines whether or not a pallet size has been detected based on the pallet size detection information from the parking space detection unit 42. Step S1 determines that a pallet size has been detected when predetermined necessary information is acquired as the pallet size detection information.

[0034] Step S2 is a step in which the display control unit 44 generates synthetic images such as a 3D vehicle model and a 3D palette model based on the prepared model and input information from the detection device 30, while responding to the movement of the host vehicle 20, and displays the generated 3D view image.

[0035] Step S3 is a step in which the display control unit 44 generates a touch area that becomes the input receiving unit 52 by expanding the drawing pixels of the entrance guideline based on the entrance guideline calculated by the parking route calculation unit 43 and offsetting them outward.

[0036] Step S4 is a step in which the display control unit 44 performs semi-transparent processing on the 3D vehicle model showing the exterior when it determines that a 3D vehicle model showing the exterior is present between the virtual camera and the coordinate origin and that the warehousing guide line is not displayed at 50% or more. The coordinate origin is a fixed point set in the direction in which the viewpoint of the virtual camera faces. The ratio value at which it is determined that the warehousing guide line is not displayed is not limited to 50% and may be changed by the driver settings, etc.

[0037] In step S5, when the display control unit 44 determines that the area of ​​the touch area generated in step S3 is equal to or smaller than the set area, the display control unit 44 enlarges the touch area generated in step S3. The set area is set to an area based on ensuring operability when performing a tap operation by touching the touch area displayed on the display screen 51 with a finger.

[0038] Step S6 is a step in which the display control unit 44 determines whether or not touch detection information has been received from the input receiving unit 52.

[0039] Step S7 is a step in which, if the display control unit 44 determines that the 3D vehicle model showing the exterior is a 3D vehicle model showing the exterior when touch detection information is received from the input receiving unit 52, image processing is performed to make the 3D vehicle model showing the exterior semi-transparent. Also, step S7 is a step in which, if the display control unit 44 determines that the viewpoint angle of the virtual camera is 15 degrees or less when touch detection information is received from the input receiving unit 52, viewpoint position movement processing is performed to automatically move the viewpoint position upward on an arc. The viewpoint angle of the virtual camera is the angle between the line connecting the coordinate origin and the virtual camera and the horizontal line passing through the coordinate origin.

[0040] Step S8 is a step in which, upon receiving touch detection information from the input receiving unit 52, the display control unit 44 performs processing to display an enlarged image in an interruption region whose area increases with the lapse of time after the touch detection information is received.

[0041] In step S9, the display control unit 44 determines whether or not touch detection information has been received from the input receiving unit 52 again.

[0042] Step S10 is a step in which the display control unit 44 performs processing to end the cut-in enlarged display and the semi-transparent display of the 3D vehicle model when it receives touch detection information again from the input receiving unit 52. However, in step S10, when the semi-transparent display of the 3D vehicle model ends and the warehousing guideline is no longer displayed, only the cut-in enlarged display is ended and the semi-transparent display of the 3D vehicle model is maintained.

[0043] Step S11 is a step in which the display control unit 44 determines whether or not the vehicle is in the parking range position based on the detection information from the range position sensor 38. If it is determined that the vehicle is in the parking range position in step S11, the process proceeds to END, and the parking assistance display control process is terminated.

[0044] The flow of operations of each step (abbreviated as S1 to S11) is explained as follows. When the vehicle 20 moves to the pallet where the vehicle is to be parked and the parking space detection unit 42 detects the pallet size, the process in FIG. 2 proceeds in the order of S1 → S2 → S3 → S4 → S5 → S6. While it is determined in S6 that touch detection information has not been received from the input reception unit 52, the flow of S2 (3D view display process) → S3 (touch area generation process) → S4 (semi-transparent process of 3D vehicle model) → S5 (touch area enlargement process) → S6 is repeated.

[0045] 2 proceeds from S6 to S7, S8, and S9. Then, while it is determined in S9 that touch detection information has not been received again from the input receiving unit 52, the flow of S7 (generation of an image that supports parking on a pallet) → S8 (generation of an enlarged 3D view image by interruption) → S9 is repeated.

[0046] 2 proceeds from S9 to S10 to S11. As long as it is determined in S11 that the position is not the parking range position, the flow of proceeding from S10 (processing to end the interruption enlarged display and semi-transparent display) to S11 is repeated. Thereafter, when the display control unit 44 determines that the detection information from the range position sensor 38 is the parking range position, it proceeds to the end since parking on the pallet has been completed and the condition for ending the parking assistance display control process is met.

[0047] In this way, when the 3D vehicle model showing the appearance when parking on a pallet overlaps with the entrance guideline, the display control unit 44 controls to display the entrance guideline during the movement during parking by making the 3D vehicle model semi-transparent. Furthermore, when the display control unit 44 receives touch detection information from the input receiving unit 52, it controls to display the details of the positional relationship during the movement during parking by enlarging the image of the rear end area of ​​the entrance guideline. Therefore, when the host vehicle 20 moves toward the stop position when parking on a pallet, the driver can clearly grasp the positional relationship between the host vehicle 20 and the entrance guideline. As a result, the burden of careful consideration and anxiety during the movement on the pallet is reduced when parking on a pallet.

[0048] [Parking assistance display control start flow (Fig. 3, Fig. 4)] The flow of starting the parking assistance display control is explained below with reference to Figures 3 and 4. The action explanatory diagrams in Figures 3 and 4 are drawn as overhead views rather than three-dimensional views, with the pallet indicated as P, the entrance guide line indicated as GL, and the area where the display control starts (display control start area) indicated as DA.

[0049] The host vehicle position condition for starting the parking assistance display control process is determined to be not satisfied while the host vehicle 20 is outside a trapezoidal display control start area DA set in front of the pallet P on which the host vehicle 20 is to be parked, as shown in Fig. 3(a). The host vehicle position condition is determined to be satisfied when the host vehicle 20 moves in a direction approaching the pallet P and enters the display control start area DA, as shown in Fig. 3(b), and the parking assistance display control process is started.

[0050] The parking assistance display control process is started regardless of the pattern of how the vehicle 20 is loaded into the pallet P, i.e., front loading as shown in Fig. 4(a), rear loading as shown in Fig. 4(b), or sideways loading as shown in Fig. 4(c). In principle, the 3D view image including the loading guide line GL and the predicted course line PL is displayed when the 3D view image is ready to be displayed, regardless of the loading pattern. However, in the sideways loading pattern shown in Fig. 4(c), the display of the loading guide line GL and the predicted course line PL is not started until the condition is met that the vehicle 20 reaches a position where the entry angle allows front loading or rear loading.

[0051] [Detection of pallet size (Fig. 5)] The operation of detecting the pallet size (step S1 in FIG. 2) will be described below with reference to FIG.

[0052] The pallet size is detected by the parking space detection unit 42 based on information from the surrounding condition acquisition unit 41. The parking space detection unit 42 selects the following information as detection information for the pallet size. (1) Height + width due to the shape of the front end face P1 of pallet P that guides the wheels (2) Position of the rear wall P2 of pallet P (3) Distance from the front end surface P1 of pallet P to the rear wall surface P2 (4) Position of wheel stopper P3 on pallet P (5) Position of rear end P4 of pallet P

[0053] When the display control unit 44 acquires detection information of the pallet size from the parking space detection unit 42, it determines that the pallet size has been detected in step S1 and proceeds to step S2. The display control unit 44 identifies the shape of the pallet P equipped with a pair of wheel guide grooves P5 by the pallet size detection in step S2, and generates a 3D pallet model PM that matches the outer dimensions of the actual pallet P and the dimensions of the wheel guide grooves.

[0054] [Display mode change based on deviation judgment (Fig. 6)] The operation of changing the display mode based on the judgment that the predicted course line PL deviates from the warehousing guide line GL (deviation judgment) will be described below with reference to Fig. 6. Note that each pattern diagram of the line display in Fig. 6 is not a three-dimensional diagram, but is drawn as an overhead view that makes it easy to see the correspondence between the warehousing guide line GL and the predicted course line PL.

[0055] The display control unit 44 selects "green" when the predicted course line PL is placed on the warehousing guideline GL, for example, as shown in FIG. 6(a). The display control unit 44 selects "green" when the predicted course line PL is placed near the warehousing guideline GL and is within the fine adjustment range, as shown in FIG. 6(b). The "fine adjustment range" is an angle (e.g., less than 5 degrees) at which the curve of the predicted course line PL with respect to the warehousing guideline GL is not too sharp and no problems are expected to occur. The warehousing guideline GL(g) is displayed as a thick, dark green line. The predicted course line PL(g) is displayed as a thin, light green line.

[0056] For example, as shown in FIG. 6(c), when the predicted course line PL is placed near the warehousing guide line GL and the steering angle is within the fine adjustment range but may cause the vehicle to derail (for example, between 5 degrees and 15 degrees), the display control unit 44 selects "yellow." The warehousing guide line GL(y) is displayed as a thick, dark yellow line. The predicted course line PL(y) is displayed as a thin, bright yellow line.

[0057] For example, as shown in FIG. 6(d), when the predicted course line PL is placed near the entrance guide line GL but is not within the fine adjustment range and the steering angle is such that there is a possibility of the vehicle running off the road or coming into contact with an adjacent obstacle (for example, 15 degrees or more), the display control unit 44 selects "red." The entrance guide line GL(r) is displayed as a thick, dark red line. The predicted course line PL(r) is displayed as a thin, bright red line.

[0058] Therefore, the driver can visually recognize that there is no runaway or contact (green), there is a possibility of runaway or contact (yellow), or there will be runaway or contact if the vehicle continues moving (red) by the color identification of the entrance guideline GL and the predicted course line PL displayed when parking on the pallet. When the entrance guideline GL and the predicted course line PL change from green to yellow or green to yellow to red, the driver can visually recognize the transition from movement along the entrance guideline GL to movement involving runaway or contact. The driver can recognize the steering direction and steering amount to be corrected by the display of the degree of deviation of the predicted course line PL from the entrance guideline GL (see Fig. 6 (c) and (d)). When the driver performs corrective steering based on the recognition of the deviation, the driver can visually recognize that the vehicle 20 has transitioned to movement along the entrance guideline GL when the color of the entrance guideline GL and the predicted course line PL changes from yellow to green or red to yellow to green.

[0059] [3D view image generation and display (Fig. 7)] The generation and display operation of the 3D view image (step S2 in FIG. 2) will be described below with reference to FIG 7. FIG 7 omits the predicted course line PL.

[0060] For the 3D vehicle model VM showing the appearance of the vehicle 20, an icon having the external characteristics of the vehicle is prepared in advance. The 3D pallet model PM showing the appearance of the pallet P is generated, for example, by adjusting the external shape and wheel guide groove shape of a basic pallet model icon prepared in advance based on the detection of the pallet size. The parking guide line GL is calculated by the parking path calculation unit 43 based on the position and orientation of the vehicle 20 and the position of the wheel guide groove P5. The predicted course line PL is calculated by the traveling direction prediction unit 46 based on information from the traveling direction information acquisition unit 45.

[0061] As shown in FIG. 7, the 3D view image is generated by a synthesis process so that the positional relationship in three-dimensional space between the 3D vehicle model VM, the 3D pallet model PM, and the storage guide line GL is the same as the actual positional relationship as seen from the virtual camera. The storage guide line GL of the 3D view image is drawn in a three-dimensional display along four vertical groove surfaces that represent the groove width of a pair of wheel guide grooves of the 3D pallet model PM. The front end of the storage guide line GL is a position that extends straight forward to the outside beyond the front end face P1 of the pallet P. The rear end of the storage guide line GL is a target stopping position determined by a wheel chock P3 or the like. In addition, the display of the surrounding area adjacent to the pallet P where parking is planned is displayed as much as possible in accordance with the actual surrounding situation. For example, as shown in FIG. 7, the display of the surrounding area also displays the 3D pallet model PM' of the adjacent pallet and the 3D vehicle model VM' showing the parked vehicle on the adjacent pallet in accordance with the surrounding situation.

[0062] For example, if the viewpoint position of the virtual camera is set to look down on the vehicle 20 from high diagonally behind the vehicle, the 3D view image will be as shown in Fig. 7 when the driver sits in the seat of the vehicle 20 and looks at the display screen 51. Therefore, by looking at the 3D view image when parking on the pallet P, the driver can easily imagine what the situation will be like as the vehicle 20 moves toward the stopping position of the pallet P. Furthermore, by looking at the 3D view image, the driver can accurately grasp the three-dimensional positional relationship between the vehicle 20, the pallet P, and the storage guide line GL.

[0063] [Semi-transparent display of 3D vehicle model (Fig. 8)] The semi-transparent display operation of the 3D vehicle model (step S4 in FIG. 2) will be described below with reference to FIG.

[0064] For example, if a 3D vehicle model VM showing the exterior is present between the virtual camera and the coordinate origin, the warehousing guideline GL will not be displayed because the 3D vehicle model VM and the warehousing guideline GL will completely overlap as shown in FIG. 8(a). Even if the warehousing guideline GL does not completely overlap the 3D vehicle model VM, a sufficient display will not be ensured if, for example, an overlap condition of 50% or more is satisfied. When the display control unit 44 determines that the overlap condition of 50% or more is satisfied, it makes the 3D vehicle model VM showing the exterior semi-transparent, and changes the 3D vehicle model VM showing the exterior to a semi-transparent 3D vehicle model TM and displays it as shown in FIG. 8(b). The transmittance of the body of the semi-transparent 3D vehicle model TM is set to about 60%, which is the ratio at which the warehousing guideline GL is displayed through the body. The transmittance of the tires of the semi-transparent 3D vehicle model TM is set to be lower than the transmittance of the body. The transmittance of the tires is set to about 30%, which is the ratio at which the shapes of the four tires T are emphasized and displayed from the overall shape of the model.

[0065] The semi-transparent 3D vehicle model TM is included in the 3D view image displayed on the display screen 51. Therefore, when parking on the pallet P, the driver can easily understand where the tire T of the vehicle 20 is located on the pallet P or on the storage guide line GL by simply looking at the 3D view image displayed on the display screen 51. Furthermore, when parking on the pallet P, the driver can clearly understand the positional relationship between the tire T and the storage guide line GL and the change in the positional relationship by simply looking at the 3D view image displayed on the display screen 51. In addition, when the overlapping condition is met, the display control unit 44 automatically changes the display to the semi-transparent 3D vehicle model TM. This saves the driver the trouble of performing an operation to request a semi-transparent display. Note that the touch area TA, which will be described later, is also not displayed when the 3D vehicle model VM and the storage guide line GL overlap, but the semi-transparency allows the body to be seen through and the display of the touch area TA is also ensured.

[0066] [Creating and expanding touch areas (Figures 9 and 10)] The generating and enlarging operations of the touch area TA (steps S3 and S5 in FIG. 2) will be described below with reference to FIG. 9 and FIG. 10. Note that FIG. 10 does not show the semi-transparent 3D vehicle model TM that is displayed overlapping with the touch area TA.

[0067] The touch area TA is a rectangular base area BA drawn by connecting the drawing pixels aligned along the outermost periphery of the warehousing guide line GL included in the display of the 3D view image shown in Fig. 9(a). The touch area TA is generated by enlarging the base area BA while maintaining its rectangular shape, offsetting each of the four corners diagonally outward, as shown in Fig. 9(b). The touch area TA is determined by assuming an outward offset amount of the warehousing guide line GL to be about 1.5 times the area of ​​the base area BA based on the outer shape of the warehousing guide line GL.

[0068] As shown in Fig. 10, when the position of the virtual camera is low, the area of ​​the touch area TA becomes extremely narrow compared to Fig. 9. When the display control unit 44 determines that the area of ​​the touch area TA is equal to or smaller than a set area determined based on the operability of the tap operation, the display control unit 44 performs an enlargement process of the touch area TA. As shown in Fig. 10, the enlargement process of the touch area TA uses the previously generated touch area TA as a base, and further enlarges the area of ​​this base area to about 1.5 times, and the enlarged area becomes the final enlarged touch area TA'.

[0069] [Image generation to assist parking on a pallet (Fig. 11, Fig. 12)] The operation of generating an image for assisting parking on the pallet P (step S7 in FIG. 2) will be described below with reference to FIGS. 11 and 12.

[0070] Assume that the driver performs a tap operation with the finger F on the normal touch area TA shown in FIG. 11. When the display control unit 44 receives touch detection information from the input receiving unit 52 due to the tap operation, the display control unit 44 semi-transmits the 3D vehicle model VM showing the exterior to a semi-transparent 3D vehicle model TM, except when the 3D vehicle model VM has already been semi-transparent in step S4. The transparency of the semi-transparent 3D vehicle model TM is the same as the semi-transparent processing of the 3D vehicle model VM in S4. The semi-transparent 3D vehicle model TM is included in the 3D view image displayed on the display screen 51. Therefore, the driver can clearly grasp the positional relationship between the four tires T displayed with shape emphasis and the storage guide line GL, simply by looking at the 3D view image supporting parking on the pallet P.

[0071] Assume that the driver taps the enlarged touch area TA' shown in FIG. 12(a) with his / her finger F. When the display control unit 44 receives touch detection information from the input receiving unit 52 due to the tap operation, in addition to the semi-transparent processing of the 3D vehicle model VM, it executes viewpoint change control to move the position of the low virtual camera VC upward on an arc in order to adjust the display of the positional relationship. As shown in FIG. 12(b), the display control unit 44 controls the current coordinates of the virtual camera VC to move to the upper virtual camera VC' so as to draw an arc (=along the arc) with the coordinate origin CO as the center. Therefore, the angle of the downward viewpoint direction of the virtual camera VC with respect to the horizontal plane, which was approximately horizontal with respect to the vehicle 20, is changed to the angle of the viewpoint direction of the virtual camera VC' looking down on the vehicle 20. Therefore, when the driver looks at the 3D view image displayed on the display screen 51, the positional relationship between the semi-transparent 3D vehicle model TM and the warehouse entry guide line GL becomes easier to see compared to the 3D view image before the change in the viewpoint direction angle, as shown in FIG. 12(c).

[0072] [Generation of an enlarged 3D view image by interruption (Figs. 13 to 16)] The operation of generating an enlarged 3D view image by interruption (step S8 in FIG. 2) will be described below with reference to FIGS.

[0073] The outline of the operation of generating an enlarged 3D view image by cutting in will be described below with reference to FIG. 13. When the vehicle 20 moves to the front of the pallet P, the display control unit 44 displays a 3D view image such that the positional relationship in three-dimensional space between the 3D vehicle model VM, the 3D pallet model PM, and the storage guide line GL is the same as the actual relationship, as shown in FIG. 13(a). When the display control unit 44 receives touch detection information from the input receiving unit 52 based on a tap operation by a finger F on the touch area TA, as shown in FIG. 13(a), the display control unit 44 changes and displays the 3D vehicle model VM to a semi-transparent 3D vehicle model TM, as shown in FIG. 13(b), and generates an cut-in line IL. The cut-in line IL is a line that separates an enlarged image area EA in which an image is enlarged and displayed, from a normal image area NA in which an image is not enlarged and is displayed at a normal size, and is generated by drawing in perspective (perspective projection) toward the vanishing point of the stereoscopic image. The display control unit 44 controls the cut-in line IL to move at a predetermined speed while maintaining the direction toward the vanishing point in a direction to increase the area of ​​the enlarged image area EA, as shown in FIG. 13(b)→FIG. 13(c)→FIG. 13(d). The cut-in line IL stops moving when it reaches a preset final position (position in FIG. 13(d)) after a predetermined time (for example, about 1 second). Therefore, the enlarged 3D view image by the cut-in is an image that allows the driver to clearly and in detail grasp the positional relationship between the four tires T and the entrance guide line GL, as well as the change in the positional relationship, in the area where the vehicle 20 moves toward the stop position after getting on the pallet P and is parked on the pallet P. As a result, the driver can move the vehicle 20 toward the stop position by relying on the image of the four tires T and the entrance guide line GL.

[0074] The procedure for generating an enlarged 3D view image by cutting in is a procedure for generating an enlarged 3D view image in which the rear end of the warehousing guide line GL is zoomed in, and will be described in detail in the steps 1 to 5 below. 1. The axis passing through the center of the vehicle (hereinafter referred to as the "guideline center GC") is generated as shown in Figure 14 by using the center passing through the coordinate origin CO of the warehousing guideline GL or the two centers of the axles of the semi-transparent 3D vehicle model TM.

[0075] 2. The enlarged image is generated by enlarging the periphery of the rear end of the vehicle by a specified magnification (for example, 1.5 to 2.0 times) based on the guideline center GC. Note that although the enlarged image is enlarged by the specified magnification, if the magnification of the enlarged image is too high or low, the magnification may be adjusted by pinching out or in on the enlarged image area EA.

[0076] 3. The interruption lines IL are generated by lines parallel to the perspective based on the axles (= lines connecting the tires) of the semi-transparent 3D vehicle model TM, or lines pointing to the same vanishing point. Note that the interruption lines IL in FIG. 14 are lines at the final stopping position that contact the screen center position CP. The dashed lines WL in FIG. 14 are multiple lines that are not parallel to each other and point to the same vanishing point. The interruption lines IL are displayed as lines, but it is also possible to eliminate the line display and simply display the image boundary that separates the enlarged image area EA and the normal image area NA.

[0077] 4. The interruption line IL is drawn from the right or left of the screen depending on the positional relationship between the virtual camera VC, the semi-transparent 3D vehicle model TM, and the coordinate origin CO. The interruption line IL is drawn from the left of the screen, as indicated by the arrow X, if the viewpoint position of the virtual camera VC with respect to the semi-transparent 3D vehicle model TM is at a position VC(R) that is deflected to the right from a vertical plane that passes through the coordinate origin CO, as shown in Figures 15(a) and (b). The interruption line IL is drawn from the right of the screen if the viewpoint position of the virtual camera VC with respect to the semi-transparent 3D vehicle model TM is at a position VC(L) that is deflected to the left from a vertical plane that passes through the coordinate origin CO.

[0078] In the case of FIG. 16(a) where the semi-transparent 3D vehicle model TM is in the lower half of the screen and the warehousing guide line GL is drawn above it, the upper end point of the cut-in line IL moves faster than the lower end point, and finally moves until it is almost horizontal (see FIG. 16(b) to (d)). In other words, when the front surface of the semi-transparent 3D vehicle model TM faces this way and the warehousing guide line GL is behind it, the cut-in line IL cuts in from the right or left side of the screen depending on the viewpoint position determination that determines the viewpoint position of the virtual camera VC. On the other hand, in the case of FIG. 13(a) where the semi-transparent 3D vehicle model TM is in the upper half of the screen and the warehousing guide line GL is drawn below it, the lower end point of the cut-in line IL moves faster than the upper end point, and finally moves until it is inclined (see FIG. 13(b) to (d)). In other words, when the rear surface of the semi-transparent 3D vehicle model TM is facing this way and there is a warehouse entry guide line GL in front of it, the cut-in line IL cuts in from the right or left side of the screen depending on the viewpoint position determination of the virtual camera VC.

[0079] 5. The interrupt movement of the interrupt line IL stops when the interrupt line IL reaches a preset final position where it contacts the screen center position CP, as shown in Fig. 14. By stopping its movement, the interrupt line IL fixes the occupancy area ratio of the enlarged image area EA to the normal image area NA to a ratio of, for example, 50%:50%.

[0080] When the display control unit 44 receives the touch detection information, the display control unit 44 does not instantly switch and display the enlarged image area EA, but displays the enlarged image area EA so that the area of ​​the enlarged image area EA increases with the passage of time from when the touch detection information is received. Therefore, when the enlarged image area EA is presented in response to a tap operation on the touch area TA, the driver can visually recognize the state of switching to the enlarged display area EA on the screen by the presentation of a moving image display, and is prompted to pay attention to the enlarged image area EA.

[0081] [Effects of Parking Assistance Device 10] (1) The parking assistance device 10 includes a surroundings condition acquisition unit 41, a parking space detection unit 42, a parking path calculation unit 43, a display control unit 44, a display device 50, and an input reception unit 52. The display control unit 44 displays the positional relationship between the vehicle 20, the parking space (pallet P), and the parking path, and the positional relationship between the icon (3D vehicle model VM) indicating the vehicle 20, the icon (3D pallet model PM) indicating the parking space, and the line (entry guideline GL) indicating the parking path so as to be the same. When the icon (3D vehicle model VM) indicating the vehicle 20 and the line (entry guideline GL) indicating the parking path overlap, the display control unit 44 displays the icon (3D vehicle model VM) indicating the vehicle 20 semi-transparently. When the display control unit 44 receives an input from the driver via the input reception unit 52, it displays an image of a predetermined range including the vicinity of the position where the vehicle 20 is stopped, among the images displayed on the display device 50, in an enlarged manner. Therefore, when parking the vehicle 20 in a parking space (pallet P), the driver can clearly grasp the positional relationship between the vehicle 20 and the parking route while moving the vehicle 20 toward the parking position.

[0082] (2) The parking assistance device 10 includes a travel direction information acquisition unit 45, a travel direction prediction unit 46, and a deviation determination unit 47 that determines whether the vehicle 20 deviates from the parking path using the travel direction of the vehicle 20 predicted by the travel direction prediction unit 46 and the parking path. When the deviation determination unit 47 determines that the vehicle 20 deviates, the display control unit 44 changes the display mode (color) of the lines indicating the parking path (entry guideline GL). Therefore, when parking in a parking space (pallet P), the driver can visually determine whether the vehicle 20 is moving along the lines indicating the parking path (entry guideline GL) simply by looking at the display mode (color) of the lines indicating the parking path (entry guideline GL). Furthermore, the driver can visually determine whether the vehicle 20 is deviating from the lines indicating the parking path (entry guideline GL) or has returned to the lines indicating the parking path (entry guideline GL) simply by looking at the change in the display mode (color).

[0083] (3) The parking space detection unit 42 determines whether the available parking space is a pallet P of a mechanical parking lot. When the parking space detection unit 42 determines that the parking space is a pallet P of a mechanical parking lot, the parking path calculation unit 43 calculates a parking path so that the tires T of the host vehicle 20 pass through the wheel guide grooves P5 of the pallet P. Therefore, when the host vehicle 20 moves on the pallet P to park on the pallet P, an image can be presented to the driver that guides the tires T of the host vehicle 20 to pass along the wheel guide grooves P5 of the pallet P.

[0084] (4) The display control unit 44 displays the 3D view image seen from the virtual camera VC in a three-dimensional manner so that the positional relationship in three-dimensional space between the vehicle 20, the pallet P, and the parking path is similar to the positional relationship in three-dimensional space between the 3D vehicle model VM showing the appearance of the vehicle 20, the 3D pallet model PM showing the pallet P, and the lines showing the parking path (entry guide line GL). Therefore, when parking on the pallet P, the driver can easily imagine the parking situation of the vehicle 20, and can accurately grasp the positional relationship in three-dimensional space between the vehicle 20, the pallet P, and the lines showing the parking path (entry guide line GL).

[0085] (5) When the display control unit 44 receives input from the driver via the input receiving unit 52, it changes the display of the 3D vehicle model VM to the display of the semi-transparent 3D vehicle model TM, except when the semi-transparent 3D vehicle model TM is already being displayed. The semi-transparent 3D vehicle model TM sets the transmittance of the body to a transmittance at which the lines indicating the parking path (entry guide lines GL) are displayed transparently, and sets the transmittance of the tires T lower than the transmittance of the body. Therefore, when parking on the pallet P, the driver can easily recognize where the tires of the vehicle 20 are located, and can clearly grasp the positional relationship between the tires T and the lines indicating the parking path (entry guide lines GL) and any changes in that positional relationship.

[0086] (6) When the display control unit 44 receives an input from the driver through the input receiving unit 52, the display control unit 44 generates an interruption line IL in the display image displayed on the display device 50. The display image is divided into two display screen areas by the interruption line IL, and one screen area including the rear end of the line (entry guide line GL) indicating the parking path is set as the enlarged image area EA. The interruption line IL is controlled to move over time so that the screen occupancy rate of the enlarged image area EA relative to the entire area of ​​the display screen increases from the initial screen occupancy rate when the input from the driver is received to the final screen occupancy rate when the division is completed. Therefore, when the enlarged image area EA is presented in response to a driver request, the visibility of the enlarged image area EA on the entire screen can be increased by producing a moving image-like display.

[0087] The parking assistance device 10 of the first embodiment has been described above with reference to the drawings. However, the specific configuration of the parking assistance device of the present invention is not limited to the first embodiment, and design changes and additions are permitted as long as they do not deviate from the gist of the invention according to each claim of the claims.

[0088] In the first embodiment, the display control unit 44 changes the color of the warehousing guide line GL and the predicted course line PL when the deviation determination unit 47 determines that a deviation has occurred. However, the display control unit is not limited to changing the color as long as it changes the display mode. The display mode of the warehousing guide line and the predicted course line may be, for example, the same color but different line types (thin line, thick line, dashed line, one-dot chain line, etc.), or both the color and the line type may be different.

[0089] In the first embodiment, the parking path calculation unit 43 calculates a parking path so that the tires of the vehicle 20 pass through the wheel guide grooves P5 of the pallet P when the parking space detection unit 42 determines that the pallet P is a pallet P of a mechanical parking lot. However, the parking path calculation unit is not limited to the example of calculating a parking path so that the tires pass through the wheel guide grooves. For example, in the case of general parking where the parking space is a partitioned space with white lines or the like, the parking path calculation unit may calculate a curved parking path that guides the vehicle from the vehicle position outside the parking space to the inside of the parking space, including a forward and backward turning path.

[0090] The display control unit 44 of the first embodiment has shown an example of stereoscopic display using a 3D view image from a virtual camera whose viewpoint position can be changed so that the positional relationship in three-dimensional space between the 3D vehicle model VM, the 3D pallet model PM, and the storage guide line GL becomes the same as in reality. However, the display control unit is not limited to stereoscopic display using a 3D view image. The display control unit may, for example, perform planar view display using a two-dimensional plane, or may perform overhead display (or bird's-eye view display) from an overhead viewpoint set at an upper position. In addition, the display control unit may perform stereoscopic display from a virtual camera from a predetermined fixed viewpoint such as a position diagonally above and behind the parking space.

[0091] In the first embodiment, the display control unit 44 sets the transmittance of the body of the semi-transparent 3D vehicle model TM to a transmittance at which the warehousing guide line GL is displayed transparently, and sets the transmittance of the tires T to a value lower than the transmittance of the body. However, the display control unit is not limited to an example in which the transmittance of the body and the transmittance of the tires are made different. For example, the display control unit may set the transmittance of the body to a ratio at which the warehousing guide line is displayed transparently, but may not display the tires (transmittance 0%), or may set the transmittance of the body and tires to the same and draw the outline of the tires.

[0092] The input reception unit 52 in the first embodiment receives touch input from the driver on a touch area TA set on the display screen. However, the input reception unit is not limited to receiving touch input on a touch area. The input reception unit may be an example in which a touch input unit is displayed on the display screen in advance instead of the touch area, or may be an example in which an input is received by a proximity input of a finger approaching or a push operation input on a button switch.

[0093] In the example 1, the display control unit 44, upon receiving an input from the driver, sets an area including the rear end of the warehousing guide line GL out of two divided areas bounded by the generated cut-in line IL as an enlarged image area EA, and moves the cut-in line IL over time. However, the display control unit is not limited to an example in which an enlarged image is displayed upon receiving an input from the driver. The display control unit may, upon receiving an input from the driver, enlarge and display an area including the rear end of the warehousing guide line GL in a pop-up, or may set a circular area or a strip area set based on the touch position as the enlarged image area.

[0094] The parking assistance device 10 of the first embodiment shows an application example in which a parking space is a pallet. However, the application of the parking assistance device of the present invention is not limited to parking on a pallet. The parking assistance device of the present invention may be a parking assistance device applied to a general parking lot. Furthermore, the parking assistance device of the present invention may be a parking assistance device that determines whether to park on a pallet or in a general parking space, and uses an icon indicating a pallet or an icon indicating a general parking space depending on the determination result. [Explanation of symbols]

[0095] 10 Parking assistance device 20 Vehicle 30 Detection Device 40 Parking assist display ECU 50 Display device

Claims

1. A surrounding condition acquisition unit that acquires surrounding condition information of the host vehicle; a parking space detection unit that detects a parking space in which the host vehicle can be parked using the information acquired by the surrounding condition acquisition unit; a parking path calculation unit that calculates a parking path from a location where the vehicle is located to the parking space using the information acquired by the surrounding condition acquisition unit and the parking space; a display control unit that displays the positional relationship between the vehicle, the parking space, and the parking path, and the positional relationship between an icon representing the vehicle, the icon representing the parking space, and the line representing the parking path so as to be the same, and when the icon representing the vehicle and the line representing the parking path overlap, displays the icon representing the vehicle semi-transparently; a display device that displays an image on a screen in response to a display command from the display control unit; An input receiving unit that receives an input from a driver, When the input receiving unit receives an input from the driver, the display control unit displays an image of a predetermined range including a position where the host vehicle will stop, among the images displayed on the display device, in an enlarged manner. A parking assistance device comprising:

2. 2. The parking assistance device according to claim 1, a travel direction information acquisition unit that acquires information regarding a travel direction of the host vehicle; a travel direction prediction unit that predicts a travel direction of the host vehicle by using the information acquired by the travel direction information acquisition unit; a deviation determination unit that determines whether the host vehicle deviates from the parking path by using the traveling direction of the host vehicle predicted by the traveling direction prediction unit and the parking path, The display control unit changes a display mode of the line indicating the parking path when the deviation determination unit determines that the deviation will occur. A parking assistance device comprising:

3. In the parking assistance device according to claim 1, The parking space detection unit determines whether the parking space in which parking is possible is a pallet of a mechanical parking lot, The parking path calculation unit calculates a parking path so that the tires of the host vehicle pass through wheel guide grooves provided on the pallet when the parking space detection unit determines that the parking space is a pallet of the mechanical parking lot. A parking assistance device comprising:

4. 4. The parking assistance device according to claim 3, The display control unit displays the vehicle in three dimensions using a 3D view image seen from a virtual camera so that a positional relationship in three-dimensional space between the vehicle, the pallet, and the parking path is similar to a positional relationship in three-dimensional space between a 3D vehicle model showing an appearance of the vehicle, a 3D pallet model showing the pallet, and a line showing the parking path. A parking assistance device comprising:

5. 5. The parking assistance device according to claim 4, when the display control unit receives an input from the driver via the input receiving unit, except in a case where a semi-transparent 3D vehicle model is already being displayed, the display control unit changes the display of the 3D vehicle model to the display of the semi-transparent 3D vehicle model; The semi-transparent 3D vehicle model is set such that the transmittance of the body is set to a transmittance at which the lines indicating the parking path are displayed transparently, and the transmittance of the tires is set to a value lower than the transmittance of the body. A parking assistance device comprising:

6. A parking assistance device according to any one of claims 1 to 5, When the display control unit receives an input from the driver via the input receiving unit, the display control unit generates an interruption line in a display image displayed on the display device; Of the display screen area divided into two by the cut-in line, one screen area including a rear end of the line indicating the parking path is set as an enlarged image area; The interruption line is controlled to move over time so that the screen occupancy rate of the enlarged image area relative to the entire area of ​​the display screen increases to a predetermined screen occupancy rate from the time when the input from the driver is received. A parking assistance device comprising:

Images