Parking assistance method, parking assistance device, and recording medium

Abstract

A parking assistance method includes: displaying a bird's-eye view image (100) on a display (14) when it is determined that a host vehicle (Vo) is around a registration point (105) and superimposing a vehicle reference frame (71) surrounding the host vehicle (Vo) on the bird's-eye view image (100); and displaying the vehicle reference frame (71) so that the size and orientation of the vehicle reference frame (71) with respect to the host vehicle (Vo) are maintained even if the position of the host vehicle (Vo) changes as the host vehicle (Vo) travels. The size and orientation of the vehicle reference frame (71) are set through a setting operation performed by a driver of the host vehicle (Vo).

Description

Parking assistance method, parking assistance device, and recording medium

[0001] The present invention relates to a parking assistance method, a parking assistance device, and a recording medium.

[0002] Patent Document 1 discloses a parking assistance device. When displaying an overhead view image on a screen, the parking assistance device displays a frame graphic of a size corresponding to the vehicle's outline at a predetermined reference position on the screen in a predetermined orientation, superimposed on the overhead view image. The parking assistance device is configured to change the display position and orientation of the frame graphic in response to an operation by the vehicle occupant. The parking assistance device then identifies a target parking space for parking the vehicle based on the changed display position and orientation of the frame graphic.

[0003] Japanese Patent Application Laid-Open No. 2007-230371

[0004] With the method disclosed in Patent Document 1, even if the vehicle is parked in a parking space according to a frame figure, it may not be possible to secure the necessary space around the vehicle.

[0005] An object of the present invention is to provide a parking assistance method, a parking assistance device, and a recording medium that can ensure a necessary space around a parked vehicle.

[0006] A parking assistance method according to one aspect of the present invention includes, when the host vehicle is in the vicinity of a registered point, displaying an overhead image on a display and superimposing a vehicle reference frame surrounding the host vehicle on the overhead image, and displaying the vehicle reference frame so that the size and orientation of the vehicle reference frame relative to the host vehicle are maintained even if the position of the host vehicle changes as the host vehicle moves. The size and orientation of the vehicle reference frame are set by a setting operation by an occupant of the host vehicle.

[0007] According to one aspect of the present invention, when the host vehicle is parked, a necessary space can be secured around the host vehicle.

[0008] Fig. 1 is a diagram schematically showing the configuration of a parking assistance device according to this embodiment. Fig. 2 is a flowchart showing a method for setting a vehicle reference frame. Fig. 3 is a diagram showing a menu screen related to setting a vehicle reference frame. Fig. 4 is a diagram showing a setting screen for a vehicle reference frame. Fig. 5 is a flowchart showing a parking assistance method according to this embodiment. Fig. 6 is a diagram showing an assistance image displayed on a display. Fig. 7 is a diagram showing an assistance image displayed on a display.

[0009] A parking assistance device 1 according to this embodiment will be described with reference to FIG. 1. The parking assistance device 1 is mounted on a vehicle and assists the vehicle in parking a parking space. Hereinafter, the vehicle equipped with the parking assistance device will be referred to as the host vehicle. The host vehicle may be a vehicle with or without an automatic driving function. The host vehicle may be a vehicle that can switch between an automatic driving function and a manual driving function. The automatic driving function is a function that automatically controls multiple vehicle control functions, such as a steering control function, a braking force control function, and a driving force control function, to drive the vehicle autonomously. The automatic driving function may also be a function that automatically controls only some of the multiple vehicle control functions to assist the driver in driving.

[0010] The parking assistance device 1 includes a camera unit 10 , a vehicle sensor 11 , a GPS receiver 12 , a map database 13 , a display 14 , an operation unit 15 , and a controller 20 .

[0011] The camera unit 10 includes multiple cameras arranged around the periphery of the vehicle. For example, the camera unit 10 includes four cameras mounted on the front, rear, left, and right sides of the vehicle. The camera mounted on the front side of the vehicle captures the view ahead as seen from the vehicle. The camera mounted on the rear side of the vehicle captures the view behind as seen from the vehicle. The camera mounted on the left side of the vehicle captures the view to the left as seen from the vehicle. The camera mounted on the right side of the vehicle captures the view to the right as seen from the vehicle. Each camera is installed below the roof of the vehicle. Each camera is equipped with a solid-state imaging element such as a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The four cameras capture images in synchronization with each other at a predetermined imaging cycle.

[0012] 1, the vehicle sensor 11 is a sensor, such as a gyro sensor, that detects the orientation of the vehicle. The vehicle sensor 11 also includes a position sensor that detects the gear position. The GPS receiver 12 receives radio waves from multiple GPS satellites to calculate the position of the vehicle.

[0013] The map database 13 is a storage device that stores map data. The map data is data that indicates map information such as topography, roads on the ground, structures, etc. The map database 13 may obtain map data from an external map data server using cloud computing.

[0014] The display 14 is disposed in a position visible to an occupant (typically, the driver), for example, on an instrument panel. The display 14 displays assistance images necessary for parking assistance and screens related to various settings. The operation unit 15 is an interface through which the user inputs operation instructions, and is, for example, a touch panel provided on the display 14. The touch panel detects a touch position on the display 14. The touch panel is, for example, a capacitance type, but is not limited to this, and may be of another type, such as a resistive film type.

[0015] The controller 20 is a general-purpose microcomputer equipped with a CPU (Central Processing Unit), memory, and input / output units. A computer program is installed in the microcomputer. By executing the computer program, the microcomputer functions as multiple information processing circuits equipped in the controller 20.

[0016] In this embodiment, an example is shown in which the multiple information processing circuits provided in the controller 20 are realized by software. Of course, it is also possible to configure the multiple information processing circuits for executing the information processing described below using dedicated hardware. Furthermore, the multiple information processing circuits may be configured using individual hardware.

[0017] The controller 20 assists the parking of the vehicle by displaying an assistance image on the display 14. The controller 20 includes an image processing unit 21, a frame setting unit 22, a storage unit 23, and a display control unit 24 as a plurality of information processing circuits.

[0018] The image processing unit 21 generates a bird's-eye view video looking down from a viewpoint above the host vehicle based on images output from the four cameras of the camera unit 10. The image processing unit 21 generates a bird's-eye view image looking down from a viewpoint above the host vehicle based on a preset virtual viewpoint and projection plane. Because the four cameras are installed below the roof of the vehicle, the bird's-eye view image does not include an image that actually captures the host vehicle. Therefore, the image processing unit 21 generates the bird's-eye view image using a simulated image that simulates the host vehicle in addition to the images output from the four cameras. This bird's-eye view image includes the host vehicle and the ground and objects around the host vehicle.

[0019] The image processing unit 21 may generate an overhead image by receiving, via wireless communication, an image captured by a camera installed outside the vehicle, for example, in a parking lot or a camera of another vehicle. When an image captured from above the vehicle is used, it is not necessarily necessary to use a simulated image when generating the overhead image.

[0020] The frame setting unit 22 sets a vehicle reference frame to assist in parking the host vehicle. The vehicle reference frame is a guide that is superimposed on the overhead image to assist in parking the host vehicle, and is displayed around the host vehicle. Specifically, the vehicle reference frame is a guide that ensures a space around the host vehicle, taking into account the opening and closing of the host vehicle's side doors, back door, or trunk lid, and hood or frump, or the shape of the parking space. The vehicle reference frame set by the frame setting unit 22 is registered in association with a specific point on a map. The method for setting the vehicle reference frame will be described later.

[0021] The storage unit 23 stores the registered points registered in the frame setting unit 22 in association with the size and orientation of the vehicle reference frame. The storage unit 23 can store a plurality of points, and can register the size and orientation of the vehicle reference frame for each registered point.

[0022] When a preset trigger condition is met, the display control unit 24 displays the overhead image generated by the image processing unit 21 on the display 14. The display control unit 24 also displays a vehicle reference frame superimposed on the overhead image. The display control unit 24 can also display a point reference frame in addition to the vehicle reference frame. The point reference frame is a guide displayed on the overhead image at a position corresponding to the registered point.

[0023] A method for setting the vehicle reference frame will be described below with reference to Fig. 2. Prior to setting the vehicle reference frame, the driver parks the vehicle at a point where the driver wants to set the vehicle reference frame. When the driver then performs an operation to start setting the vehicle reference frame, the controller 20 executes the flowchart shown in Fig. 2.

[0024] The frame setting unit 22 displays a menu screen 50 related to setting a vehicle reference frame on the display 14 (S10). As shown in Fig. 3, the menu screen 50 includes a plurality of lists for registering a vehicle reference frame for each location. In the example shown in Fig. 3, the menu screen 50 includes five lists 51a to 51e. Each of the lists 51a to 51e includes a setting icon 52, an edit icon 53, and a trash can icon 54. The menu screen 50 also includes a map display frame 55 located to the right of the five lists 51a to 51e.

[0025] Operating the setting icon 52 transitions to a setting screen for setting the vehicle reference frame. Operating the editing icon 53 transitions to an editing screen for editing the list name. Operating the trash can icon 54 allows the user to delete information registered in the list.

[0026] Map information indicating the registered points registered in each of the lists 51 a to 51 e is displayed in the map display frame 55. For example, when one of the five lists 51 a to 51 e is operated, map information centered on the registered point registered in the operated list 51 a to 51 e is displayed in the map display frame 55.

[0027] As shown in FIG. 2, when the setting icon 52 in any one of the lists 51a to 51e is operated (S12: YES), the frame setting unit 22 displays the setting screen 60 shown in FIG. 4 (S13).

[0028] The setting screen 60 is composed of an operation screen 61 for performing a setting operation for the vehicle reference frame 71, and a frame display screen 70 on which the setting contents of the vehicle reference frame 71 are displayed. The operation screen 61 and the frame display screen 70 are arranged side by side in the left-right direction. The frame display screen 70 displays the vehicle reference frame 71 together with an overhead image 100 including the host vehicle Vo and a certain range around it. The vehicle reference frame 71 is a rectangular frame consisting of four sides 72 to 75 corresponding to the front, rear, left, and right of the host vehicle Vo. The size of the initially displayed vehicle reference frame 71 roughly matches the outer shape of the host vehicle Vo, and its orientation is parallel to the host vehicle Vo.

[0029] The operation screen 61 includes four movement operation icons 63 to 66, two rotation operation icons 67 and 68, and an end icon 69.

[0030] The four movement operation icons 63 to 66 are icons for setting operations to adjust the size of the vehicle reference frame 71, i.e., the positions of each side 72 to 75. The four movement operation icons 63 to 66 are arranged in the front, back, left, and right directions so as to correspond to the four sides 72 to 75 of the vehicle reference frame 71. In other words, the position of each movement operation icon 63 to 66 corresponds to the side 72 to 75 of the vehicle reference frame 71 that is operated by that movement operation icon. For example, by operating the front movement operation icon 63, the position of the front side 72 of the host vehicle Vo can be set.

[0031] By operating each of the movement operation icons 63 to 66, the sides 72 to 75 of the vehicle reference frame 71 can be moved away from or closer to the host vehicle Vo. When the movement operation icons 63 to 66 are operated, the sides 72 to 75 move incrementally by a fixed distance. By operating the movement operation icons 63 to 66 to move one or more of the sides 72 to 75 of the vehicle reference frame 71 relative to the host vehicle Vo, the size of the vehicle reference frame 71 relative to the host vehicle Vo is set. The size of the vehicle reference frame 71 is defined by the distance from the host vehicle Vo to each of the sides 72 to 75, and setting the size also includes setting the relative position of the vehicle reference frame 71 with respect to the host vehicle Vo.

[0032] The two rotation operation icons 67 and 68 are icons for setting operations to adjust the orientation of the vehicle reference frame 71. The two rotation operation icons 67 and 68 display arrows indicating the rotation direction of the vehicle reference frame 71. When one of the rotation operation icons 67 is operated, the vehicle reference frame 71 can be rotated clockwise around a reference position of the host vehicle Vo, for example, the vehicle center, as the rotation center. Conversely, when the other rotation operation icon 67 is operated, the vehicle reference frame 71 can be rotated counterclockwise around a reference position of the host vehicle Vo, for example, the vehicle center, as the rotation center. When the rotation operation icons 67 and 68 are operated, the vehicle reference frame 71 rotates stepwise by a fixed angle. By rotating the vehicle reference frame 71 relative to the host vehicle Vo through the setting operation of the rotation operation icons 67 and 68, the orientation of the vehicle reference frame 71 with respect to the host vehicle Vo is set.

[0033] The end icon 69 is an icon for ending the setting operation.

[0034] 4, the frame setting unit 22 performs a setting process to set the vehicle reference frame 71 in accordance with the driver's setting operation (S14). In this setting process, the frame setting unit 22 adjusts the size and orientation of the vehicle reference frame 71 in accordance with the operation of the four movement operation icons 63 to 66 and the two rotation operation icons 67, 68.

[0035] When the end icon 69 is operated, the frame setting unit 22 specifies the size and orientation of the vehicle reference frame 71 relative to the host vehicle Vo that are set at the time of operation of the end icon 69 as the shape of the vehicle reference frame 71 (S15).

[0036] The frame setting unit 22 acquires the parking position of the vehicle from the GPS receiver 12 (S16). The frame setting unit 22 also acquires the direction of the vehicle from the vehicle sensor 11.

[0037] The frame setting unit 22 registers frame information in the storage unit 23 (S17). Specifically, the frame setting unit 22 registers the parking position of the host vehicle Vo as a registered point in the storage unit 23. In addition, the frame setting unit 22 registers the size and orientation of the vehicle reference frame 71 relative to the host vehicle Vo in association with the registered point in the storage unit 23. As a result, information on the vehicle reference frame 71 is registered in the storage unit 23.

[0038] Furthermore, the frame setting unit 22 registers information about the point reference frame in association with the registered point. Specifically, the frame setting unit 22 registers, as the point reference frame, a rectangular frame of the same size as the vehicle reference frame 71. As with the vehicle reference frame 71, the size of the point reference frame is defined by the distance from the registered point to each of the sides 72 to 75, and setting the size also includes setting the relative position of the point reference frame with respect to the registered point.

[0039] Through this series of processing, the vehicle reference frame 71 is registered for the registered point. In addition to the vehicle reference frame 71, a point reference frame is also set for the registered point.

[0040] Next, a parking assistance method according to this embodiment, specifically, a method for displaying an assistance image, will be described with reference to Fig. 5. The process shown in the flowchart of Fig. 5 is executed by the controller 20.

[0041] The display control unit 24 determines whether a trigger condition for displaying the support image is met (S20). This trigger condition is that the shift position is in reverse. However, other trigger conditions may also be voice recognition or an operation to display the support image using various buttons. If the trigger condition is met (S20: YES), the display control unit 24 refers to information registered in the storage unit 23 and determines whether the vehicle is in the vicinity of a registered point (S21). The display control unit 24 sets an area with a predetermined radius centered on the registered point, and determines whether the vehicle is in the vicinity of the registered point based on whether the vehicle is present within that area.

[0042] If the vehicle is located around one of the registered locations registered in the storage unit 23 (YES at S21), the display control unit 24 selects the frame display mode (S22). On the other hand, if the vehicle is not located around any of the registered locations registered in the storage unit 23 (NO at S21), the display control unit 24 selects the normal mode (S23).

[0043] The display control unit 24 displays the support image on the display 14 (S24). When the normal mode is selected, the display control unit 24 displays the overhead image 100 on the display 14. In other words, when the normal mode is selected, the support image does not include the vehicle reference frame 71 and the point reference frame 80.

[0044] When the frame display mode is selected, the display control unit 24 reads from the storage unit 23 information on the vehicle reference frame 71 and the location reference frame 80 associated with the registered location where the vehicle is located.

[0045] 6, the display control unit 24 displays an overhead image 100 on the display 14, and also displays a vehicle reference frame 71 surrounding the host vehicle Vo superimposed on the overhead image 100. This vehicle reference frame 71 is displayed with a size and orientation read from the storage unit 23 relative to the host vehicle Vo.

[0046] Furthermore, the display control unit 24 displays a location reference frame 80 superimposed on the bird's-eye view image 100 at a position corresponding to the registered location 105. The location reference frame 80 is displayed with the size and orientation of the location reference frame 80 (the orientation of the host vehicle Vo at the time of the setting operation) read from the memory unit 23. In this case, the display control unit 24 displays the location reference frame 80 in a display form different from that of the vehicle reference frame 71. For example, the location reference frame 80 is displayed with a higher transparency than the vehicle reference frame 71.

[0047] 7 , as the host vehicle Vo travels toward a parking space, the relative position of the host vehicle Vo and the object displayed in the overhead image 100 changes. At this time, the display control unit 24 displays the vehicle reference frame 71 so that the size and orientation of the vehicle reference frame 71 relative to the host vehicle Vo are maintained even if the position of the host vehicle Vo changes. In addition, the display control unit 24 displays the point reference frame 80 so that the size and orientation of the point reference frame 80 relative to the registered point 105 are maintained even if the position of the host vehicle Vo changes.

[0048] If it is determined that the display has not ended (S25: NO), the display control unit 24 returns to the process of step S21. On the other hand, if it is determined that the display has ended (S25: YES), the display control unit 24 ends the series of processes.

[0049] As described above, the parking assistance method according to this embodiment includes, when it is determined that the host vehicle Vo is in the vicinity of the registered point 105, displaying the overhead image 100 on the display 14 and displaying the vehicle reference frame 71 surrounding the host vehicle Vo superimposed on the overhead image 100, and displaying the vehicle reference frame 71 so that the size and orientation of the vehicle reference frame 71 relative to the host vehicle Vo are maintained even if the position of the host vehicle Vo changes as the host vehicle Vo travels. The size and orientation of the vehicle reference frame 71 are set by a setting operation performed by the driver of the host vehicle Vo.

[0050] According to this parking assistance method, the driver can set the size and orientation of the vehicle reference frame 71 through a setting operation. This allows the vehicle reference frame 71 to be set so as to ensure the necessary space around the host vehicle Vo. Therefore, by parking the host vehicle Vo while referring to the vehicle reference frame 71 displayed superimposed on the overhead image 100, the necessary space can be ensured around the parked host vehicle Vo. This allows occupants to smoothly get in and out of the host vehicle Vo and load and unload luggage.

[0051] The parking assistance method according to this embodiment allows the driver to adjust the size and orientation of the vehicle reference frame 71 in stages through a setting operation, which reduces the operational burden on the driver during the setting operation.

[0052] In the parking assistance method according to this embodiment, the driver adjusts the size of the vehicle reference frame 71 by moving one or more sides 72 to 75 of the rectangular frame relative to the host vehicle Vo. The occupant adjusts the orientation of the vehicle reference frame 71 by rotating the rectangular frame around the center of the host vehicle Vo. This method allows the size and orientation of the vehicle reference frame 71 to be easily adjusted.

[0053] The parking assistance method according to this embodiment further includes displaying a point reference frame 80 superimposed on the bird's-eye view image 100 at a position corresponding to the registered point 105, and displaying the point reference frame 80 so that the size and orientation of the point reference frame 80 relative to the registered point 105 are maintained even if the position of the host vehicle Vo changes as the host vehicle Vo travels. According to this method, the position and orientation where the host vehicle Vo should ultimately be parked can be determined from the point reference frame 80. This makes it possible to appropriately assist the driver in parking.

[0054] In the parking assistance method according to this embodiment, the point reference frame 80 is displayed in a different display format from the vehicle reference frame 71. This method allows the driver to easily distinguish between the vehicle reference frame 71 and the point reference frame 80. It is also possible to display the vehicle reference frame 71 so that it stands out more than the point reference frame 80, so that the driver can correctly recognize the vehicle reference frame 71 even in a situation where the vehicle reference frame 71 and the point reference frame 80 overlap.

[0055] The parking assistance method according to this embodiment further includes, on the condition that the setting operation of the vehicle reference frame 71 has been performed while the host vehicle Vo is parked, registering the parking position of the host vehicle Vo as a registered point 105 in the storage unit 23, and registering the size and orientation of the vehicle reference frame 71 in the storage unit 23 in association with the registered point 105. The parking assistance method according to this embodiment also includes registering in the storage unit 23 a point reference frame 80 having the same size as the vehicle reference frame 71 and the orientation (azimuth) of the host vehicle Vo at the parking position in association with the registered point 105. According to this method, the vehicle reference frame 71 and the point reference frame 80 can be set in the actual parking environment, and therefore the vehicle reference frame 71 and the point reference frame 80 can be set with high accuracy.

[0056] In the parking assistance method according to this embodiment, a plurality of registered points 105 are registered in the memory unit 23. The size and orientation of the vehicle reference frame 71 are registered for each of the registered points 105 according to the driver's setting operation. This method allows an individual vehicle reference frame 71 to be set for each registered point 105. Therefore, it is possible to individually set a vehicle reference frame 71 suited to the parking environment at each registered point 105, such as at home or at work. This improves the convenience of the occupant.

[0057] In the above-described embodiment, the vehicle reference frame 71 is set when the host vehicle Vo is parked at a desired location to be registered. However, the location and the vehicle reference frame 71 may be associated and registered by displaying a virtual vehicle at a specific location on the map of the map data in a desired orientation for parking, and setting the size and orientation of the vehicle reference frame 71 for that vehicle.

[0058] In the above-described embodiment, the viewpoint of the overhead image 100 is generated so as to move together with the host vehicle Vo. However, the viewpoint of the overhead image 100 may be fixed relative to the ground.

[0059] Also included in this embodiment is a parking assistance device 1 including an operation unit 15 operated by an occupant of the host vehicle Vo, a display 14 mounted on the host vehicle Vo, and a controller 20 that controls the display 14. The controller 20 performs the parking assistance method described above. Similarly, this embodiment also includes a program that causes a computer to execute the parking assistance method described above, and a computer-readable recording medium storing this program. The parking assistance device 1, the program, and the recording medium make it possible to secure the necessary space around the parked host vehicle Vo.

[0060] Although the embodiments of the present invention have been described above, the descriptions and drawings that form part of this disclosure should not be understood to limit the present invention. Various alternative embodiments, examples, and operating techniques will become apparent to those skilled in the art from this disclosure.

[0061] REFERENCE SIGNS LIST 1 Parking assistance device 10 Camera unit 11 Vehicle sensor 12 GPS receiver 13 Map database 14 Display 15 Operation unit 20 Controller 71 Vehicle reference frame 80 Point reference frame 100 Bird's-eye view image 105 Registered point

Claims

1. A parking assistance method executed by a parking assistance device that assists parking of a vehicle by displaying on a display an overhead image viewed from a viewpoint above the vehicle, the parking assistance method comprising: determining whether the vehicle is in the vicinity of a pre-registered registration point; if it is determined that the vehicle is in the vicinity of the registration point, displaying the overhead image on the display and displaying a vehicle reference frame surrounding the vehicle superimposed on the overhead image; displaying the vehicle reference frame so that the size and orientation of the vehicle reference frame relative to the vehicle are maintained even if the position of the vehicle changes as the vehicle moves; the size and orientation of the vehicle reference frame are set by a setting operation performed by an occupant of the vehicle.

2. The parking assistance method according to claim 1, wherein the size and orientation of the vehicle reference frame can be adjusted in stages by the setting operation performed by the occupant.

3. A parking assistance method according to claim 1 or 2, wherein the vehicle reference frame is a rectangular frame consisting of four sides corresponding to the front, rear, left and right of the host vehicle, and wherein, in a setting operation by the occupant, the size of the vehicle reference frame is adjusted by moving one or more sides of the rectangular frame relative to the host vehicle, and wherein, in a setting operation by the occupant, the orientation of the vehicle reference frame is adjusted by rotating the rectangular frame around a reference position of the host vehicle as a rotation center.

4. A parking assistance method as described in any one of claims 1 to 3, further comprising: displaying a point reference frame superimposed on the overhead image at a position corresponding to the registered point; and displaying the point reference frame so that the size and orientation of the point reference frame relative to the registered point are maintained even if the position of the vehicle changes as the vehicle travels.

5. The parking assistance method according to claim 4, wherein the point reference frame is displayed in a different display format from the vehicle reference frame.

6. A parking assistance method according to any one of claims 1 to 5, further comprising: registering the parking position of the vehicle as the registered point in a memory unit, and registering the size and orientation of the vehicle reference frame in association with the registered point, on condition that the occupant has performed a setting operation regarding the size and orientation of the vehicle reference frame while the vehicle is parked.

7. The parking assistance method according to claim 6, further comprising registering in the memory unit a point reference frame of the same size as the vehicle reference frame and the orientation of the vehicle at the parking position in association with the registered point.

8. A parking assistance method according to any one of claims 1 to 5, wherein a plurality of registered points are registered in a memory unit, and the size and orientation of the vehicle reference frame registered in accordance with the setting operation of the occupant are individually registered for each of the plurality of registered points.

9. A parking assistance device that assists in parking a vehicle, comprising: an operation unit operated by an occupant of the vehicle; a display mounted on the vehicle; and a controller that controls the display, wherein the controller determines whether the vehicle is in the vicinity of a pre-registered location, and when it determines that the vehicle is in the vicinity of the registered location, displays an overhead image viewed from a viewpoint above the vehicle on the display, and displays a vehicle reference frame surrounding the vehicle superimposed on the overhead image, and displays the vehicle reference frame so that the size and orientation of the vehicle reference frame relative to the vehicle is maintained even if the position of the vehicle changes as the vehicle moves, and the operation unit changes the size and orientation of the vehicle reference frame displayed superimposed on the overhead image in accordance with a setting operation by the occupant of the vehicle.

10. A computer-readable recording medium storing a program that causes a computer to execute the following: determining whether the host vehicle is in the vicinity of a pre-registered registration point; displaying an overhead image viewed from a viewpoint above the host vehicle on a display mounted on the host vehicle in order to assist in parking the host vehicle, and displaying a vehicle reference frame surrounding the host vehicle superimposed on the overhead image; displaying the vehicle reference frame so that the size and orientation of the vehicle reference frame relative to the host vehicle are maintained even if the position of the host vehicle changes as the vehicle moves; and the size and orientation of the vehicle reference frame superimposed on the overhead image are changed in accordance with setting operations by an occupant of the host vehicle.

Images