JP2005001570A - Parking support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking support device which easily and correctly determine an adequate parking position when parking a vehicle. <P>SOLUTION: In the parking support device, an image to display the road surface condition below a vehicle is constituted by arranging images B-E in the past together obtained by a camera to pick up an image of a rear portion of the vehicle, the differential level of the road surface is detected by a distance measurement sensor comprising an ultrasonic sensor or the like, and the wheel stopper position is detected thereby. In the parking support device, the distance from the position 33 of a tire of the vehicle to a rear end of the vehicle which is stored as vehicle information in advance is compared with the distance between the actually detected wheel stopper and a rear end of a parking frame 31. When the distance from the tire position to the rear end of the vehicle is long, an imaginary wheel stopper 34 is displayed in a display area 4, and the vehicle is guided so that the rear end of the vehicle is within the parking frame 31. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a device for recognizing a situation around a vehicle and assisting a parking operation. More specifically, the present invention relates to a parking assistance device capable of easily and accurately grasping an appropriate parking position.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, when a vehicle is parked in a parking space, a technique for projecting an image taken with a small camera on a monitor provided on an operation panel of a driver's seat has been proposed in order to grasp the situation around the vehicle. . The image outside the vehicle is a shadow of the vehicle, and particularly shows an area that becomes a blind spot from the driver's seat, particularly a road surface condition around the vehicle. For example, a white line of a parking frame drawn for partitioning a parking space for each vehicle on a road surface of a parking lot, a wheel stopper provided protruding from the road surface, or an obstacle.
[0003]
These vehicle surroundings display methods include displaying an image displayed by a camera as it is, displaying an auxiliary line indicating a parking frame, and displaying an image viewed from above the vehicle body by performing viewpoint conversion processing of the image. There are also. In addition, a technique has been disclosed in which a blind spot portion of a current image is composed of past images, combined with the current image, and a ring stop at the blind spot is displayed.
The following are conventional technologies having such a configuration.
[0004]
[Patent Document 1]
JP 2002-354467.
[0005]
[Problems to be solved by the invention]
In an image that simply displays a captured image of a camera on a monitor, it is difficult to recognize the distance between the vehicle and the white line or the wheel stopper, and it is difficult to recognize the stop position when the vehicle stops in the parking lot. Even in a parking lot with a wheel stopper, if the wheel stopper enters the lower side of the vehicle, it is difficult to grasp the position of the wheel stopper. For this reason, when the vehicle is moved, there is a problem that the tire suddenly comes into contact with the wheel stopper, and the passenger or the driver receives an impact.
[0006]
In Patent Document 1, when the distance from the tire to the end of the vehicle body is longer than the distance between the parking frame and the wheel stopper, the vehicle body end is parked when the vehicle is moved until the tire contacts the wheel stopper. There is a risk of reaching the outside of the frame and coming into contact with adjacent vehicles or obstacles. In addition, since the road surface condition is judged only by the image, it is difficult to accurately grasp the level difference of the road surface.For example, only the image data that is projected, the wheel stopper protruding from the road surface, In some cases, it is difficult to distinguish between the grooves.
An object of the present invention is to provide a parking assist device that can easily and accurately grasp an appropriate parking position when a vehicle is parked.
[0007]
[Means for Solving the Problems]
The above object is achieved by the present invention described below.
(1) imaging means for capturing an image in the traveling direction of the vehicle;
End detection means for detecting the end of the parking frame in which the vehicle is parked;
Calculating means for calculating a wheel stop position at a predetermined position toward the vehicle from the end of the detected parking frame;
A parking assist device comprising: display means for displaying the figure indicating the calculated wheel stop position in a superimposed manner on the captured image.
[0008]
(2) vehicle body data storage means for storing vehicle body data including at least the distance from the wheel to the vehicle body end;
The calculation means calculates a wheel stop position from the distance from the wheel to the end of the vehicle body and the end of the parking frame.
The parking assistance device according to (1) above, wherein
[0009]
(3) image storage means for storing an image captured by the imaging means;
Vehicle body region specifying means for specifying a vehicle body region hidden by the vehicle body part in the captured image;
Vehicle body image area acquisition means for acquiring an image area corresponding to the vehicle body area assumed to be visible if the specified vehicle body area is transparent, from an image stored by the image storage means;
An image creation means for creating an image by replacing the vehicle body area in the image captured by the imaging means with the image area acquired by the vehicle body area acquisition means;
The said display means displays the figure which shows the said wheel stop position on the image created by the said image creation means, and displays it, The parking assistance apparatus as described in said (1) or (2) characterized by the above-mentioned.
[0010]
(4) a moving distance detecting means for detecting a moving distance of the vehicle;
When the detected distance reaches a predetermined distance, the image combining means for creating one image by combining the image captured by the imaging means and the image before the predetermined distance,
When the end of the parking frame is detected by the end detection unit, the display unit displays only the vehicle body side from the end of the parking frame of the image created by the image combining unit, and the displayed image Display the wheel stop position overlaid on the graphic
The parking assistance apparatus according to any one of (1) to (3) above,
[0011]
(5) a wheel stopper detecting means for detecting a wheel stopper of the parking frame in which the vehicle is parked;
Comparing means for comparing the detected wheel stop position and the wheel stop position calculated by the calculating means,
The display means highlights the wheel stopper without displaying a figure indicating the wheel stop position when the comparison means determines that the wheel stopper is located on the vehicle side from the wheel stop position. The parking assistance device according to any one of (1) to (4) above.
[0012]
(6) imaging means for capturing an image of the traveling direction of the vehicle;
A parking assist device comprising: display means for displaying a virtual wheel stop on the captured image.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a block diagram showing a configuration of a parking assistance apparatus 1 according to the present invention. The parking assist device 1 includes an arithmetic processing device 12 that performs image processing, a camera 13 as an imaging unit attached to a vehicle body, a distance measuring sensor 11, a display device 14 as a display unit that displays an image, and a current position. A detection device 15 and a main storage device 16 as image storage means are provided, and these devices are connected to each other via a system bus 17. In the present embodiment, the camera 13 that functions as an imaging unit is provided at a rear end portion of the vehicle so as to be photographed downward so that the road surface can be photographed. The camera 13 is connected to the system bus 17 via the A / D converter 131. The image signal output from the camera 13 is converted into a digital signal by the A / D converter 131 in order to perform image processing. Further, when the connected camera 13 is capable of outputting a digital signal, the A / D converter 131 is not necessary. The camera 13 may be provided in front of or on the side of the vehicle. In this case, it is possible to grasp the blind spot existing on the front side of the vehicle and the road surface condition in the blind spot existing on the side. For example, a CCD element or a CMOS element is used for the camera 13, and an image is acquired as an electric signal.
[0014]
The current position detection device 15 that functions as a movement distance detection means includes, for example, a steering angle sensor, a vehicle speed sensor, a GPS receiver, a direction sensor, a distance sensor, and the like. The steering angle sensor detects the steering angle of the vehicle. The steering angle is obtained by detecting the rotation angle of the steering wheel or the angle of the front wheel. The vehicle speed sensor detects the traveling speed of the vehicle. The traveling speed is also detected when the vehicle is moved backward. The GPS receiver detects the absolute position of the vehicle. The direction sensor detects the relative direction of the vehicle with respect to the direction of geomagnetism. The distance sensor detects the moving distance of the vehicle.
[0015]
The direction of the vehicle and the travel distance can be obtained by the various sensors described above. That is, the moving distance can be detected by the distance sensor. Also, the travel distance can be detected by the vehicle speed sensor and the detected vehicle speed and time. Further, the movement distance and the movement locus can be detected from the locus of the position detected by the GPS receiver. When the direction of the vehicle changes, the direction of the vehicle can be detected by the steering angle sensor and the direction sensor. The position data detected by the current position detection device 15 is output to the system bus 17 via the A / D converter 151.
[0016]
The main storage device 16 is a device that stores an image projected by the camera 13, and includes, for example, a hard disk drive device, a memory chip, or the like. In this embodiment, an image corresponding to the moving distance of the moving vehicle is recorded in the image data memory 162a serving as an image storage unit. It is preferable that the moving unit for recording an image has an image width in the moving direction or less. In other words, when the image is moved by the range that can be displayed in the image, the road surface that appears next is taken in as an image, and is sequentially recorded in the next image data memory 162b. By repeating this operation, it is possible to acquire continuous road surface images. The stored images are sequentially stored in the position data memories 161a, 161b,... In association with the position data obtained from the images.
[0017]
Since the image information acquired by the camera 13 is information relating to the road surface, the subject (road surface) itself does not change in a short time. For this reason, it is not necessary to acquire continuous images, and sufficient information can be acquired with a configuration in which road surface information around the vehicle is acquired by pasting images acquired in one shooting. As described above, the memory capacity can be reduced by storing the data in units of still screens. Moreover, you may record an image with a positional data or elapsed time data as a continuous image (moving image). From such image data, information such as the position of a line constituting the parking frame drawn on the road surface, the wheel stop position, and the like is acquired.
The main storage device 16 further includes a vehicle body information memory 163 as vehicle body data storage means, and includes vehicle body contour data, vehicle body mask image data, tire position data, tire position data, and distance from the tire to the rear end of the vehicle body. Data is recorded.
[0018]
The display device 14 as a display means is configured by a liquid crystal display, for example, and displays a composite image stored in the drawing memory 141. The display device 14 performs D / A conversion, if necessary, and outputs an image on the screen. The drawing memory 141 stores an image displaying a virtual wheel stopper, which is a figure indicating a wheel stop position, and an image displaying a vehicle body contour, a line drawing indicating a tire position, and the like in each image data memory.
[0019]
A distance measuring sensor 11 that is a road surface sensor is a sensor that detects a height difference of the road surface, and measures a distance from a vehicle body to a position having a height difference. Specific detection targets include the parking stop position and the height of the parking lot, the end position of a parking frame made of a river edge or a wall, and the like. The detection value is supplied to the system bus 17 via the interface circuit 111. The detection content is whether the detection object protrudes from the road surface or is recessed, and is the distance to the detected object. This detection value is performed simultaneously with the shooting by the camera 13 and is recorded in the position data memory 162 in association with the position data at the time of shooting. As the distance measuring sensor 11, for example, an ultrasonic sensor, a millimeter wave sensor, a microwave sensor, or the like is used.
[0020]
The arithmetic processing unit 12 includes a central processing unit [CPU (Central Processing Unit)] 121, a read-only memory [ROM] 122, and a random access memory [RAM] 123.
The central processing unit 121 acquires information on the travel distance and the vehicle direction obtained from the current position detection device 15, and obtains image data, position data, vehicle body contour data, tire position data, and the like from the main storage device 16. The image data for display in which the virtual wheel stopper is displayed is created from these data. In addition, various processes such as connecting image data are performed.
[0021]
The ROM 122 includes, for example, software for the central processing unit 121 to perform image processing, various data relating to the vehicle body (vehicle height, vehicle width, installation position of the camera 13, angle of view of the camera, relative distance between the vehicle body components, and the like. ) And the like are stored and function as vehicle data storage means. The RAM 123 is used as a working area for temporarily storing data for performing data processing of the central processing unit 121, for example.
[0022]
The parking assistance device of the present invention operates as follows. This embodiment demonstrates the effect | action in operation which moves a vehicle back in the parking frame of a parking lot, and parks.
2 and 3 are main flowcharts showing the operation of the parking assistance apparatus. When the system is activated by a start switch or the like, a shift position is detected (step S101). The detection of the shift position is performed, for example, by a sensor provided in the shift lever switching unit. By detecting this shift position, it is detected whether the vehicle is parked forward or backward, and in the case of forward parking, the camera provided in the front, and in the case of reverse parking, the camera provided at the rear is Selected. Since this embodiment is for reverse parking, the shift position is R and the rear camera is selected.
[0023]
A camera image is acquired by the camera 13 (step S103) and recorded in the image data memory 161a. At the same time, current position data is acquired by the current position detector 15 (step S105), and is recorded in the position data memory 161a as position data associated with the image data acquired in step S103.
[0024]
Next, a wheel stop drawing process is performed while capturing image and position data (step S107). FIG. 4 is a subroutine for the wheel stop drawing process. A parking frame and a wheel stop are detected from the acquired camera image using an image recognition technique, and information on the road surface state is acquired from the distance measuring sensor 11 (step S201). As the image recognition technique, a known image recognition technique such as white line recognition or pattern recognition is used. For example, it is possible to perform processing for emphasizing the outline by Sobel filter processing, Laplacian filter processing, or the like, and to extract only the white outline.
[0025]
The road surface information by the distance measuring sensor 11 includes an object that is raised from the road surface, the size of a place (groove, hole, etc.) that is recessed from the road surface, and the distance from the vehicle. Examples of the presence raised from the road surface include a ring stop and an obstacle left on the road surface. Places recessed from the road surface include grooves, holes and river edges. Since the wheel stop is recognized by the distance measuring sensor 11 in addition to the image recognition, the detection accuracy of the wheel stop can be increased. In addition, road surface conditions that cannot be detected by image recognition, such as river edges, can be detected. As in step S201, the wheel stop detecting means of the present invention is formed by detecting the wheel stop of the parking frame in which the host vehicle is parked.
[0026]
Next, it is determined whether or not a wheel stop has been detected (step S203). When the wheel stopper is detected, the outline of the wheel stopper is emphasized and the position of the wheel stopper is stored (step S205). The position of the ring stopper is recorded in the position data memory 161a. If no stop is detected, the process of step S215 is performed (step S215). The contents will be described later.
As in step S201, it is determined whether a parking frame has been detected from the acquired image or the distance measuring sensor 11 (step S207). In this step S207, a parking lot frame including at least the end of the parking frame is detected, and the end detection means of the present invention is formed.
[0027]
When a parking frame is detected, the wheel may be stopped depending on the positional relationship between the distance from the rear and rear tires of the vehicle body data stored in the main storage device and the end of the parking frame. A virtual wheel stop drawing position indicating a wheel stop position for notifying the driver of the optimal is calculated (step S209). By step S209, the calculation means of the present invention is formed. When the actual height of the wheel stopper is detected by the distance measuring sensor 11, the height of the rear end of the vehicle body (the distance between the road surface and the bottom surface of the vehicle body) is compared with the actual height of the wheel stopper. When the actual height of the wheel stopper is higher than the height of the rear end of the vehicle body, the wheel stopper position is calculated so as to be the end position of the parking frame in order to prevent the vehicle from coming into contact with the wheel stopper. The
[0028]
When the image is drawn on the image, the position in the image corresponding to the actual position where the virtual wheel stopper is drawn differs depending on the camera installation position, angle of view, and lens characteristics. The number of pixels corresponding to the distance is set. If no parking frame is detected, step S109 is executed.
[0029]
After calculating the virtual wheel stop drawing position, the actual wheel stop position and the virtual wheel stop position are compared (step S211), and only when the virtual wheel stop position is located closer to the front (vehicle side) than the actual wheel stop position, As shown in FIG. 7D, the virtual wheel stopper 34 is drawn (step S213). At this time, since the virtual wheel stopper becomes a suitable parking position for the vehicle, the actual wheel stopper highlighting performed in step S205 may be canceled, or the virtual wheel stopper display may be highlighted. The display may be further emphasized. If the virtual wheel stop position is not in front of the actual wheel stop position, the virtual wheel stop is not drawn and the process proceeds to step S109. Note that the virtual wheel stopper may be any of a line, a point, a three-dimensional figure, and the like as long as the figure can indicate an appropriate wheel stop position.
[0030]
If it is determined in step S203 that there is no wheel stop, it is determined whether a parking frame has been detected (step S215). If a parking frame rear end is detected, the parking frame is stored in the main storage device 16. The virtual wheel stop drawing position is calculated in consideration of the distance between the rear end of the vehicle of the own vehicle and the tire in the body data and the positional relationship of the parking frame (step S217). Specifically, the drawing position is calculated so that the distance between the virtual wheel stopper and the rear end of the parking frame is greater than the distance between the rear end of the vehicle body and the tire.
The virtual wheel stopper 34 is displayed at the calculated virtual wheel stopper drawing position (step S219). The comparison unit is configured by step S211, and the display unit is configured by step S213 or S219.
[0031]
This completes the subroutine processing, and then the main routine processing is executed. That is, in order to link the data so that the image data at that time can be searched from the position data, the image data with the ring stopper added and the position data are linked (step S109), and the linked data is the main data. It preserve | saves at the memory | storage device 16 (step S111). Examples of a method for saving linked data include embedding position data in the header of image data or saving the file with the same file name but with different extensions. Examples of the image storage format include MPEG, MJPEG, JPEG, BMP, DIB, and the like.
[0032]
FIG. 3 shows the main routine. Next, it is determined whether it is an image update timing (step S115). This update timing is determined as follows. FIG. 5 is a side view of the vehicle that is moving backward, and shows a shooting area W by the camera 13. In this embodiment, the image update timing is configured such that the image is updated when the preset movement distance L is moved from the position where the image data is acquired. The moving distance L is set shorter than the image area width W (W> L). Therefore, the updated image is an image partially overlapped. As another method, the image update may be performed after a certain period of time has elapsed for the combined image. Alternatively, the current image may be displayed in real time, and only the past image may be combined with the current image according to the image update timing. If it is determined in step S115 that the image is to be updated, the process proceeds to image composition processing (step S117). If it is not the image update timing, the subroutine of step S117 is skipped and the process proceeds to step S119. In step S115, past image update means is configured.
[0033]
FIG. 6 shows a subroutine for image composition processing. In the image compositing process, first, a camera image at a position past the image update timing from the current position is retrieved from the image data memory 162 and read (step S301). The read past image and the current image are shifted within the image by a distance corresponding to the image update timing, and an overlapping portion between the past image and the current image is determined (step S303). For the determination of the overlapping portion, a conversion formula between the camera image and the actual distance can be calculated from the installation conditions of the camera or the like (or an actual measurement value may be used). From this result, the number of pixels on the camera image corresponding to the actual moving distance corresponding to the image update timing (a certain moving distance) can be calculated, and information on the overlapping portion of the current image and the past image can be obtained. After determining the overlapping portion, the past image and the current image are synthesized (step S305).
[0034]
FIG. 7 shows a synthesized image, and FIGS. 7B to 7E are synthesized images. As a result, a transmission image of the portion under the vehicle body of the current image is obtained. Specifically, from the current image, the body region included in the image and known image processing, or the angle of view of the camera and the body data are specified (vehicle body region specifying means), and the part other than the specified vehicle body is extracted and masked Determine the image area. From the past image, an image region covering the vehicle body region portion specified from the current image is acquired (vehicle body image region acquisition means) and is superimposed on the mask image. By superimposing, an image through which the vehicle body portion is transmitted is created. By this processing, image creating means is configured. As shown in FIG. 5, when the vehicle moves backward, the vehicle moves from 2a to 2e, the image is updated at a position where the moving distance is L, and step S117 is repeated. Each time, new images B, C, D, E are spliced in sequence, and a road surface image on the lower side of the vehicle is created (FIGS. 7B to 7E). In this way, by combining the images a predetermined distance before and creating one image, the image combining means of the present invention is formed.
[0035]
When the vehicle is moved back and forth, a plurality of images at the same position may be acquired. In this case, the latest image is used. A wire frame such as the vehicle body outline 32 and the tire position 33 stored in the main storage device 16 is synthesized with the synthesized image (step S307). This step S307 constitutes an image composition means. This completes the subroutine processing and returns to the main routine.
[0036]
The display area 4 of the image created by the process of step S117 is calculated (step S119). The trigger for changing the display area is an image area from the acquired image or a detection result of the end of the parking frame 31 detected by the distance measuring sensor 11. That is, when the end of the parking frame 31 is detected from the acquired image, there is no need to display the outside of the frame 31, so the outside of the frame is excluded from the display area 4 and the vehicle is parked. This is the display area that displays only the inside.
[0037]
The display area may be configured to be reduced or enlarged according to the state of the image. Alternatively, the display area may be enlarged, reduced, or moved by the user. In this case, the operation is performed via the input device. Examples of the input device include a joystick, a keyboard, and a pointing device.
[0038]
In accordance with the display area calculated in step S119, the synthesized image is displayed on the display device (step S121). The display screen is configured so that the road surface image overlaps the vehicle outline 32 and the display 33 symbolizing the wheel position so that the relative position of the vehicle with respect to the parking frame 31 can be easily grasped. Step S119 constitutes display area determining means. If the vehicle is moved backward based on the screen thus displayed and the vehicle is stopped at the position where the tire display 33 is in contact with the virtual wheel stopper 34, the vehicle can be parked in a state where it fits within the frame 31. it can.
[0039]
It is also possible to provide warning means to alert the driver, such as outputting a warning sound or flashing the screen when the vehicle's tire position is just before the actual or virtual wheel stop position. Good. In this case, the driver can more easily grasp the stop position of the vehicle. Further, the relative distance between the detected actual wheel stop or virtual wheel stop and the vehicle's tire is detected (relative distance detection means), and the vehicle's tire arrives immediately before the actual wheel stop or virtual wheel stop. If it is detected that the vehicle has stopped, the brakes are applied and the vehicle is stopped, or the engine brakes are strengthened as the tire position of the vehicle closes to the actual or virtual wheel stops (relative distance becomes shorter). It is also possible to perform vehicle control such as (vehicle control means). In this case, the vehicle can be stopped at an appropriate parking position without bothering the driver's hand, and the vehicle is automatically stopped at an appropriate position, so that the vehicle is not hit against surrounding obstacles. , Safety is also improved.
[0040]
It is determined whether there is an end trigger (step S123). If there is no trigger, the process returns to the first process (step S101) and the same process is repeated. If there is a trigger, the process is terminated. Examples of the end trigger include an ignition OFF and a case where the shift lever is switched to a position other than the R position.
[0041]
In addition to the embodiment described above, viewpoint conversion may be performed on the image displayed on the display screen, and an image visually recognized when viewed from the driver's viewpoint may be displayed. In this case, coordinate transformation such as affine transformation may be used, and viewpoint transformation processing is performed between step S303 and step S305. The camera 13 may use a wide angle lens, a fisheye lens, or the like. Since the range of road surfaces that can be acquired is widened, the timing for updating the image is reduced, and the burden on the arithmetic processing unit 12 is reduced.
In this case, distortion correction of the acquired image is performed immediately after the image acquisition.
Further, as the road surface sensor, an optical distance measuring sensor that focuses on an object and optically measures a distance may be used. In this case, the distance to the white line at the rear end of the parking frame can also be accurately measured.
[0042]
【The invention's effect】
According to the first and sixth aspects of the invention, by displaying an appropriate wheel stop position such as a virtual wheel stop on the image picked up by the image pickup means, the driver can park the vehicle appropriately. The position can be easily known.
According to the second aspect of the present invention, by displaying an appropriate wheel stop position at a position that takes into account the size of the vehicle body, there is no risk of parking outside the parking lot frame even in a vehicle with a large vehicle body.
[0043]
According to the invention of claim 3, by synthesizing the image using the current image and the stored image, the driver can also confirm the part that becomes a blind spot in the vehicle body.
According to the invention of claim 4, by not displaying an image other than the parking frame, the confirmation of the wheel stop position and the relationship between the relative position of the vehicle and the parking lot are further facilitated.
According to the invention of claim 5, the processing load of the apparatus is reduced by judging the positions of the wheel stops installed in the parking lot and the virtual wheel stops and not displaying the virtual wheel stops depending on the situation. In addition, the driver is not mistaken for which parking position is true.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an image processing apparatus according to the present invention.
FIG. 2 is a flowchart showing the operation of the image processing apparatus of the present invention.
FIG. 3 is a flowchart showing the operation of the image processing apparatus of the present invention.
FIG. 4 is a flowchart showing the operation of the image processing apparatus of the present invention.
FIG. 5 is a side view showing a process of moving the vehicle.
FIG. 6 is a flowchart showing the operation of the image processing apparatus of the present invention.
FIG. 7 is a schematic diagram showing an image to be synthesized.
[Explanation of symbols]
1 Parking assistance device
11 Distance sensor
12 arithmetic processing unit
13 Camera
14 Display device
15 Current position detection device
16 Main memory

Claims (6)

Imaging means for capturing an image of the traveling direction of the vehicle;
End detection means for detecting the end of the parking frame in which the vehicle is parked;
Calculating means for calculating a wheel stop position at a predetermined position toward the vehicle from the end of the detected parking frame;
A parking assist device comprising: display means for displaying the figure indicating the calculated wheel stop position in a superimposed manner on the captured image. Vehicle body data storage means storing vehicle body data including at least the distance from the wheel to the vehicle body end,
The parking assist device according to claim 1, wherein the calculating unit calculates a wheel stop position from a distance from the wheel to a vehicle body end and a terminal end of the parking frame. Image storage means for storing an image captured by the imaging means;
Vehicle body region specifying means for specifying a vehicle body region hidden by the vehicle body part in the captured image;
Vehicle body image area acquisition means for acquiring an image area corresponding to the vehicle body area assumed to be visible if the specified vehicle body area is transparent, from an image stored by the image storage means;
Image creating means for creating an image by replacing the vehicle body area in the image captured by the imaging means with the image area acquired by the vehicle body area acquiring means,
The parking support device according to claim 1, wherein the display unit displays a graphic indicating the wheel stop position on the image created by the image creation unit. A moving distance detecting means for detecting a moving distance of the vehicle;
When the detected distance reaches a predetermined distance, an image combining unit that generates one image by combining the image captured by the imaging unit and the image before the predetermined distance is provided. ,
When the end of the parking frame is detected by the end detection unit, the display unit displays only the vehicle body side from the end of the parking frame of the image created by the image combining unit, and the displayed image The parking assistance device according to any one of claims 1 to 3, wherein a figure indicating a wheel stop position is displayed in an overlapping manner. A wheel stopper detecting means for detecting a wheel stopper of a parking frame where the vehicle is parked;
Comparing means for comparing the detected wheel stop position and the wheel stop position calculated by the calculating means,
The display means highlights the wheel stopper without displaying a figure indicating the wheel stop position when the comparison means determines that the wheel stopper is located on the vehicle side from the wheel stop position. The parking assistance device according to any one of claims 1 to 4. Imaging means for capturing an image of the traveling direction of the vehicle;
A parking assist device comprising: display means for displaying a virtual wheel stop on the captured image.

Images