JP2010095027A - Parking support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking support device which enables a user to set a target parking position easily by a remote operation means such as a joystick. <P>SOLUTION: The parking support device which sets a target parking position by a target parking frame and carries out support for parking a vehicle at a preset target parking position includes: a remote operation means which remotely operates a pointer superimposed and displayed on a picked-up image of the periphery of a vehicle; a direct movement means which directly moves the target parking frame to a coordinate position inputted from the user by the remote operation means; a direction movement means which moves the target parking frame in the direction associated with a selected direction button by making the user select the direction button displayed by being superimposed on the picked-up image by the remote operation means; a changeover means which changes over a direct movement mode by the direct movement means and a direction movement mode by the direction movement means by the operation of the remote operation means; and a control means which automatically guides the vehicle to the target parking position. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a parking assistance device, and more particularly to a parking assistance device that sets a target parking position where a vehicle is to be parked and automatically parks the vehicle at the set target parking position.

Conventionally, when a vehicle is parked, there is a parking assist technique in which a target parking position where the vehicle is to be parked is set and the vehicle is automatically parked at the set position. As a method of setting the target parking position, for example, in the parking support system described in Patent Document 1, the target parking position is set as follows. That is, the target parking frame is initially displayed on the display device when the vehicle is moved backward. This initially displayed target parking frame is a frame representing the position when the vehicle turns 90 degrees from the current position due to the reverse of the steering wheel of the vehicle by the maximum steering angle. And a user arranges a target parking frame in a desired position and angle by rotating the initially displayed target parking frame using a joystick, and sets a target parking position. And the parking assistance system of patent document 1 parks a vehicle automatically in the set target parking position.
JP 2004-106615 A

  As described above, in the parking assistance system described in Patent Literature 1, the target parking frame that is initially displayed is displayed at the position when the vehicle is moved backward by the maximum steering angle from the current position of the vehicle. In order to set the target parking frame to a desired position, the user must rotate the target parking frame so that it fits in the desired parking area using a joystick. However, when the joystick is used to rotate the target parking frame so that it falls within a desired parking area, the user needs to perform a very delicate operation. In general, an operation with a joystick makes it difficult to perform fine adjustment operations, and it becomes difficult to set a target parking position. Therefore, in the parking assistance system described in Patent Document 1, the user needs an advanced operation capability of the joystick, and it takes time to set the target parking position, which may cause discomfort to the user. . Moreover, in the parking assistance system described in Patent Document 1, the target parking position is set by rotating the initially displayed target parking frame, and the initially displayed target parking frame is rotated. If the target parking frame does not fit in the desired parking area, the user must move the vehicle back and forth in advance.

  SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a parking assist device capable of easily and quickly setting a target parking position when a user sets a target parking position using a remote operation means such as a joystick. It is.

The parking assistance apparatus according to the present invention is:
A parking assist device that sets a target parking position by a target parking frame superimposed on a captured image that displays the periphery of the vehicle, and that assists in parking the vehicle at the set target parking position,
Remote operation means for remotely operating a pointer superimposed on the captured image, which is located away from the display device for displaying the captured image;
Direct movement means for directly moving the target parking frame to the coordinate position input by the user using the remote operation means;
Direction moving means for moving the target parking frame in a direction associated with the selected direction button by a user selecting a direction button superimposed on the captured image using the remote operation means;
Switching means for switching between the direct movement mode by the direct movement means and the direction movement mode by the direction movement means by operation of the remote operation means;
Control means for automatically guiding the vehicle to the target parking position set in accordance with the position of the target parking frame.

  According to the present invention, the user can move the target parking frame in two movement modes, a direct movement mode and a direction movement mode. Further, the user can switch between the direct movement mode and the direction movement mode by operating the remote control means. Thereby, even when a user uses a remote control means, the user can move a target parking frame to a desired position easily and quickly.

In the present invention,
The switching means switches to the direction movement mode when the pointer is moved to a predetermined position on the captured image by the operation of the remote operation means, and when the pointer is moved to a position other than the predetermined position, It is preferable to switch to the direct movement mode.

  According to this configuration, the user can switch the movement mode between the direct movement mode and the direction movement mode by operating the remote control means to move the pointer to a predetermined position. Thereby, a movement mode can be switched by simple operation.

In the present invention,
The predetermined position is preferably a button display area including the direction button.

  According to this configuration, the user can switch from the direct movement mode to the direction movement mode by moving the pointer to the area where the direction button is arranged. In addition, the user can switch from the direction movement mode to the direct movement mode by moving the pointer to an area where the direction button is not arranged. Thereby, the user can easily switch the movement mode.

In the present invention,
The switching means preferably displays the direction button by a display method different from that in the direct movement mode when the direct movement mode is switched to the direction movement mode.

  According to this configuration, the user can easily recognize that the direct movement mode has been switched to the direction movement mode.

In the present invention,
Preferably, the switching means enlarges and displays the button display area including the direction button when switching from the direct movement mode to the direction movement mode than in the direct movement mode.

  According to this configuration, by displaying the direction button in an enlarged manner, the user can easily recognize that the direct movement mode has been switched to the direction movement mode. Furthermore, the user can easily select a desired direction button.

  In the present invention, the remote control means is preferably a joystick.

  According to the above, remote operation is possible by operating the joystick.

In the present invention,
The joystick includes a lever that is operated by a user and an actuator that generates an acting force with respect to the operation of the lever in response to a signal from the switching unit.
When the pointer moves in the vicinity of a predetermined area on the captured image, the switching means pulls in the pointer so that the pointer is pulled into the area, or reacts so that the pointer repels the area. Preferably, a signal for causing the lever to generate one of the above is transmitted to the joystick.

  According to this configuration, when the pointer moves to a predetermined area, a pulling force or a reaction force can be generated on the joystick. As a result, the user can easily operate the joystick.

In the present invention,
The switching means causes the lever to generate a pulling force that causes the pointer to be drawn into the display area of the button image when the pointer moves in the vicinity of the display area of the direction button in the direct movement mode. Is preferably transmitted to the joystick.

  According to this configuration, when switching from the direct movement mode to the direction movement mode, the pulling force of the direction button to the display area can be generated in the lever of the joystick. This facilitates operation of the joystick when switching from the direct movement mode to the direction movement mode.

In the present invention,
The switching means generates a signal for causing the lever to generate a pulling force that causes the pointer to be pulled into the direction button when the pointer moves to a predetermined area near the direction button in the direction movement mode. It is preferable to transmit to the joystick.

  According to this configuration, it is possible to generate a pulling force to a desired direction button in the direction movement mode. Thereby, even when the user selects a desired direction button, the operation of the joystick becomes easy.

In the present invention,
In the direct movement mode, when the pointer moves in the vicinity of a predetermined operation button superimposed and displayed on the captured image in order to operate the parking assist device in the direct movement mode, the switching means moves the pointer to the operation button. It is preferable that a signal for generating a reaction force that repels is transmitted to the joystick.

  According to this configuration, it is possible to generate a reaction force that causes the pointer to repel a predetermined operation button in the direct movement mode. Thereby, it can prevent that a user selects an operation button accidentally.

  According to the present invention, the user can easily and quickly move the target parking frame to a desired position even when using the remote control means.

  A parking assistance device according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing a configuration of a parking assistance apparatus according to an embodiment of the present invention. FIG. 2 is a diagram showing an image displayed on the display means when setting the target parking position in the direct movement mode by the direct movement means. FIG. 3 is a diagram showing an image displayed on the display means after the target parking frame is moved by designating the position X1 in FIG. FIG. 4 is a diagram showing an image displayed on the display means when setting the target parking position in the direction movement mode by the direction movement means. FIG. 5 is a diagram showing an image displayed on the display means after the target parking frame is moved from the position shown in FIG. 4 using the direction button. FIG. 6 is a diagram showing a region where the switching means generates a pulling force on the lever of the joystick when switching to the direction movement mode. FIG. 7 is a diagram showing how the switching means generates a pulling force on the lever of the joystick in a predetermined region near the direction button in the direction movement mode. FIG. 8 is a diagram illustrating a state in which the switching unit generates a reaction force on the lever of the joystick in a region near a predetermined operation button in the direct movement mode.

  In FIG. 2, a target parking frame 20 that indicates the target parking position, a parking base position 21 that is one end of the target parking frame 20, a direction button 22 that indicates the direction of movement by the direction moving means 12, and a button display that indicates the display area of the direction button 22. An area 23, a pointer 24, and an operation button 25 for operating the parking assistance device 1 are displayed.

  As shown in FIG. 1, the parking assistance device 1 includes a parking assistance ECU 2, a display 3, a back camera 4, an electric power steering 5, and a joystick 6. The parking assistance device 1 sets a target parking position by using a target parking frame 20 superimposed and displayed on a captured image that displays the periphery of the vehicle, and performs assistance to park the vehicle at the set target parking position. Hereafter, each part of the parking assistance apparatus 1 in FIG. 1 is demonstrated.

(Description of each part of the parking assistance apparatus 1)
A parking assistance ECU (Electronic Control Unit) 2 controls the parking assistance device 1, and is connected to the display 3, the back camera 4, the electric power steering 5, and the joystick 6. The parking assist ECU 2 includes a direct movement unit 11, a direction movement unit 12, a switching unit 13, and a control unit 14. The user uses the joystick 6 to move the target parking frame 20 to a position where the user should park, and sets the target parking position. The target parking frame 20 can be moved by the direct moving means 11 and the direction moving means 12, and the user can set a desired position as the target parking position. And the control means 14 calculates the path | route to the set target parking position, and controls the electric power steering 5 so that the own vehicle drive | works according to the path | route. The direct moving unit 11, the direction moving unit 12, and the switching unit 13 will be described later.

  The display 3 is a display device for operating the parking assistance device 1 and for displaying a captured image behind the vehicle while the parking assistance device 1 is performing parking assistance. The display 3 is disposed at a position where the user can visually recognize it. The display 3 is disposed at a position where it is difficult for a user near the windshield to operate, for example. For example, when the shift position of the host vehicle is in the reverse position, an image of the rear of the host vehicle captured by the back camera 4 is displayed on the display 3. In addition, the display 3 may be shared as display means of a car navigation device, for example.

  The back camera 4 is disposed behind the host vehicle and photographs the surrounding environment behind the host vehicle. An image photographed by the back camera 4 is displayed on the display 3 in real time via the parking assist ECU 2.

  The electric power steering 5 includes an electric motor that generates torque on the steering shaft. The electric power steering 5 causes the electric motor to generate torque for steering the host vehicle, and is controlled by the control means 14 to cause the host vehicle to reach the target parking position.

  The joystick 6 is a remote operation means for remotely performing an input operation on the parking assist device 1. The joystick 6 is disposed at a position where a user such as a driver can operate, and is disposed at a position away from the display 3. For example, the joystick 6 is disposed on the upper part of the console box behind the shift lever so that the driver can operate it. On the display 3, a pointer 24 pointing to the operation position by the joystick 6 is displayed. When the joystick 6 receives a lever (not shown) for operating the pointer 24, a designation button (not shown) for designating a position pointed by the pointer 24, and a signal for generating a pulling force or a reaction force, the joystick 6 An actuator (not shown) that generates a pulling force or a reaction force on the lever.

  The above is description of each part of the parking assistance apparatus 1. Next, the direct moving means 11, the direction moving means 12, and the switching means 13 will be described with reference to FIGS.

  The direct movement unit 11 directly moves the target parking frame 20 to the coordinate position input by the user using the joystick 6 which is a remote operation unit. The user moves the pointer 24 to a desired position on the captured image displayed on the display 3 by operating the lever of the joystick 6. Next, the user inputs the position to which the pointer 24 points by pressing the designation button of the joystick 6. The direct movement unit 11 acquires the coordinate position pointed by the pointer 24, moves the parking base point position 21 directly to the coordinate position, and moves the target parking frame 20.

  In FIG. 2, the state before moving the target parking frame 20 by the direct moving means 11 is displayed. In FIG. 2, when the user moves the pointer 24 to the position X1 using the joystick 6 and presses the designation button on the joystick 6, the parking base point position 21 moves to the position X1 as shown in FIG. The frame 20 moves.

  As shown in FIG. 4, the direction moving unit 12 includes a plurality of direction buttons 22 (22 a to 22 f) superimposed on a captured image displayed on the display 3 using a joystick 6 that is a remote control unit. When the user selects a direction button 22 indicating a desired direction, the target parking frame 20 is moved in the direction associated with the selected direction button 22. The user operates the lever of the joystick 6 to move the pointer 24 onto the direction button 22 superimposed on the captured image displayed on the display 3. Next, the user depresses the designation button of the joystick 6 to select the direction button 22 present at the position pointed to by the pointer. Then, the direction moving means 12 moves the target parking frame 20 by a predetermined distance in the direction indicated by the selected direction button 22.

  In FIG. 4, the state before moving the target parking frame 20 by the direction moving means 12 is displayed. In FIG. 4, when the user points the direction button 22a with the pointer 24 using the joystick 6 and depresses the designation button of the joystick 6, the target parking frame 20 is in the direction indicated by the direction button 22a (upper left in FIG. 4). Move a predetermined distance. Then, when the user designates the direction button 22a a plurality of times, the target parking frame 20 moves to a desired position as shown in FIG.

  The switching means 13 switches between the direct movement mode by the direct movement means 11 and the direction movement mode by the direction movement means 12 by operating the joystick 6 which is a remote operation means. As described above, as a method of moving the target parking frame 20 to a desired position, there are a method using the direct moving unit 11 and a method using the direction moving unit 12. The switching means 13 switches the movement mode by these two moving means.

  Switching of the movement mode by the switching means 13 is performed as follows. That is, when the position pointed by the pointer 24 is moved from the outside of the button display area 23 to the inside of the button display area 23 by the operation of the joystick 6, the direct movement mode is switched to the direction movement mode. When switching from the direct movement mode (for example, FIG. 2) to the direction movement mode (for example, FIG. 4), as shown in FIG. 4, the switching means 13 displays the button display area 23 in an enlarged manner than in the direct movement mode. To do. In the present embodiment, as shown in FIG. 4, the button display area 23 and the direction button 22 are enlarged and displayed by 125% as compared with the direct movement mode. Thereby, in the direction movement mode, the user can recognize that the mode has been switched to the direction movement mode, and can easily select the desired direction button 22. Note that when the mode is switched to the direction movement mode, the color of the button display area 23 may be changed so as to be different from that in the direct movement mode.

  Conversely, when the position pointed by the pointer 24 is moved from the inside of the button display area 23 to the outside of the button display area 23 by the operation of the joystick 6, the direction movement mode is switched to the direct movement mode. When switching from the direction movement mode to the direct movement mode, the switching unit 13 restores the sizes of the button display area 23 and the direction button 22.

  In this way, by operating the joystick 6 and moving the position of the pointer 24, the movement mode is switched between the direct movement mode by the direct movement means 11 and the direction movement mode by the direction movement means 12. Therefore, the user can easily and quickly move the target parking frame 20 to a desired position by properly using these two modes. Moreover, since these movement modes can be switched by moving the position of the pointer 24, the target parking position can be set very easily even when the joystick 6 is used.

  In the present embodiment, the movement mode is switched by operating the joystick 6 and moving the position of the pointer 24 into the button display area 23. However, in other embodiments, the movement mode may be switched by a different method. Good. For example, the movement mode may be switched by pointing the switching button displayed on the captured image with the pointer 24. In the present embodiment, a joystick is used as the remote control means. However, in other embodiments, a device other than the joystick may be used. For example, a trackball may be used. Further, a touch pad may be used.

  Next, a more specific method for facilitating the operation of the joystick 6 for the user when switching from the direct movement mode to the direction movement mode will be described with reference to FIG.

  As shown in FIG. 6, in the case of switching from the direct movement mode to the direction movement mode, when the user moves the joystick 6 and the position of the pointer 24 moves to the vicinity of the button display area 23, the switching means 13 A pulling force that causes the pointer 24 to be pulled into the button display area 23 (a force that moves the pointer 24 in the direction of the pulling arrow 40) is generated on the lever of the joystick 6. In FIG. 6, a pull-in area 27 indicated by a broken line is displayed so as to surround the button display area 23, and the direction of the pull-in force is indicated by a pull-in arrow 40. For example, when the user operates the joystick 6 to move the pointer 24 to the position shown in FIG. 6, the pointer 24 is pulled into the lever of the joystick 6 so as to be pulled in the direction of the button display area 23 (upward in FIG. 6). Generate power. That is, the switching unit 13 transmits a signal for causing the lever of the joystick 6 to generate a pulling force that causes the pointer 24 to be pulled into the button display area 23. The joystick 6 that has received the pull-in force generation signal generates a force toward the inside of the button display area 23 using an actuator. For example, a pulling force is generated in a direction from the coordinate position of the pointer 24 toward the closest point on the outline of the button display area 23. The pull-in arrow 40 and the pull-in area 27 shown in FIG. 6 are shown for convenience of explanation, and are not actually displayed.

  Note that, when switching from the direction movement mode to the direct movement mode, the switching means 13 does not generate the above-described pulling force.

  Next, a method for facilitating operation of the joystick 6 when the user selects a desired direction button 22 using the joystick 6 in the direction movement mode will be described with reference to FIG.

  When the user selects one direction button 22 from the plurality of direction buttons 22 (22a to 22f) in the direction movement mode, similarly to the case where the pulling force to the button display area 23 is generated in the direct movement mode. The switching means 13 causes the lever of the joystick 6 to generate a pulling force to the direction button 22. As shown in FIG. 7, in the direction movement mode, when the pointer 24 moves to the vicinity of the area where each direction button 22 is arranged, the switching means 13 is one of the positions closest to the position of the pointer 24. A pulling force to the direction button 22 is generated on the lever of the joystick 6. In FIG. 7, a retraction arrow 40 indicating the direction of the retraction force to be generated is shown.

  Specifically, one area including all the direction buttons 22 is divided into partial areas of the direction buttons 22. In FIG. 7, partial areas corresponding to the direction buttons 22 are indicated by broken lines. When the pointer 24 moves in this partial area, the switching means 13 moves the pointer 24 toward the central position 28 of the direction button 22 in the partial area (in FIG. 7, it moves toward the central position 28 of the direction button 22a). ), A pulling force is generated on the lever of the joystick 6. When moving the pointer 24 from one direction button 22 (for example, the direction button 22a) to another direction button 22 (for example, the direction button 22b), the user moves the pointer 24 by operating the lever of the joystick 6. When the position of the pointer 24 moves to the partial area of the direction button 22b, the switching unit 13 generates a pulling force on the lever of the joystick 6 toward the direction button 22b. The pull-in arrow 40 and the broken line indicating the partial area are shown for convenience of explanation, and are not actually displayed.

  By generating a pulling force on the lever of the joystick 6 so that the pointer 24 is pulled into the direction button 22 in this way, the user simply tilts the lever of the joystick 6 in the direction of the desired direction button 22, and the pointer 24 Move reliably and quickly on the direction button 22. Therefore, even when the joystick 6 is used, the user can easily select the desired direction button 22 and move the target parking frame 20 to a desired position.

  In the direct movement mode, a reaction force that causes the pointer 24 to repel the operation button 25 for operating the parking assist device 1 may be generated on the lever of the joystick 6. As shown in FIG. 8, for example, when the pointer 24 moves to the reaction force generation area 29 of a predetermined operation button 25 (left / right switching button 25b, help button 25c, return button 25d), the switching unit 13 A reaction force in the direction opposite to the pulling force (in the direction of the reaction force arrow 41 in FIG. 8) is generated on the lever of the joystick 6.

  In the direct movement mode, the user tries to move the target parking frame 20 directly to a desired position. The operation button 25 is a button for operating the parking assistance apparatus 1, and is selected in order to use various functions. The operation button 25 includes a button (for example, the help button 25c described above) that is not necessarily frequently used when the target parking frame 20 is moved. Accordingly, by causing the lever of the joystick 6 to generate a reaction force that causes the pointer 24 to repel such an operation button 25, the user erroneously selects the operation button 25 with the pointer 24 in the direct movement mode. Can be prevented. On the other hand, the reaction force generation region 29 is not set in the vicinity of the OK button 25a which is one of the operation buttons 25. The OK button 25a is pressed by the user in order to set the position where the target parking frame 20 is displayed as the target parking position. Therefore, since the OK button 25a is a button that is frequently selected by the user, no reaction force is generated against the OK button 25a. Thereby, in the direct movement mode, the user can easily perform an appropriate operation.

  In the present embodiment, a pulling force that pulls the pointer 24 into the direction button 22 and a reaction force that repels the pointer 24 against the operation button 25 are generated in the lever of the joystick 6. Alternatively, in the direction movement mode, when the pointer 24 moves to a predetermined area, a pulling force that pulls the pointer 24 into the area or a reaction force that repels the pointer 24 with respect to the area is generated. Also good. For example, in the direct movement mode, a reaction force may be generated for a region where an obstacle around the vehicle displayed on the captured image is displayed. Further, in the direct movement mode and the direction movement mode, an area that is a candidate for the target parking position may be calculated in advance and a pulling force may be generated in the area. For example, in the direct movement mode, when the pointer 24 moves in the vicinity of an area that is a candidate for the target parking position, a pulling force to the area may be generated. Further, in the direction movement mode, a pulling force to the direction button 22 may be generated so that the target parking frame 20 is directed to an area that is a target parking position candidate.

  As described above, when the pointer 24 moves in the vicinity of the predetermined area on the captured image, the switching unit 13 causes the pulling force that the pointer 24 is pulled into the area or the reaction that repels the area. A signal is transmitted to the joystick 6 in order to generate any one of the forces (acting force) on the lever of the joystick 6. Specifically, with respect to the button image displayed on the captured image (the direction button 22 and the operation button 25), the pulling force or reaction force is applied to the joystick 6 according to the function and operation state of the button image. Generate based on. That is, for example, as described above, in the direction movement mode, the user tries to move the target parking frame 20 in the direction indicated by the direction button 22. Therefore, in this case, since it is considered that the user has a strong intention to select the direction button 22, a pulling force to the direction button 22 is generated. In the direct movement mode, the user is going to move the target parking frame 20 directly to the position of the pointer 24, and some of the operation buttons 25 are selected less frequently by the user. Accordingly, in such a case, a reaction force is generated rather than a pulling force to the operation button 25. Thereby, the user can operate the joystick 6 more easily.

  As described above, the present invention can easily set the target parking position when the user sets the target parking position using the remote control means. For example, the present invention is used as a parking assist device for a vehicle. can do.

The block diagram which shows the structure of the parking assistance apparatus which concerns on embodiment of this invention. The figure which shows the image displayed on a display means, when setting a target parking position in the direct movement mode by a direct movement means The figure which shows the image displayed on a display means, after moving a target parking frame by designating position X1 in FIG. The figure which shows the image displayed on a display means, when setting a target parking position in the direction movement mode by a direction movement means The figure which shows the image displayed on a display means, after moving a target parking frame using the direction button from the position shown by FIG. The figure which showed the area | region where switching means generate | occur | produces pulling force to the lever of a joystick at the time of switching to direction movement mode A diagram showing how the switching means generates a pulling force on the lever of the joystick in a predetermined area near the direction button in the direction movement mode. A diagram showing how the switching means generates a reaction force on the lever of the joystick in the area near the predetermined operation button in the direct movement mode.

Explanation of symbols

1 Parking assistance device 2 Parking assistance ECU
DESCRIPTION OF SYMBOLS 3 Display 4 Back camera 5 Electric power steering 6 Joystick 11 Direct moving means 12 Direction moving means 13 Switching means 14 Control means 20 Target parking frame 21 Parking origin point position 22 Direction button 23 Button display area 24 Pointer 25 Operation button 27 Retraction area 28 Center Position 29 Reaction force generation area 40 Retraction arrow 41 Reaction force arrow

Claims (10)

A parking assist device that sets a target parking position by a target parking frame superimposed on a captured image that displays the periphery of the vehicle, and that assists in parking the vehicle at the set target parking position,
Remote operation means for remotely operating a pointer superimposed on the captured image at a position away from the display device for displaying the captured image;
Direct movement means for directly moving the target parking frame to a coordinate position input by a user using the remote operation means;
Direction moving means for moving the target parking frame in a direction associated with the selected direction button by a user selecting a direction button superimposed on the captured image using the remote operation means;
Switching means for switching between a direct movement mode by the direct movement means and a direction movement mode by the direction movement means by operation of the remote operation means;
A parking support apparatus comprising: a control unit that automatically guides the vehicle to the target parking position set in accordance with the position of the target parking frame.   The switching means is switched to the direction movement mode when the pointer is moved to a predetermined position on the captured image by operation of the remote operation means, and when the pointer is moved to a position other than the predetermined position, The parking assistance device according to claim 1, wherein the parking assistance device is switched to the direct movement mode.   The parking support device according to claim 2, wherein the predetermined position is a button display area including the direction button.   4. The switch according to claim 1, wherein the switching unit displays the direction button by a display method different from that in the direct movement mode when the direct movement mode is switched to the direction movement mode. 5. The parking assistance device according to any one of claims.   5. The button according to claim 4, wherein when the direct movement mode is switched to the direction movement mode, the switching unit enlarges and displays a button display area including the direction button as compared with the direct movement mode. The parking assistance device described.   The parking support apparatus according to any one of claims 1 to 5, wherein the remote control means is a joystick. The joystick includes a lever that is operated by a user and an actuator that generates an acting force with respect to the operation of the lever in response to a signal from the switching unit.
When the pointer moves in the vicinity of a predetermined area on the captured image, the switching means pulls in the pointer so that the pointer is pulled into the area, or reacts so that the pointer repels the area. The parking assist device according to claim 6, wherein a signal for causing the lever to generate one of the two is transmitted to the joystick.   The switching means causes the lever to generate a pulling force that causes the pointer to be drawn into the display area of the direction button when the pointer moves in the vicinity of the display area of the direction button in the direct movement mode. The parking assist device according to claim 7, wherein the signal is transmitted to the joystick.   The switching means generates a signal for causing the lever to generate a pulling force that causes the pointer to be pulled into the direction button when the pointer moves to a predetermined area near the direction button in the direction movement mode. The parking support apparatus according to claim 7, wherein the parking support apparatus transmits the joystick.   In the direct movement mode, when the pointer moves in the vicinity of a predetermined operation button superimposed on the captured image in order to operate the parking assist device in the direct movement mode, the switching unit moves the pointer relative to the operation button. The parking assist device according to claim 7, wherein a signal for generating a reaction force that repels the vehicle is transmitted to the joystick.

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