JP2010163103A - Parking support apparatus and vehicle parking assistance system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking support apparatus and a vehicle parking assistance system, performing a parking support display which allows easier grasping of a sense of distance. <P>SOLUTION: The parking support apparatus 1 is provided with: an on-vehicle camera 2 which photographs a section behind a vehicle; and a display unit 3 which displays an image of the section behind the vehicle photographed with the on-vehicle camera 2, and includes: parking area detection means 20 of detecting a relative position of a parking area to the vehicle; and a virtual three-dimensional object display control means 31 which continuously displays a virtual pole VP with an actual coordinate fixed, in a position on an image fixed based on the relative position of the parking area detected by the parking area detection means 20 during vehicle running. This generates a motion parallax between the virtual pole VP and the background of the virtual pole VP. The motion parallax facilitates to grasp a sense of distance. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a parking assistance device and a parking assistance system, and more particularly, to an apparatus and a system that provide parking assistance by performing display for parking assistance on a display.

  There is known a device that performs parking support by displaying a display for parking support on a display. For example, the device described in Patent Document 1 is such that the device described in Patent Document 1 calculates a predicted travel trajectory, displays a vehicle rear image captured by the in-vehicle camera on a display, and travels to the vehicle rear image. The predicted trajectory is displayed superimposed.

JP 2000-79860 A

  In Patent Document 1, the predicted travel locus superimposed on the vehicle rear image is a planar display superimposed on the road surface. However, when the figure superimposed and displayed on the camera image is planar, there is a problem that it is difficult to grasp an actual sense of distance from the image. In addition, the driver may be given an impression that the vehicle can travel in a region where the vehicle cannot actually travel, such as a part of the predicted travel path is applied to an obstacle such as a parked vehicle.

  The present invention has been made based on this situation, and an object of the present invention is to provide a parking support device and a parking support system capable of performing a parking support display that makes it easier to grasp the sense of distance. .

  In order to achieve the object, the invention according to claim 1 is a parking assistance device including an in-vehicle camera that images a traveling direction of a vehicle and a display that displays a traveling direction image captured by the in-vehicle camera. A real position at a position on the advancing direction image determined based on the relative position of the parking section detected by the parking section position detecting means and the relative position of the parking section detected by the parking section position detecting means. And a virtual three-dimensional object display control means for continuously displaying the fixed virtual three-dimensional object while the vehicle is running.

  When a virtual solid object whose real coordinates are continuously fixed is displayed while the vehicle is traveling, motion parallax occurs due to the virtual three-dimensional object displayed on the display and the background of the virtual three-dimensional object as the vehicle position moves. Since motion parallax is known as an index by which a human can feel the depth, a sense of distance can be easily grasped from motion parallax caused by the display content of the display.

  According to a second aspect of the present invention, in the real coordinate system, the virtual three-dimensional object is lower in height than the installation height of the in-vehicle camera and higher than the bumper lower end height of the vehicle. When the height of the virtual three-dimensional object is set in this way, the upper end surface of the virtual three-dimensional object is often superimposed on the traveling direction image, and the upper end surface of the virtual three-dimensional object is superimposed and displayed on the traveling direction image. Since the motion parallax in the height direction can also be obtained, it becomes easier to grasp the sense of distance.

  According to a third aspect of the present invention, a plurality of the virtual three-dimensional objects are provided. When a plurality of virtual three-dimensional objects are provided in this way, motion parallax based on each virtual three-dimensional object is generated, so that a sense of distance can be more easily grasped.

  According to a fourth aspect of the present invention, the shape of the virtual three-dimensional object is a columnar shape. If the shape of the virtual three-dimensional object is a columnar shape in this way, the degree to which the background of the virtual three-dimensional object is blocked by the virtual three-dimensional object is not so large. Therefore, the motion parallax caused by the virtual three-dimensional object and the background of the virtual three-dimensional object is recognized. It becomes easy. As a result, the sense of distance becomes easier to grasp.

  According to a fifth aspect of the present invention, the virtual three-dimensional object is provided with a repeating pattern that repeats in the vertical direction. If the virtual three-dimensional object has a repeated pattern that repeats in the vertical direction, it becomes easy to compare the virtual three-dimensional object and the surrounding objects, and it is easy to obtain motion parallax based on the virtual three-dimensional object. Therefore, it becomes easier to grasp the sense of distance.

  According to a sixth aspect of the present invention, on the basis of the relative position of the parking section detected by the parking section position detecting means, even if parking operation is started from that position, parking that cannot be parked in the parking section without performing turn-back steering is performed. A parking start impossible area display indicating a start impossible area is displayed superimposed on the traveling direction image.

  As described above, when the parking start impossible area display is superimposed on the traveling direction image, it is possible to easily determine whether parking can be started from the current position by looking at the display.

  According to a seventh aspect of the present invention, the vehicle-mounted camera is attached to a side portion of the vehicle so as to include the vehicle rear side surface and the vehicle rear side in an imaging range, and includes a vehicle rear end graphic indicating the rear end of the vehicle. The image is superimposed on the traveling direction image.

  Thus, when the vehicle-mounted camera is attached to the side of the vehicle, the rear end of the vehicle is not reflected in the image captured by the vehicle-mounted camera. However, when the vehicle rear end figure is superimposed on the traveling direction image in this way, the vehicle is positioned in the parking start impossible area by checking whether or not the vehicle rear end figure is in the parking start impossible area. It is possible to accurately determine whether or not

  According to a eighth aspect of the present invention, the in-vehicle camera is attached to the side of the vehicle so that the imaging range includes the rear side of the vehicle and the side of the rear of the vehicle. Virtual solid objects are provided in the vicinity, respectively.

  As described above, when the virtual three-dimensional object is provided in the vicinity of the left and right lane markings in the parking area, when the vehicle enters the parking area, the virtual three-dimensional object is displayed on the display. The driver can park the vehicle in the vicinity of the center in the width direction of the parking section by parking the vehicle so that the virtual three-dimensional object does not contact the side surface of the vehicle on the display.

  According to a ninth aspect of the present invention, the in-vehicle camera is attached to a side portion of the vehicle such that the imaging range includes the rear side surface and the rear side of the vehicle, and the vehicle is positioned in an appropriate front-rear direction position within a parking section. When the vehicle is parked, a virtual three-dimensional object having a parking reference portion that overlaps with the parking area rear line in the traveling direction image is provided.

  Thus, when the vehicle is parked at an appropriate front-rear direction position in the parking section, when providing a virtual three-dimensional object having a parking reference portion that overlaps the parking section rear line in the traveling direction image, the driver By retracting the vehicle until the parking section rear line and the virtual three-dimensional parking reference portion overlap each other on the display, it becomes easy to set the parking position in the front-rear direction to an appropriate position.

  Claim 10 is a parking assistance system comprising the parking assistance device according to any one of claims 1 to 9, and a marker provided in a parking section and having a predetermined size. The parking assist device stores the size of the marker, and the parking section position detection unit analyzes the traveling direction image captured by the in-vehicle camera, and based on the size of the marker in the traveling direction image, The relative position of the parking section with respect to the vehicle is determined.

  In this way, since the relative position of the parking section can be determined using the in-vehicle camera, there is no need to provide a dedicated sensor for determining the relative position of the parking section, such as a laser sensor. The parking support device installed in the vehicle becomes inexpensive.

It is a block diagram which shows the parking assistance apparatus 1 to which this invention was applied. It is a figure which shows the imaging range of the vehicle-mounted camera. It is a figure which shows the installation position of the marker M provided in the parking area. It is a functional block diagram which shows the function of parking assistance ECU10. It is a figure which shows notionally parking impossible area 40 memorized beforehand. It is a figure which shows notionally the position of virtual pole VP memorize | stored beforehand. It is a figure which shows an example of the parking impossibility area | region display 44, virtual pole VP, and vehicle rear end line 46 superimposed and displayed on a vehicle back image. It is a figure which shows the position change of virtual pole VP accompanying the own vehicle moving toward a parking area. It is a figure which shows the installation position of virtual pole VPt to which the parking reference line th was attached | subjected. It is a figure which shows the imaging range at the time of providing a back camera as a vehicle-mounted camera. It is a figure which shows the imaging range at the time of providing a vehicle-mounted camera in a shark fin.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a parking assistance apparatus 1 to which the present invention is applied. As shown in FIG. 1, the parking assist device 1 includes an in-vehicle camera 2, a display 3, a support start switch 4, and a parking assist ECU 10.

  The in-vehicle camera 2 of the present embodiment is a side camera attached to each of the left and right side mirrors. FIG. 2 is a diagram showing the imaging range of these in-vehicle cameras 2. As shown in FIG. 2, the imaging range of the in-vehicle camera 2 includes the vehicle rear side surface and the vehicle rear side. However, the rear end of the vehicle is not included in the imaging range. Hereinafter, an image captured by the in-vehicle camera 2 is referred to as a vehicle rear image.

  The display 3 displays a vehicle rear image (corresponding to a vehicle traveling direction image in the claims) captured by the in-vehicle camera 2 and is provided in the vehicle interior. For example, a display provided in the car navigation device can be used as the display 3. However, a display provided on an instrument panel or the like may be used separately from the display of the car navigation device. Moreover, one display common to the left and right vehicle-mounted cameras 2 may be provided, or two displays corresponding to the left and right vehicle-mounted cameras 2 may be provided.

  The support start switch 4 is a switch that is operated by the occupant to instruct the start of parking support control. The on-off operation of the support start switch 4 causes the parking support ECU 10 to start / stop the parking support control.

  The parking assist ECU 10 is a computer having a CPU, a ROM, a RAM, an I / O port, and the like inside (not shown), and a signal indicating a vehicle rear image captured by the in-vehicle camera 2 and a signal from the support start switch 4 In addition to the input, various sensor signals are input via the in-vehicle LAN. Examples of the sensor signal to be input include a signal from a steering sensor, a signal from a wheel speed sensor, a signal from a shift position sensor, and a signal from an ultrasonic sensor. The ultrasonic sensor is used to detect an empty parking area around the vehicle by irradiating the periphery of the vehicle with ultrasonic waves.

  And parking assistance ECU10 performs parking assistance control based on said various signals while displaying a vehicle back image on the indicator 3. FIG. As described above, the start / stop of the parking support control is determined based on the signal from the support start switch 4, but the sensor signal such as the shift position is changed to the R position without providing the support start switch 4. Based on the above, it may be automatically determined that the driver starts the parking operation.

  FIG. 3 is a diagram illustrating an installation position of the marker M provided in the parking section. The parking assistance device 1 shown in FIG. 1 and the marker M constitute a parking assistance system. The marker M of the present embodiment is a flat object drawn on the road surface and has a square shape. Further, the marker M is disposed on the vehicle width direction demarcation line 50 indicating the boundary with the adjacent parking section in the left-right direction (vehicle width direction), and one marker M is on the front side of the vehicle width direction demarcation line 50. The end of (vehicle passage side) and the other marker M are near the rear end of the vehicle width direction marking line 50. The magnitude | size of this marker M and the arrangement position in a parking area are memorize | stored in the predetermined memory | storage devices of the parking assistance apparatus 1, such as ROM in parking assistance ECU10.

  FIG. 4 is a functional block diagram showing a main part of the function of the parking assist ECU 10. Parking assistance ECU10 functions as each means shown in FIG. 4, when CPU runs the program memorize | stored in ROM, utilizing the temporary storage function of RAM. That is, the parking assist ECU 10 functions as the parking section position detection unit 20 and the display control unit 30.

  The parking support control is performed by executing the means shown in FIG. 4, and these means are executed when it is possible to determine the start of the parking support control, such as when the support start switch 4 is pressed as described above. .

  The parking section position detection means 20 determines the position and size of the marker M in the image by analyzing the vehicle rear image captured by the in-vehicle camera 2. Then, the relative distance between the vehicle and the marker M is calculated based on the size of the marker M in the image and the size of the marker M stored in advance. Further, the relative orientation of the marker M with respect to the vehicle is calculated based on the position of the marker M in the image. And based on these relative distance and relative azimuth | direction, and the arrangement | positioning position of the marker M memorize | stored previously, the relative position of a vehicle with respect to a parking area (this relative position also includes a vehicle direction) is detected.

  When a plurality of markers M can be detected, calculation is performed using the marker M closest to the vehicle in the vehicle traveling direction. Further, when one vacant parking section can be specified based on the signal from the ultrasonic sensor, the calculation is performed using the marker M of the vacant parking section.

  The detection of the relative position by the above-described method using the marker M may be performed only once at the start of parking assist control, or may be performed repeatedly at a predetermined cycle. In the case of performing only once, parking assist control is performed by sequentially determining the turning radius of the vehicle based on the signal from the steering sensor and sequentially determining the vehicle speed based on the signal from the wheel speed sensor. A change in the vehicle position from the start is sequentially calculated.

  The display control means 30 includes a parking start impossible area display control means 31, a virtual three-dimensional object display control means 32, and a vehicle rear end graphic display control means 33.

  Based on the relative position of the parking area detected by the parking area position detecting means 20, the parking start impossible area display control means 31 parks in the parking area without performing turn-back steering even if the parking operation is started from that position. A parking start impossible area display indicating an unparkable area that cannot be displayed is superimposed on the vehicle rear image displayed on the display 3.

  The parking start impossible area display control means 31 will be described in more detail. The parking impossible area is previously stored in the real coordinate system for the parking section. FIG. 5 is a diagram conceptually showing a parking impossible area 40 stored in advance. The parking start impossible area display control means 31 is configured to detect the pre-stored non-parking area based on the position of the marker M in the vehicle rear image and the relative position between the pre-stored marker M and the non-parking area 40. Performs conversion processing to convert to coordinates. Then, based on the camera coordinates obtained by the conversion process, the parking start impossible area display is superimposed on the vehicle rear image. An example of this parking start impossible area display will be described later.

  In addition, since a parking start impossible area | region changes with the direction of the vehicle with respect to a parking area, even if it performs the said conversion process, after correcting the parking impossible area memorize | stored beforehand based on the direction of the vehicle with respect to a parking area. Good.

  Further, a square frame 42 in FIG. 5 indicates a virtual parking start position determined based on the relative position of the vehicle with respect to the marker M. This indicates a parking start possible position. If the parking start possible position is indicated, it can be seen that a position closer to the parking section than that is a parking start impossible area. Therefore, the display indicating the parking start possible position can be set as the parking start impossible area display.

  The virtual three-dimensional object display control means 32 continuously displays the virtual pole VP with the real coordinate system fixed at a position on the vehicle rear image determined based on the relative position of the parking area detected by the parking area position detecting means 20. .

  The virtual three-dimensional object display control means 32 will be described in more detail. The size and shape of the virtual pole VP are stored in advance in the real coordinate system. The virtual pole VP corresponds to the virtual three-dimensional object in the claims. The position of the virtual pole VP with respect to the parking section may be stored in advance, or may be determined by calculation based on the relative position between the vehicle and the parking section.

  FIG. 6 is a diagram conceptually showing the position of the virtual pole VP stored in advance. The position shown in FIG. 6 is relative to the parking lot that is empty in FIG. Accordingly, the position of the virtual pole VP in the left-right direction is located outside the corresponding parking section. The position in the front-rear direction is closer to the vehicle passage than the front end of the parking section. By setting the position of the virtual pole VP at this position, steering is performed so that the virtual pole VP and the host vehicle do not contact each other on the display, thereby preventing contact with a vehicle parked in an adjacent parking section. it can.

  In FIG. 6, only one position of the virtual pole VP is shown, but in the present embodiment, a plurality of virtual poles VP are displayed.

  For the purpose of only preventing contact with a vehicle parked in an adjacent parking section, a plurality of virtual poles VP may be arranged along the parking section slightly ahead of the adjacent parking section. However, on the basis of the relative position of the parking section detected by the parking section position detecting means 20, an ideal traveling line for parking in the parking section is calculated, so that the traveling line can be guided. It is preferable to arrange it slightly outside.

  The virtual three-dimensional object display control means 32 determines the position of the virtual pole VP with respect to the marker M in the real coordinate system based on the travel line described above. Note that this processing is not performed when the position of the virtual pole VP is fixed in advance.

  Then, based on the determined position of the virtual pole VP in the real coordinate system with respect to the marker M and the position of the marker M in the vehicle rear image, conversion processing is performed for converting the coordinates of the virtual pole VP into camera coordinates. Then, based on the camera coordinates of the virtual pole VP obtained by the conversion process, the virtual pole VP is superimposed on the vehicle rear image.

  As described above, the virtual pole VP is continuously displayed while the host vehicle is traveling. After the start of the assist control, the display position of the first virtual pole VP is performed based on the position of the marker M in the vehicle rear image as described above. Thereafter, the same processing as the first time may be performed, or the change in the display position of the virtual pole VP may be calculated based on the change in the vehicle position.

  The vehicle rear end graphic display control means 33 superimposes and displays a vehicle rear end line (corresponding to the vehicle rear end graphic in the claims) indicating the rear end of the vehicle during parking assist control. FIG. 7 is a diagram showing an example of the unparkable area display 44, the virtual pole VP, and the vehicle rear end line 46 that are superimposed on the vehicle rear image by the display control means 31, 32, 33. Further, as shown in FIG. 7, the rear side surface 48 of the host vehicle is included in the vehicle rear image.

  Since the real coordinates of the unparkable area display 44 and the virtual pole VP are fixed, the display position on the screen changes as the host vehicle moves. On the other hand, the vehicle rear end line 46 always has the same display position on the screen.

  The non-parking area display 44 is a display that indicates a non-parking area by hatching virtually drawn on the road surface. Four virtual poles VP are shown in FIG. 7 and all have the same shape. These virtual poles VP are cylindrical solid objects, and are provided with a striped pattern that repeats at equal intervals in the vertical direction (axial direction). The virtual pole VP has a height slightly lower than the installation height of the in-vehicle camera 2 but sufficiently higher than the lower end of the body of the host vehicle, and the thickness is a pole used for fixing a traffic sign. It is about the same.

  The display example shown in FIG. 7 is a display example in the initial stage of the parking operation. When it can be determined that the host vehicle has started moving for parking from outside the unparkable area, the unparkable area display 44 is unnecessary. So erase from the screen. After that, only the virtual pole VP or only the virtual pole VP and the vehicle rear end line is displayed.

  FIG. 8 is a diagram illustrating a change in the position of the virtual pole VP as the host vehicle moves toward the parking area, in the order of (a), (b), (c), and (d). Indicates the state. As can be seen from the comparison of (a) to (d), the part hidden behind the virtual pole VP in the background of the virtual pole VP such as a parked vehicle changes as the host vehicle moves. As a result, motion parallax is generated, so that a sense of distance can be easily grasped.

  In particular, the virtual pole VP of the present embodiment is a relatively thin columnar body having a thickness that can be sufficiently visually recognized. Therefore, since the virtual pole VP and its background can be easily recognized, motion parallax is recognized. Cheap. In addition, since multiple virtual poles VP are displayed, motion parallax based on each virtual pole VP is obtained. Further, since the virtual pole VP has a striped pattern, it is easier to distinguish the background and the virtual pole VP than when no pattern is applied. From this point, it is easy to recognize motion parallax. For these reasons, it is particularly easy to get a sense of distance.

  In addition, since the same pattern is attached to the plurality of virtual poles VP, the context of the plurality of virtual poles VP can be easily understood from the difference in the size of the patterns and the overlapping state. In this respect as well, it is easy to get a sense of distance. In addition, it is easy to grasp the positional relationship between the plurality of virtual poles VP, the parking section existing near each virtual pole VP, and the position of the parked vehicle from the difference in display height of the plurality of virtual poles VP.

  Note that the positional relationship that can be grasped from the difference in display height of the plurality of virtual poles VP is particularly easy to grasp when the upper end portion of the virtual pole VP is in the image. Furthermore, when the upper end surface of the virtual pole VP is superimposed and displayed on the vehicle rear image, a motion parallax in the height direction is also obtained, so that the sense of distance is more easily grasped.

  The virtual poles VP shown in FIG. 8 are hardly included in the image when the host vehicle enters the parking section and moves backward substantially behind. In a state where the host vehicle enters the parking area and moves backward substantially right, a virtual pole VPt with a parking reference line th shown in FIG. 9 is displayed instead of the virtual pole VP shown in FIG. To do. The parking reference line th corresponds to the parking reference part of the claims.

  As for the installation position of this virtual pole VPt, as shown in FIG. 9, the position in the right direction is in the vicinity of the vehicle direction dividing line 50 in the parking section. Therefore, the driver looks at the display 3 and parks the vehicle so that the virtual pole Vpt does not come into contact with the rear side surface 48 of the vehicle, thereby making it easy to park the vehicle near the center in the width direction of the parking section. .

  FIG. 9 illustrates how the appearance of the overlap between the virtual pole VPt and the parking area rear line 52 in the background changes as the host vehicle enters the parking area. The state of the later time is shown in the order of (a), (b), and (c).

  As shown in FIG. 9, the parking reference line th approaches the parking zone rear line 52 as the host vehicle enters the parking zone. And in FIG.9 (c), the screen lower edge of the parking area rear line 52 and the parking reference line th correspond. The installation position of the virtual pole VPt in the front-rear direction is a position where the parking section rear line 52 and the parking reference line th overlap on the display when the vehicle is parked at an appropriate front-rear direction position in the parking section. Yes. Therefore, the driver looks at the display 3 and moves the vehicle backward until the parking section rear line 52 and the parking reference line th of the virtual pole VPt overlap, thereby setting the parking position in the front-rear direction to an appropriate position. Becomes easier.

  As described above, according to the present embodiment described above, the virtual poles VP and VPt whose real coordinates are fixed are continuously superimposed and displayed on the vehicle rear image during the parking assist control, so that the virtual pole VP, Motion parallax is generated by the VPt and the background of the virtual poles VP and VPt. This motion parallax makes it easy to grasp the sense of distance. As a result, driving operation becomes easy.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment, The following embodiment is also contained in the technical scope of this invention, and also the summary other than the following is also included. Various modifications can be made without departing from the scope.

  For example, in the above-described embodiment, the virtual poles VP and VPt are displayed as the virtual three-dimensional object, but a virtual three-dimensional object other than the pole such as a virtual fence may be displayed.

  Moreover, you may change the kind of virtual solid object according to the relative position of the own vehicle with respect to a parking area. For example, a virtual fence may be displayed at the beginning of parking steering, and a virtual pole may be displayed before and after entering the parking section. In addition, it is not always necessary to display a virtual three-dimensional object. At the beginning of parking steering, only the non-parking area display 44 that is a two-dimensional display is performed, and it is not necessary to display the non-parking area display 44. The pole VP may be displayed.

  Also, near the end of parking, the remaining distance to the optimum position is measured based on the marker M or the like, and the measured remaining distance is displayed together with the display of the virtual solid object or instead of the display of the virtual solid object. Also good. In addition, the distance to the lane marking 50 in the vehicle width direction may be measured based on the marker M, and this distance may be displayed when getting off.

  Further, instead of the two-dimensional non-parking area display 44, a three-dimensional object may be displayed, or a simple line, that is, a one-dimensional display may be displayed.

  In the above-described embodiment, the marker M is installed for detecting the relative position of the parking section. However, the relative position of the parking section may be detected using the parking section line instead of the marker M. Moreover, you may detect the relative position of a parking lot by detecting a parking lot line using a laser sensor.

  Further, the in-vehicle camera is not limited to the side camera, and a back camera that illustrates the imaging range in FIG. 10 or a camera provided in the shark fin as illustrated in FIG. 11 may be used.

DESCRIPTION OF SYMBOLS 1: Parking assistance apparatus, 2: Vehicle-mounted camera, 3: Display, 4: Support start switch, 10: Parking assistance ECU, 20: Parking area position detection means, 30: Display control means, 31: Parking start impossible area display control Means: 32: virtual three-dimensional object display control means, 33: vehicle rear end graphic display control means, 40: parking impossible area, 42: square frame, 44: parking impossible area display, 46: vehicle rear end line (vehicle rear end figure) ), 48: vehicle rear side surface, 50: vehicle width direction division line, 52: parking division rear line, VP: virtual pole (virtual three-dimensional object), VPt: virtual pole (virtual three-dimensional object), M: marker, th: parking Reference line (parking reference part)

Claims (10)

A parking assistance device comprising an in-vehicle camera that images a traveling direction of a vehicle and a display that displays a traveling direction image captured by the in-vehicle camera,
Parking section position detecting means for detecting a relative position of the parking section with respect to the vehicle;
A virtual solid that continuously displays a virtual three-dimensional object with real coordinates fixed at a position on the traveling direction image determined based on the relative position of the parking section detected by the parking section position detecting means while the vehicle is traveling. A parking support apparatus comprising: an object display control unit. In claim 1,
The parking assistance apparatus according to claim 1, wherein the virtual three-dimensional object has a height lower than a height of installation of the vehicle-mounted camera and higher than a bumper lower end height of the vehicle in a real coordinate system. In claim 1 or 2,
A parking assistance device comprising a plurality of the virtual three-dimensional objects. In any one of Claims 1 thru | or 3,
The virtual three-dimensional object has a columnar shape. In any one of Claims 1 thru | or 4,
A parking assistance device, wherein the virtual three-dimensional object is provided with a repeating pattern that repeats in the vertical direction. In any one of Claims 1 thru | or 5,
Based on the relative position of the parking section detected by the parking section position detecting means, it indicates a parking start impossible area where parking operation cannot be performed without performing turn-back steering even if the parking operation is started from that position. A parking assistance apparatus, wherein a parking start impossible area display is superimposed on the traveling direction image. In claim 6,
The in-vehicle camera is attached to the side of the vehicle so that the imaging range includes the vehicle rear side surface and the vehicle rear side,
A parking assistance device, wherein a vehicle rear end graphic indicating a rear end of the vehicle is superimposed and displayed on the traveling direction image. In any one of Claims 1 thru | or 6,
The in-vehicle camera is attached to the side of the vehicle so that the imaging range includes the vehicle rear side surface and the vehicle rear side,
A parking assistance device, characterized in that a virtual three-dimensional object is provided in the vicinity of the left and right vehicle width direction lane markings in the parking lane. In any one of Claims 1 thru | or 6,
The in-vehicle camera is attached to the side of the vehicle so that the imaging range includes the vehicle rear side surface and the vehicle rear side,
A parking assistance apparatus comprising: a virtual three-dimensional object having a parking reference portion that overlaps a rear line of a parking area in a traveling direction image when the vehicle is parked at an appropriate front-rear direction position in the parking area. The parking assistance device according to any one of claims 1 to 9,
A parking assistance system provided with a marker that is provided in a parking section and has a predetermined size,
The parking assist device includes:
Remembers the size of the marker,
The parking section position detection means analyzes a traveling direction image captured by the in-vehicle camera, and determines a relative position of the parking section with respect to the vehicle based on a marker size in the traveling direction image. Parking support system.

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