JP2014196009A - Parking assistant, portable terminal used for parking assistant, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking assistant suppressing an obstacle in a forward direction of a vehicle mounting the parking assistant from being overlooked, and an on-vehicle device and a portable terminal used for this parking assistant.SOLUTION: A vehicle control ECU 210 performs a process for acquiring images picked up by a camera 100 and obtaining a viewpoint converted compound image, and receives an operation for a parking command from a portable terminal 300 to the vehicle control ECU 210, and the portable terminal 300 displays the viewpoint converted compound image and the picked up images on a display 311. If the parking command is input via an operation input portion 312 of the portable terminal 300, the viewpoint converted compound image and the picked up image at a dead angle from a position of the portable terminal 300 are displayed by two-screen display.

Description

  The present invention relates to a parking assist device that performs parking by operating a host vehicle from the outside with a touch panel, a portable terminal used therefor, and a program.

  Conventionally, as a parking support device using a touch panel, a route is set by tracing from the own vehicle position to the target parking position on the overhead view image displayed on the display of the mobile terminal, and the vehicle is guided along this route. (See, for example, Patent Document 1 and Patent Document 2).

JP 2005-41433 A JP 2009-292254 A

  However, since a blind spot area occurs in the vicinity of the combined boundary of each captured image in the overhead image, the overhead image of the prior art cannot solve the blind spot on the back side of the own vehicle when viewed from the user's position. There is a possibility that an obstacle in the traveling direction of the own vehicle may be overlooked.

  The present invention has been made to solve the conventional problems, and an object of the present invention is to provide a parking assistance device that suppresses oversight of obstacles in the traveling direction of the host vehicle, a portable terminal used therefor, and a program. And

  In order to achieve the above object, according to the present invention, when the display unit of the portable terminal is instructed to automatically park by the operation unit, the blind spot is determined from the viewpoint conversion image and the position of the portable terminal among the captured images around the vehicle. A captured image is displayed.

  Advantageous Effects of Invention According to the present invention, there is an effect that it is possible to provide a parking assistance device that suppresses oversight of obstacles in the traveling direction of the host vehicle, a portable terminal used in the parking assistance device, and a program.

The block diagram of the parking assistance apparatus in embodiment of this invention The flowchart figure which shows the outline | summary of the parking assistance in embodiment of this invention The figure explaining the blind spot at the time of parking assistance from the outside in the embodiment of the present invention by an image The figure explaining the screen transition of the portable terminal in embodiment of this invention with an image The figure explaining the correspondence between the screen transition during the parking assistance of the portable terminal and the real world in the embodiment of the present invention as an image

Hereinafter, 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 of a parking assistance apparatus according to an embodiment of the present invention.

  In FIG. 1, the parking assist device includes a camera 100, a vehicle control ECU 210 mounted on a vehicle 200, and a mobile terminal 300.

  The camera 100 is composed of a plurality of camera modules and images the surroundings of the vehicle. For example, the camera 100 includes a front camera attached to the front of the vehicle body, a rear camera attached to the rear of the vehicle body, and side cameras attached to both side mirrors, and images the front, rear, and sides of the vehicle, respectively.

  The vehicle 200 includes a vehicle control ECU 210 that performs drive control of the vehicle, a steering sensor 220 that detects steering information, an accelerator detection sensor 230 that detects accelerator opening, and a gateway that connects various devices including the sensor to a network such as an in-vehicle LAN. 240, the vehicle-mounted device side communication circuit 250 which communicates with the exterior, and the obstacle detection sensor 260 which detects the obstacle around a vehicle are mounted.

  The vehicle control ECU 210 includes at least a CPU 211 that performs calculation processing, a ROM 212 that stores various programs such as an automatic parking application, and template images such as vehicle icons, and a RAM 213 that temporarily stores calculation results and input information. As long as the CPU 211 is an arithmetic processing circuit, it may be configured by other hardware such as an LSI or an ASIC. The ROM 212 may be replaced with a memory, typically a nonvolatile medium such as an HDD or SD. The ROM 212 may not be a storage unit as a non-volatile medium, and may be other hardware that can store at least temporarily. For example, it is sufficient that the program can be temporarily stored via an external network such as an application service provider (ASP), a cloud network, or a server database. The function may be replaced with the RAM 213. The RAM 213 may be replaced with a memory, typically a volatile medium such as a DRAM, or may be other hardware as long as the operation result can be temporarily stored.

  The vehicle control ECU 210 controls vehicle driving means such as an accelerator and a brake (not shown) during automatic parking. Further, the vehicle control ECU 210 synthesizes a viewpoint conversion image that overlooks the surroundings of the vehicle based on a plurality of captured images captured by the camera 100. In this synthesis, a blind spot is generated in principle at the synthesis boundary between adjacent captured images. In the present embodiment, the drive control of automatic parking and the overhead image combining process are integrated into one vehicle control ECU 210. However, the drive control ECU and the image ECU may be configured separately for each function. Various sensor information is input to the vehicle control ECU 210 from the steering sensor 220 and the accelerator detection sensor 230 via the gateway 240. The in-vehicle device side communication circuit 250 receives the information transmitted from the mobile terminal 300 side, and transmits the processing result of the vehicle control ECU 210 to the mobile terminal 300. The obstacle detection sensor 260 includes at least one sensor that detects a distance from an object such as an infrared sensor, a sonar, a radar, and an image distance sensor. Typically, at least one sensor is installed at each of the four corners of the vehicle 200. However, the installation location is not necessarily limited to this, and it is sufficient that the detection range includes at least a combined boundary that generates a blind spot region in the combined viewpoint conversion image.

The mobile terminal 300 includes a touch panel 310, a terminal control device 320, and a mobile terminal side communication circuit 330. The touch panel 310 includes a display 311 that performs screen display and an operation input unit 312 that performs an input operation by pressure detection using a method such as a capacitance method or a resistance film method. The terminal control device 320 includes at least a CPU 321 that performs calculation processing, a ROM 322 that stores various programs such as an automatic parking application, and a RAM 323 that temporarily stores calculation results and input information. Similar to the vehicle control ECU 210, the CPU 321, the ROM 322, and the RAM 323 may be other hardware. The mobile terminal side communication circuit 330 receives the information transmitted from the vehicle control ECU 210 side, and transmits the processing result of the terminal control device 320 to the vehicle control ECU 210.

  With such a parking assistance device, the vehicle 200 performs automatic parking according to the operation of the mobile terminal 300 from outside the vehicle. Hereinafter, parking support processing by cooperation between the mobile terminal 300 and the vehicle 200 will be described. In this parking support process, in order to reduce the operation load on the mobile terminal 300 of the user who performs automatic parking and to improve safety, the mobile terminal 300 is placed on the opposite side of the operation screen and the position of the operating user. Thus, the screen is configured to display a blind spot area that is invisible to the user.

  FIG. 2 is a flowchart showing an outline of parking support in the embodiment of the present invention. In the following processing, regarding hardware processing by the terminal control device 320, unless otherwise specified, arithmetic processing such as determination and control is performed by the CPU 321, and a program such as an automatic parking application is read from the ROM 322. Then, the calculation processing result and the acquired information from the outside are stored in the RAM 323. The same applies to the vehicle control ECU 210. In addition, transmission and reception of information and commands between the terminal control device 320 and the vehicle control ECU 210 are performed via the mobile terminal side communication circuit 330 and the vehicle-mounted device side communication circuit 250. In addition, in the transmission / reception in the portable terminal side communication circuit 330 and the onboard equipment side communication circuit 250 here, communication may be directly performed mutually, and communication is performed via networks, such as a server and a cloud, on the way. May be.

  First, as shown in step S21, automatic parking using the portable terminal 300 is started from outside the vehicle. As shown in step S <b> 22, the terminal control device 320 activates an automatic parking application in response to an operation on the operation input unit 312 of the mobile terminal 300. It should be noted that the application may be automatically started at the start. For example, the mobile terminal 300 is provided with position information detection means (not shown), the terminal control device 320 determines whether the mobile terminal 300 exists outside the vehicle 200, and the mobile terminal-side communication circuit 330 detects the ignition of the vehicle 200. When the information on the ON state is acquired from the in-vehicle device side communication circuit 250, the application may be automatically activated. Note that after the application is activated, the terminal control device 320 always activates the application termination program so that the automatic parking function can be immediately stopped in an emergency. Specifically, for example, a process of displaying an end button on 311 on the display, a process of permitting the operation input unit 312 or the like to end by a predetermined gesture operation, and an end by voice input input through a microphone (not shown) Processing is performed.

Next, as shown in step S <b> 23, the terminal control device 320 determines whether the remaining battery capacity of the mobile terminal 300 is large enough to automatically park. Specifically, the terminal control device 320 determines whether or not the remaining battery capacity acquired from a battery capacity detection circuit (not shown) remains over a predetermined threshold value. In the case of YES in step S23, as shown in step S24, the terminal control device 320 causes the user operating the mobile terminal 300 to select which position the user is standing with respect to the vehicle to be parked. Specifically, the terminal control device 320 causes the display 311 to display an overhead view image around the vehicle. This overhead view image is divided into a plurality of regions. The terminal control device 320 determines the predetermined area as a blind spot area by a pressing operation to the operation input unit 312 corresponding to the predetermined area among the divided areas. Instead of selecting the blind spot area, a process of selecting which position the user is standing with respect to the vehicle may be performed. In this case, the area that is point-symmetric with the selected area is determined as the blind spot area around the position of the vehicle. On the other hand, in the case of NO in step S23, as shown in step S25, the terminal control device 320 notifies the user that the automatic parking application is not activated and the display 311 displays that the remaining battery capacity is low. If notification processing can be performed, notification may be performed by other hardware. For example, instead of displaying on the display 311, a voice notification may be given by a speaker (not shown).

  After the process of step S24, as shown in step S26, the terminal control device 320 acquires the overhead image synthesized by the vehicle control ECU 210 and the captured image of the blind spot area, and displays the acquired image on the display 311. And the process which moves the vehicle icon currently displayed on the bird's-eye view image displayed on the display 311 to a parking space is performed. Specifically, for the operation input unit 312, an operation of moving while maintaining the pressure on the display area of the display 311 corresponding to the vehicle icon (for example, an operation of tracing with a user's finger. Hereinafter, simply referred to as “race operation”). )), The terminal control device 320 issues a drive control command for the vehicle 200 according to this operation to the vehicle control ECU 210. Based on this drive control command, the vehicle control ECU 210 controls the vehicle drive means of the vehicle 200, and the vehicle 200 moves in the real world. This drive control command may include, for example, the direction and speed information of the tracing operation, and the moving direction and moving speed of the vehicle 200 may be controlled based on these information. Since the vehicle 200 in the real world is moved by the tracing operation and the image around the vehicle 200 is also changed, the terminal control device 320 acquires the overhead view image and the captured image of the blind spot area from the vehicle control ECU 210 constantly or periodically. The display image on the display 311 is updated. The display 311 displays a two-screen display of a bird's-eye view image used for the user's tracing operation and a captured image of the blind spot area determined in step S24.

  Next, as shown in step S <b> 27, it is determined whether or not there is a possibility that the vehicle 200 may collide with surrounding obstacles due to the movement by automatic parking. Specifically, based on the distance information to the obstacles around the vehicle 200 acquired by the vehicle control ECU 210 from the obstacle detection sensor 260 in accordance with a command from the terminal control device 320, the distance information is a predetermined first threshold value. It is determined whether or not it is below (for example, 20 cm or less). And when vehicle control ECU210 determines with below a predetermined threshold value, it determines with there exists a possibility of a collision.

  In the case of YES in step S27, as shown in step S28, when the vehicle control ECU 210 determines that there is a possibility of a collision, the terminal control device 320 displays the display 311 by at least one of display or sound based on this determination result. Is notified of an emergency stop of the vehicle 200 and alerts the blind spot area, and the cut-back range is displayed on the viewpoint conversion image in the two-screen display.

  Then, as shown in step S <b> 29, the terminal control device 320 moves the vehicle 200 when the pressing force by the user's finger on the operation input unit 312 for the display area of the display 311 corresponding to the vehicle icon is equal to or less than a threshold value. Is prohibited. Specifically, the vehicle control ECU 210 or the terminal control device 320 performs a process for prohibiting movement of the vehicle 200. For example, the vehicle control ECU 210 may send an operation prohibition command to the vehicle drive means. Transmission of the drive command to the vehicle control ECU 210 may be stopped. By prohibiting the movement of the vehicle 200 by the user releasing his / her finger, the vehicle 200 can be actively and accurately stopped particularly in automatic parking. For example, it is possible to reduce the possibility of an erroneous operation compared to the case where prohibition is performed by the act of pressing a button. Then, when the pressing force to the region of the vehicle icon becomes larger than the threshold value by the pressing operation again, the movement prohibition of the vehicle 200 is partially canceled. This partial release means that the tracing operation of the vehicle icon is accepted on the reverse direction side opposite to the target parking position direction, but the target parking position direction is not accepted. Thereby, it can avoid that the vehicle 200 collides with the obstacle which adjoins by erroneous operation. The display 311 is notified of this partial release state by display or voice. This notification may be notified constantly or when an operation that cannot be accepted is performed. After step S29, the processing after step S26 is performed again.

  On the other hand, if NO in step S27, vehicle control ECU 210 determines whether or not vehicle 200 has reached the parking space, as shown in step S30. If YES in step S30, as shown in step S31, vehicle 200 stops moving in response to a command from vehicle control ECU 210. Then, the terminal control device 320 displays on the display 311 that parking has been completed. On the other hand, if NO at step S30, the processing after step S26 is performed again.

  Here, a blind spot of a user having the mobile terminal 300 in the real world will be described. FIG. 3 is a diagram illustrating a blind spot when parking assistance is performed from outside the vehicle according to the embodiment of the present invention. FIG. 3A is a diagram for explaining the blind spot at the start of parking with an image, and FIG. 3B is a diagram for explaining the blind spot at the end of parking with an image. In FIG. 3A, the vehicle 200 is parked backward toward the parking target position 202 next to the parked vehicle 201. At this time, from the user A, the region 203a on the back side where the visual field range is masked by the vehicle 200 becomes a blind spot region. In FIG. 3B, the vehicle 200 enters the parking target position 202 adjacent to the parked vehicle 201 and the reverse parking is about to be completed. At this time, from the user A, the region 203b on the far side where the visual field range is masked by the vehicle 200 becomes a blind spot region. When the two-screen display is performed, the rear side regions 203 a and 203 b are displayed as transitions as the vehicle 200 moves as the blind spot region.

  Next, screen transition of this blind spot area will be described. FIG. 4 is a diagram for explaining the screen transition of the portable terminal according to the embodiment of the present invention. FIG. 4A is a diagram showing a display state of the display 311 when the blind spot area is selected in step S24. FIG. 4B is a diagram showing a display state of the display 311 when the vehicle 200 is moving in step S26. FIG. 4C is a diagram showing a state of alerting the display 311 when a blind spot area is detected in step S28. FIG. 4D is a diagram illustrating a display state when the one-screen display is selected in FIGS. 4B and 4C.

  In FIG. 4, the mobile terminal 300 is provided with a touch panel 310, and the touch panel 310 includes a display 311 and an operation input unit 312. As shown in FIG. 4A, in step S24, one screen of the viewpoint conversion image is displayed on the display 311. In the viewpoint conversion image, a vehicle icon 313 is displayed at the center, and blind spot areas 314a to 314d to be selected are divided and displayed around the vehicle icon 313. The blind spot areas 314a to 314d represent the imaging ranges of the camera modules that constitute the camera 100, respectively. A guidance display 315 that prompts the user to select a blind spot area may be displayed. When the user performs a pressing operation on one of the blind spot areas 314a to 314d of the operation input unit 312, the captured image of this area is selected as the captured image of the blind spot area. Then, as illustrated in FIG. 4B, the viewpoint conversion image 316 a and the selected captured image 316 b are displayed on the display 311 in two screens. Here, in the viewpoint conversion image 316a, composite boundaries 317a to 317d are formed at the four corners of the vehicle. On the selected captured image 316b, a switching button 318 that can be switched to single-screen display may be displayed. With such a two-screen display, it is possible to achieve both a parking assist operation and a surrounding safety check. In other words, the viewpoint conversion image 316a can be used for a parking assistance operation by a tracing operation of the vehicle icon 313 and a surrounding confirmation of the vehicle 200, and the blind spot of the corresponding boundary among the combined boundaries 317a to 317d is selected by the selected captured image 316b. This can be confirmed with particular care. When the obstacle detection sensor 260 detects an obstacle in the blind spot area, a warning button 319 for the blind spot area is displayed as shown in FIG. Note that when the switch button 318 is selected, the one-point display of the viewpoint conversion image is performed as shown in FIG. The switch button 318 may be displayed at all times, or set to a predetermined second threshold value (for example, several meters) for the start of parking or the start of turnover, where the priority of the surrounding information is higher than the risk of collision. You may display until it reaches.

  A typical example of screen switching when an obstacle is detected in the process of parking a vehicle in the real world at the target parking position by the parking assist device as described above will be described in time series. FIG. 5 is a diagram for explaining the correspondence between the screen transition during the parking assist of the mobile terminal and the real world in the embodiment of the present invention.

  FIG. 5A shows a situation where an obstacle is detected in the left rear 200a after the vehicle 200 moves backward and starts parking toward the target parking position 202 between the parked vehicles 201a and 201b. Has been. Specifically, when the terminal control device 320 determines that the distance between the vehicle 200 detected by the obstacle detection sensor 260 and the parked vehicle 201b is equal to or less than a third threshold (for example, 50 cm), A two-screen display is made on the display 311. Compared to the first threshold value in step S27 described above, there is a possibility of a collision, but there is a margin in the distance and it is not an emergency, so attention is only given. At this time, on the display 311 of the mobile terminal 300, the viewpoint conversion image is displayed on the left side of the screen, and the captured image of the left rear side 200a, which is a blind spot area, is displayed on the right side of the screen. A parked vehicle 201b is displayed in the captured image, and the degree of approach can be confirmed. Even if the blind spot area selected in step S24 is an area different from the left rear 200a, for example, on the right side, the captured image is switched when an obstacle is detected.

  Next, FIG. 5B shows a situation in the real world where the vehicle 200 further moves backward from the situation of FIG. 5A and an obstacle is detected on the right rear side 200b. Specifically, when the terminal control device 320 determines that the distance between the vehicle 200 detected by the obstacle detection sensor 260 and the parked vehicle 201a has become equal to or smaller than the third threshold value, the display 311 of the portable terminal 300 has 2 A screen display is made. At this time, on the display 311 of the mobile terminal 300, the viewpoint conversion image is displayed on the left side of the screen, and the captured image of the right rear side 200b that is a blind spot area is displayed on the right side of the screen. A parked vehicle 201a is displayed in the captured image, and the degree of approach can be confirmed. Further, when the vehicle 200 moves backward and the terminal control device 320 determines that the distance between the vehicle 200 detected by the obstacle detection sensor 260 and the parked vehicle 201a has become equal to or smaller than the first threshold value shown in step S27. The display 311 displays an emergency stop. Then, when the user who is alerted by this display removes his / her finger from the vehicle icon in the viewpoint conversion image, the vehicle 200 stops, and when the user presses the vehicle icon again with the finger, the vehicle 200 starts turning.

  FIG. 5 (c) shows a situation in the real world where the vehicle 200 turns back and advances toward the turn-back target position 204 from the situation of FIG. 5 (b). Specifically, when the terminal control device 320 determines that the distance between the vehicle 200 detected by the obstacle detection sensor 260 and the parked vehicle 201a is greater than the third threshold, the display 311 of the portable terminal 300 is displayed. The viewpoint conversion image is displayed on the left side of the screen, and the captured image of the front 200c that is the traveling direction is displayed on the right side of the screen. In the captured image, the front portion of the vehicle 200 and the turning target position 204 are displayed, and the degree of approach to the target position can be confirmed.

  FIG. 5D shows a situation where the vehicle 200 moves backward again after reaching the target parking position 204 from the situation of FIG. 5C in the real world. Specifically, when the terminal control device 320 determines that the distance between the vehicle 200 detected by the obstacle detection sensor 260 and the parked vehicles 201a and 201b is equal to or smaller than the third threshold, the display 311 of the mobile terminal 300 is displayed. , The viewpoint conversion image is displayed on the left side of the screen, and the captured image of the rear 200d that is the traveling direction is displayed on the right side of the screen. The rear portion of the vehicle 200 and the parked vehicles 201a and 201b are displayed in the captured image, and the degree of approach to the target parking position 202 can be confirmed.

  As described above, according to the embodiment of the present invention, oversight of obstacles in the blind spot area in the traveling direction of the host vehicle can be suppressed without interfering with the parking operation by the mobile terminal from the start to the end of parking.

  The parking assist device of the present invention is particularly useful for automatic parking when the vehicle is remotely operated from outside the vehicle and guided to the target parking position.

100 camera 200 vehicle 210 vehicle control ECU
250 On-vehicle device side communication circuit 260 Obstacle detection sensor 300 Mobile terminal 310 Touch panel 311 Display 312 Operation input unit 320 Terminal control device 330 Mobile terminal side communication circuit

Claims (6)

Imaging means mounted on a vehicle for imaging the periphery of the vehicle;
An in-vehicle device that is mounted on a vehicle and performs parking control based on an external command;
A portable terminal for instructing the vehicle-mounted device to park,
The in-vehicle device is
On-vehicle device side control means for performing parking control based on an instruction from the portable terminal,
Synthesizing means for synthesizing a viewpoint conversion image based on an image captured by the imaging means;
A vehicle-mounted device side communication unit that outputs at least one of the viewpoint conversion image combined by the combining unit and the captured image captured by the imaging unit to the mobile terminal;
The portable terminal is
A portable terminal side communication means for acquiring at least one of a viewpoint conversion image and a captured image transmitted by the onboard equipment side communication means;
An operation means for operating a parking instruction to the vehicle-mounted device;
Display means for displaying at least one of a viewpoint conversion image and a captured image acquired by the mobile terminal side communication means based on an operation of the operation means or a reception result from the in-vehicle device side communication means,
The display means displays the viewpoint-converted image and a captured image that becomes a blind spot from the position of the mobile terminal among the captured images around the vehicle when a parking instruction is given by the operating means. Parking assistance device.   The said display means displays the blind spot area | region which becomes a blind spot from the position of the said portable terminal among the circumference | surroundings of the said vehicle so that selection is possible by the said operation means, when parking instructions are made by the said operation means. The parking assistance apparatus according to 1. An obstacle detection means mounted on the vehicle for detecting obstacles around the vehicle;
The display means includes
At the start of parking, the viewpoint conversion image and the captured image of the blind spot area selected by the operation means are displayed,
The said viewpoint conversion image and the said picked-up image containing the detection area | region where the said obstacle detection means detected the obstacle are displayed when the said obstacle detection means detects an obstacle. 2. The parking assistance device according to 2. The display means includes
While the vehicle is moving backward, the viewpoint conversion image and the captured image of the blind spot area selected by the operation means are displayed,
The parking assistance device according to claim 3, wherein the viewpoint conversion image and a captured image in the forward direction are displayed while the vehicle is turning and moving forward. An imaging unit mounted on a vehicle for imaging the surroundings of the vehicle, a parking control mounted on the vehicle based on a command from the outside, and a viewpoint conversion image synthesized based on an image captured by the imaging unit A mobile terminal used in a parking support device that performs parking support by an on-vehicle device and a mobile terminal that communicates with the on-vehicle device and instructs the on-vehicle device to park,
The portable terminal is
A portable terminal side communication means for acquiring at least one of a viewpoint conversion image and a captured image from the in-vehicle device;
An operation means for operating a parking instruction to the vehicle-mounted device;
Display means for displaying at least one of a viewpoint-converted image and a captured image acquired by the mobile terminal-side communication means based on an operation of the operation means or a reception result from the vehicle-mounted device,
The display means displays the viewpoint-converted image and a captured image that becomes a blind spot from the position of the mobile terminal among the captured images around the vehicle when a parking instruction is given by the operating means. Mobile terminal. An imaging unit mounted on a vehicle for imaging the surroundings of the vehicle, a parking control mounted on the vehicle based on a command from the outside, and a viewpoint conversion image synthesized based on an image captured by the imaging unit A mobile terminal program used in a parking support device that has a vehicle-mounted device, a control circuit, a memory, and a communication circuit, communicates with the vehicle-mounted device, and supports parking by a mobile terminal that instructs the vehicle-mounted device to park. There,
Image acquisition processing for acquiring at least one of a viewpoint-converted image and a captured image from the vehicle-mounted device;
An operation process for accepting an operation of a parking instruction to the vehicle-mounted device,
A display process for displaying at least one of a viewpoint converted image and a captured image based on the operation process or the image acquisition process;
When parking is instructed by the operation process, a blind spot display process is performed to display the viewpoint conversion image and a captured image that is a blind spot from the position of the mobile terminal among the captured images around the vehicle. Program to do.