JP2023017468A - Parking support device - Google Patents

Abstract

To provide a parking support device, which in parking an own vehicle in a parking space utilizing a parking support function, can suppress the possibility that the device wrongly recognizes a position where parking is prohibited as a parking space, even in a situation where the device cannot recognize a parking frame drawn on a road surface.SOLUTION: A parking support device 1 comprises an operation support control unit 11. The operation support control unit 11 obtains environment information about a parking lot from sensors 21, 26-28; recognizes a parking space of the parking lot on the basis of the environment information; sets in the parking space a virtual parking frame 41 that is required in parking the own vehicle M; and when wheel tracks 101 are crossing at least two sides of the set virtual parking frame 41, sets the virtual parking frame 41 as a parking prohibition area Anp.SELECTED DRAWING: Figure 1

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking assistance system that prevents a parking space in which parking is prohibited from being erroneously recognized as a parking space when assisting parking in a parking lot where a parking frame drawn on the road surface cannot be recognized.

Conventionally, there is known a parking assist device that assists a driver in parking his or her own vehicle within a parking frame that defines a parking space set in a parking lot, thereby reducing the burden on the driver. . In this type of parking assistance device, when the driver operates the vehicle to run in the parking lot, the control unit detects a candidate for a vacant parking space, and selects the candidate parking space. display on the monitor. The driver selects a desired parking space from the displayed parking space candidates.

Then, the control unit sets a parking guide route for parking the own vehicle in the parking slot selected by the driver. Then, the control unit automatically parks the own vehicle in the parking frame along the parking guide route. Alternatively, the driver causes the vehicle to travel along the parking guidance route displayed on the monitor and park the vehicle in the parking frame.

In the above-described conventional parking assist system, when parking the own vehicle in a parking frame, first, a parking frame in which the vehicle can be parked is detected. Therefore, when the parking space drawn on the road surface cannot be recognized because the road surface of the parking lot is covered with snow or mud remaining after flooding, the parking assist system guides the vehicle to the parking space. It becomes difficult to construct a guidance route.

A driver needs parking assistance from a parking assistance device more in a bad environment in which the parking frame cannot be recognized than in a favorable environment. For example, in Patent Document 1 (Japanese Patent Application Laid-Open No. 2021-3926), when the parking frame in the parking lot cannot be recognized due to snow accumulation, first, information on a pair of ruts that is judged to be the travel trajectory carved on the snow accumulation. is obtained, and the position where the rut ends in the direction of the parking space is set as the stop position of the tires of the own vehicle during parking. A technique is disclosed for setting a target parking guidance route for guiding the own vehicle along a pair of ruts leading to the stop position.

Japanese Patent Application Laid-Open No. 2021-3926

By the way, in this type of parking support control, first, a parking space (parking position) that can be parked is displayed on the monitor, and the driver selects the displayed parking position to park the own vehicle at the parking position. parking guidance route is generated and superimposed on the monitor. If this is applied to the technique disclosed in the above-mentioned document, when a pair of ruts is detected in the parking lot, the space is set as the target parking position and displayed on the monitor, and the parking guidance route is superimposed and displayed. It will be.

However, ruts on snow are formed not only in parking spaces, but also in lanes of parking lots. In particular, when the amount of snow is large, the ruts that are formed first are often traced by many vehicles thereafter. As a result, there is a possibility that a traffic lane where parking is prohibited may be erroneously recognized as a parking position and displayed on the monitor, making the driver feel uncomfortable.

When trying to park the own vehicle in a parking space using a parking assistance function, the present invention provides a parking space where parking is prohibited even if the parking frame drawn on the road surface cannot be recognized. To provide a parking assist device capable of suppressing the possibility of erroneously recognizing a parking space as a parking space and reducing discomfort given to a driver.

The present invention provides a parking assistance device for guiding a vehicle to a parking space in a parking lot, wherein an environment information acquisition unit acquires environment information around the vehicle, and information on a virtual parking frame necessary for parking the vehicle. The parking space in the parking lot is recognized based on the storage unit for storing and the environment information acquired by the environment information acquisition unit, and the virtual parking frame stored in the storage unit is set in the parking space. a virtual parking frame setting unit, a rut detection unit that detects whether or not there is a rut in the virtual parking frame set by the virtual parking frame setting unit based on the environment information acquired by the environment information acquisition unit, and the rut. a parking area setting unit configured to set the virtual parking frame as a parking prohibited area when the detection unit detects the rut crossing at least two sides of the virtual parking frame.

According to the present invention, a virtual parking frame is set in a parking lot recognized based on the environment information acquired by the environment information acquisition unit, and when ruts cross at least two sides of the virtual parking frame, the virtual Since the parking frame is set as a no-parking area, the parking frame drawn on the road surface cannot be recognized when trying to park the own vehicle in the parking space using the parking support function. Even so, the possibility of erroneously recognizing a position where parking is prohibited as a parking space is suppressed, and discomfort given to the driver can be reduced.

Schematic diagram of parking assist device Flowchart showing parking assist control routine Flowchart showing parking assistance mode execution subroutine Flowchart showing bad environment parking assistance subroutine Explanatory diagram of the virtual parking frame set for the own vehicle Explanatory drawing showing a parking space wider than the virtual parking frame of the own vehicle Explanatory drawing showing a parking space narrower than the virtual parking frame of the own vehicle A bird's-eye view showing the search state of the no-parking area A bird's-eye view showing the state in which the virtual parking frame is estimated to be a parking space. A bird's-eye view showing a state in which the own vehicle crosses the traffic lane Explanatory drawing showing a state in which the parking space is displayed on the HMI monitor in a bird's-eye view Explanatory diagram showing a state in which the parking-impossible area is displayed in a bird's-eye view on the HMI monitor.

An embodiment of the present invention will be described below based on the drawings. A parking assist system 1 shown in FIG. 1 is mounted on a vehicle M (see FIG. 6). This parking assistance device 1 includes a driving assistance control unit 11 . The driving support control unit 11 is composed of a CPU, RAM, ROM, rewritable nonvolatile memory (flash memory or EEPROM), and a microcontroller equipped with peripheral devices. The ROM stores programs, fixed data, and the like necessary for executing each process in the CPU. Also, the RAM is provided as a work area for the CPU and temporarily stores various data in the CPU. Note that the CPU is also called an MPU (Microprocessor) or a processor. Also, a GPU (Graphics Processing Unit) or a GSP (Graph Streaming Processor) may be used instead of the CPU. Alternatively, the CPU, GPU and GSP may be selectively used in combination.

When the driver sets a desired assistance mode, the driving assistance control unit 11 performs driving assistance in the corresponding assistance mode. The driving assistance control unit 11 has a driving assistance mode and a parking assistance mode as assistance modes.

The driving support mode performs map matching on the road map of the road map database 22b based on the own vehicle position information acquired by the GNSS sensor 22a of the map locator unit 22, which will be described later. Autonomous driving in the section where automatic driving is possible. In addition, this driving support mode uses the well-known adaptive cruise control (ACC) control, active lane keep (ALK) control, and lane departure prevention (LDP) on roads where automatic driving is difficult. ) control is executed, and when the own vehicle M is along the lane and a preceding vehicle is detected, the running control is executed to follow the preceding vehicle.

On the other hand, in the parking assistance mode, when the vehicle M enters the parking lot and the driver himself/herself drives in the parking lot, when the driver selects the mode, the driving assistance control unit 11 controls the parking lot. A parking space that can be parked and a no-parking area that is estimated to be prohibited from parking are retrieved from the space and notified to the driver. When the driver selects a desired parking space from available parking spaces, the vehicle M is automatically parked in the selected parking space. Alternatively, the parking guide route for parking the own vehicle in the parking space is displayed superimposed on the surrounding image displayed on the HMI monitor 31 (to be described later) and the image of the own vehicle M, so that the driver can see the parking space. Provides parking assistance when parking by operation.

Further, on the input side of the driving support control unit 11, the driving state information (including the position and direction) of the own vehicle M, which is required when executing the driving support mode and the parking support mode, and the driving state information of the own vehicle M Sensor units that acquire surrounding environment information are connected.

In the present embodiment, the sensors and units required for executing each support mode include a forward recognition sensor 21, a map locator unit 22, an autonomous traveling sensor 23, a brake sensor 24 that turns on by detecting depression of the brake pedal, Equipped with a select position sensor 25 for detecting a select position selected by the driver by manipulating the select lever, a rear sensor 26 for acquiring environmental information behind the own vehicle M, a left and right front side sensor 27, and a left and right rear side sensor 28. ing. Incidentally, the sensors 21, 26 to 28 constitute an environmental information acquiring section of the present invention.

The forward recognition sensor 21 is an image sensor, and in this embodiment, it has a stereo camera composed of a main camera 21a and a sub camera 21b, and an image processing unit (IPU) 21c, which uses CCD, CMOS, or the like as an imaging device. . Both cameras 21a and 21b have a predetermined base line length, for example above the rearview mirror in the front part of the interior of the vehicle, in a horizontal state with an equal distance left and right from the center in the vehicle width direction of a position close to the windshield. is set up. The forward recognition sensor 21 processes the image of the environment information of the predetermined area captured by both the cameras 21 a and 21 b by the IPU 21 c and then transmits the image to the driving support control unit 11 .

The map locator unit 22 also includes a GNSS (Global Navigation Satellite System) sensor 22a and a road map database 22b. The GNSS sensor 22a acquires the position coordinates of the own vehicle M by receiving positioning signals transmitted from a plurality of positioning satellites. The road map database 22b is a large-capacity storage medium such as an HDD, and stores road map information. The road map information stored in the road map database 22b includes road information (general road, arterial road, expressway, road shape, road direction, number of lanes, lane width, etc.) required when the driving support mode is executed, and static information of the parking lot (positional information on entrances and exits to the parking lot, space information on the premises, etc.) required when executing the parking assistance mode.

The driving support control unit 11 map-matches the position coordinates (latitude, longitude, altitude) of the host vehicle M acquired by the GNSS sensor 22a on the road map information stored in the road map database 22b, and displays the coordinates on the road map. Estimate the vehicle position (current position) in

The autonomous traveling sensor 23 is a general term for sensors required when the self-vehicle M is caused to travel autonomously. It consists of a sensor, a longitudinal acceleration sensor for detecting longitudinal acceleration, and the like.

In addition, the rear sensor 26 includes at least one of a monocular camera using a CCD, CMOS, or the like as an imaging device, an ultrasonic sensor, a millimeter wave radar, a microwave radar, an infrared sensor, a laser radar, a LiDAR (Light Detection And Ranging), or the like. consists of a combination of Alternatively, the rear sensor 26 may be a stereo camera composed of a main camera and a sub camera, like the front recognition sensor 21 described above.

Further, the left and right front side sensors 27 are arranged, for example, at the left and right ridges of the front bumper of the vehicle M, respectively, and scan the area (scanning area) from the left and right oblique front to the side of the vehicle M in a fan shape. . On the other hand, the left and right rear side sensors 28 are arranged, for example, at the left and right ridges of the rear bumper, and scan the area from the rear to the left and right of the vehicle M, which cannot be scanned by the left and right front side sensors 27, in a fan shape. Each side sensor 27, 28 is composed of millimeter wave radar, microwave radar, LiDAR, etc., and receives a reflected wave from a target (a parked vehicle Pv or an outer wall in the parking assistance mode) to to the target (parked vehicle Pv or outer wall), environmental information such as the distance and direction is acquired. In the following explanation, the parked vehicle Pv is used as a representative of the target for the sake of convenience.

The driving support control unit 11 is also connected to an HMI (Human Machine Interface) monitor 31 . The HMI monitor 31 has a mode selection screen for the driver to select either the driving assistance mode or the parking assistance mode as the assistance mode to be executed by the driving assistance control unit 11, and a parking assistance mode such as the one shown in FIG. 9A. A parking space display screen or the like for notifying the driver by displaying a space and a no-parking area where parking is presumed to be prohibited as shown in FIG. 9B is displayed. Incidentally, the HMI monitor 31 may also be used as a multi-information display of a combination meter or a navigation display device (navigation monitor) of a car navigation system.

A drive control actuator 32 and a notification device 33 are connected to the output side of the driving support control unit 11 . The drive control actuator 32 is a general term for a power actuator, an electric power steering (EPS) actuator, a brake actuator, etc., which assist the running state of the own vehicle M. Here, the power actuator controls the output of a driving source such as an engine or an electric motor. The EPS actuator controls driving of the EPS motor. Also, the brake actuator adjusts the brake hydraulic pressure supplied to the brake wheel cylinder provided for each wheel. Furthermore, the notification device 33 notifies the driver of various types of information required when each assistance mode is being executed.

The driving support control unit 11 has a parking support control function to park the own vehicle M in the parking space instead of the driver or assist the driver to park the own vehicle M in the parking space by driving himself/herself. It has Specifically, the parking support control executed by the driving support control unit 11 is processed according to the parking support control routine shown in FIG. This routine is executed at predetermined calculation intervals after the system is activated.

In this routine, first, in step S1, the vehicle position information estimated by the map locator unit 22 is acquired, and the process proceeds to step S2, where map information around the vehicle position is obtained from the map locator unit 22 based on the vehicle position information. get.

Next, in step S3, map-matching of the vehicle position to the surrounding map is performed to check whether or not the vehicle M is entering the parking lot. When it is determined that the vehicle is entering the parking lot, the process proceeds to step S4. Also, when it is determined that the vehicle has not entered the parking lot, the routine is exited.

In step S4, the notification device 33 notifies the driver of whether or not the assistance mode should be set to the parking assistance mode by voice, and the HMI monitor 31 displays a parking assistance mode selection screen. Then proceed to step S5. Proceeding to step S5, it is determined whether or not the driver has selected the parking support mode, and if the driving support mode is selected, the process proceeds to step S6. Further, if the driver does not select the driving assistance mode or selects manual driving on the HMI monitor 31 even after a predetermined time has elapsed after the announcement, the routine exits.

When proceeding to step S6, the parking assistance mode is executed and the routine exits. This parking assistance mode is executed according to the parking assistance mode execution subroutine shown in FIG. In this subroutine, first, in step S11, forward and front side environmental information recognized by the forward recognition sensor 21 and the left and right front side sensors 27 are acquired. Next, in step S12, it is checked whether or not the parking frame drawn on the road surface for demarcating the parking space is recognized from the acquired front/front side environment information. This parking frame is determined, for example, from the front/front side environment information acquired by the front recognition sensor 21 and the left and right front side sensors 27, the luminance difference between the road surface and the edge of the parking frame drawn on the road surface, or the road surface and the parking frame. Recognition is based on changes in the intensity of reflected light or reflected waves (reflectance) from the frame.

Then, when the driving support control unit 11 determines that the parking frame is recognized, the process proceeds to step S13, the favorable environment parking support process is executed, and the routine exits. Note that this favorable environment parking support processing is the same as conventional parking support in which the own vehicle M is guided to a parking space based on the parking frame, and thus the description thereof is omitted.

On the other hand, if it is determined that the parking frame cannot be recognized, that is, the road surface of the parking lot is covered with snow or mud remaining after flooding, and the parking frame drawn on the road surface cannot be recognized, The process advances to step S14 to execute the parking assistance process under bad environment and exit the routine. This adverse environment parking assistance process is executed according to the adverse environment parking assistance subroutine shown in FIG.

In this subroutine, first, the virtual parking frame 41 is read in step S21. The data (information) of the virtual parking frame 41 is stored in advance as fixed data in a storage unit such as a ROM or a non-volatile memory. It is a frame showing the criteria for checking whether or not M can park. That is, as shown in FIG. 5A, the virtual parking frame 41 is set in a rectangular shape with four sides orthogonal to each other, the front-rear direction is set to the front-rear length of the own vehicle M, and the left-right direction is set to the width of the own vehicle M. The required parking width Ws is obtained by adding the width. The required parking width Ws may be initially set by the driver.

Next, in step S22, based on the front/front side environment information acquired from the front recognition sensor 21 or the like of the parking lot where the vehicle M is running, a representative target already parked in the parking lot is detected. is a parked vehicle PV. Then, in step S23, the virtual parking frame 41 is set at a position avoiding the parked vehicle Pv. The processing in step S22 corresponds to the target detection unit of the present invention, and the processing in step S23 corresponds to the virtual parking frame setting unit of the present invention.

As a mode for setting the virtual parking frame 41 in the parking lot, for example, the template image of the virtual parking frame 41 is superimposed on the image of the front/front side environment information to avoid interference with the image of the recognized parked vehicle Pv. set. In this case, as shown in FIG. 5B, for example, if the distance Wp between two adjacent parked vehicles Pv is wider than the required parking width Ws of the virtual parking frame 41 (Ws≧Wp), the virtual space between the two parked vehicles Pv A parking frame 41 can be set. On the other hand, as shown in FIG. 5C, if the gap Wp between the two parked vehicles Pv is narrower than the required parking width Ws (Ws<Wp), the virtual parking frame 41 cannot be set.

At that time, naturally, the parked vehicles Pv parked along the traffic lane (see FIG. 6) are separated by a predetermined distance (for example, several tens of meters) or more, or the parked vehicles Pv are not parked along the traffic lane at all. If not, the virtual parking frame 41 is continuously set during that time.

By the way, as shown in FIG. 6, when the parking frame drawn on the road surface is hidden by snow or mud, the traffic lane extending in the lateral direction in front of the own vehicle M can be seen from the front and front side environment information. unable to recognize. Therefore, the driving support control unit 11 continuously sets the virtual parking frame 41 in the space set as the traffic lane.

After that, the process proceeds to step S24, and it is checked whether or not the set virtual parking frame 41 has a rut 101 detected. Incidentally, the processing in this step corresponds to the rut detecting section of the present invention.

This rut 101 is obtained by, for example, focusing on the inside of each virtual parking frame 41 based on the front and front side environment information acquired by the front recognition sensor 21 and the left and right front side sensors 27, and determining the snow cover surface and mud crown surface derived from the rut 101. A series of feature points indicated by the edge of the rut is subjected to a well-known pattern matching process or the like based on the luminance difference occurring at the step (edge) between the rut and the change (reflectance) of the intensity of the reflected light or reflected wave (reflectance) to remove the rut 101. recognize.

Then, when the rut 101 is detected within the virtual parking frame 41, the process proceeds to step S25. If the rut 101 is not detected in the virtual parking frame 41, it is estimated that no parking space has been parked yet and there is a high possibility of a parking space, and the process jumps to step S27.

Proceeding to step S<b>25 , it is checked whether or not the rut 101 crosses two or more sides of the virtual parking frame 41 . As shown in FIG. 7, when the rut 101 crosses only one side of the virtual parking frame 41, it is presumed that the rut 101 was carved by a vehicle entering or exiting the parking space, and is highly likely to be a parking space. be. On the other hand, as shown in FIG. 8, when the rut 101 intersects two sides of the virtual parking frame 41, it is estimated that there is a low possibility of a parking space, in other words, a high possibility of being a non-parking area. be.

Therefore, for example, as shown in FIG. 6, when the virtual parking frames 41 are set continuously along the traffic lane in a place that is originally a traffic lane, at least two sides of each virtual parking frame 41 A rut 101 intersects. Further, even if the virtual parking frame 41 is set at a place where the longitudinally extending traffic lane in which the own vehicle M is traveling and the laterally extending traffic lane intersect, this virtual parking Since the ruts 101 intersect the four sides of the frame 41, it can be clearly estimated that the frame 41 is a no-parking area.

When it is determined that the rut 101 crosses two or more sides of the virtual parking frame 41, the process proceeds to step S26. Further, when it is determined that the rut 101 intersects only one side of the virtual parking frame 41, the process branches to step S27.

When the process proceeds to step S26, the parking priority of the virtual parking frame 41 recognized this time is set low, and the process proceeds to step S28. Further, when branching from step S24 or step S25 to step S27, the parking priority of the virtual parking frame 41 recognized this time is set high, and the process proceeds to step S28. In this embodiment, the virtual parking frame 41 with a low parking priority is set as a non-parking area, such as a driving lane, where parking is prohibited, and is temporarily stored in the storage unit. Also, the virtual parking frame 41 with a high parking priority is set as a parking space Ps and temporarily stored in the storage unit. It should be noted that the processing in steps S25 to S27 corresponds to the parking area setting section of the present invention.

When the process proceeds from step S26 or step S27 to step S28, the virtual parking frame 41 associated with the parking priority is displayed by driving the HMI monitor 31, which is a display unit, and the process proceeds to step S29. It should be noted that the processing in step S28 corresponds to the display driving section of the present invention.

9A and 9B show display examples of the HMI monitor 31. FIG. When the vehicle M approaches the virtual parking frame 41 set by the driving support control unit 11, the HMI monitor 31 displays the virtual parking frame 41 corresponding to the parking priority together with an image indicating the position of the vehicle M. FIG. 9A shows a mode in which a virtual parking frame 41 with a high parking priority is displayed as a parking space Ps. In this case, the parking space Ps is highlighted in blue or the like to indicate that parking is possible.

On the other hand, FIG. 9B shows a mode in which a virtual parking frame 41 with a low parking priority is displayed. For example, in FIG. 6, the virtual parking frames 41 with low parking priority are continuously set on the traffic lane, and the continuous virtual parking frames 41 are integrated in the horizontal direction on the HMI monitor 31. It is displayed as a modified parking prohibition area Anp. In this case, the integrally continuous virtual parking frame 41 is highlighted in a color such as orange to call attention. By visually recognizing the parking space Ps or the non-parking area Anp displayed on the HMI monitor 31, the driver can instantly recognize whether parking is possible or not.

After that, when proceeding to step S29, it is checked whether or not the parking assistance mode has ended. On the other hand, if it is determined that the parking assistance mode is continued, the process returns to step S22 to recognize the next parking space.

As described above, in this embodiment, a virtual parking frame is superimposed on an image of environment information acquired in a parking lot, and when a rut 101 that intersects at least two sides of this virtual parking frame is detected, this space is a parking space. is likely to be prohibited, so the parking priority is set low. Therefore, when trying to park the own vehicle in a parking space using the parking assistance function, even if the parking frame drawn on the road surface cannot be recognized, parking is prohibited in places where parking is prohibited. Possibility of erroneously recognizing as a space is suppressed. As a result, discomfort given to the driver can be reduced. In addition, since the no-parking area Anp is displayed on the HMI monitor 31, the driver can easily grasp it visually.

The present invention is not limited to the embodiment described above. For example, when the parking space Ps is displayed on the HMI monitor 31 in step S28 of FIG. By making the selection, the driving support control unit 11 may set the parking space Ps as the target parking space, and automatically park the own vehicle M in this target parking space. Alternatively, the HMI monitor 31 may superimpose a parking guidance route for guiding the vehicle M to the target parking space to assist the driver in manually parking.

1... Parking assistance device,
11 ... driving support control unit,
21 ... forward recognition sensor,
21a... Main camera,
21b... Sub camera,
21c... image processing unit (IPU),
22 ... map locator unit,
22a ... GNSS sensor,
22b... road map database,
23... Autonomous traveling sensor,
24 ... brake sensor,
25... select position sensor,
26 ... rear sensor,
27... Left and right front side sensors,
28... Left and right rear side sensors,
31...HMI monitor,
32 ... drive control actuator,
33 ... notification device,
41... Virtual parking frame,
101... Ruts,
Anp: No parking area,
M... own vehicle,
Ps: available parking space,
Pv... parked vehicle,
Wp... interval,
Ws…Required parking width

Claims (5)

In a parking assistance device that guides a vehicle to a parking space in a parking lot,
an environment information acquisition unit that acquires environment information around the own vehicle;
a storage unit that stores information on a virtual parking frame necessary for parking the own vehicle;
a virtual parking space setting unit that recognizes the parking space of the parking lot based on the environment information acquired by the environment information acquisition unit and sets the virtual parking space stored in the storage unit in the parking space; ,
a rut detection unit that detects the presence or absence of ruts in the virtual parking frame set by the virtual parking frame setting unit based on the environment information acquired by the environment information acquisition unit;
and a parking area setting unit that sets the virtual parking frame as a non-parking area when the rut detecting unit detects the rut crossing at least two sides of the virtual parking frame. further comprising a target detection unit that detects a target in the parking lot based on the environment information acquired by the environment information acquisition unit;
2. The parking assist system according to claim 1, wherein the virtual parking frame setting unit sets the virtual parking frame at a position avoiding the target detected by the target detection unit. 3. The parking assist system according to claim 1, further comprising a display driving unit for displaying the parking prohibited area on a display unit when the virtual parking frame is set to the parking prohibited area by the parking area setting unit. Device. The parking area setting unit detects the rut that crosses only one side of the virtual parking frame with the rut detecting unit, or if the rut is not detected in the virtual parking frame, the virtual parking frame is designated as a parking space. 3. The parking assistance system according to claim 1, wherein the parking assistance device is set. 5. The parking assist system according to claim 4, further comprising a display drive unit for displaying the parking space on a display unit when the virtual parking frame is set to the parking space by the parking area setting unit.

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