JP3107080B1 - Steering support device for parallel parking - Google Patents

Abstract

An object of the present invention is to provide a steering assist device at the time of parallel parking, in which a driver can easily grasp a proper approach angle and a turning-back timing of a steering wheel at the time of parallel parking. I do. SOLUTION: When a second eye mark 29 and a corner 34 and a second guide line 30 and a roadside line 35 coincide with each other and overlap on a monitor screen 19, the steering wheel 7 is returned to a straight-ahead state, and the steering wheel 7 is retreated and the vehicle is retreated. The first eye mark 26 and the corner 34 and the first guide line 27 and the roadside line 35 are matched. Here, the steering angle of the steering wheel 7 is maximized in a direction opposite to the direction at the start of the parallel parking, and the parallel parking is completed by retreating.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering assist system for parallel parking, and more particularly, to superimpose and display a display for assisting steering operation during parallel parking on a monitor screen obtained by imaging the rear of a vehicle. Related to the device.

[0002]

2. Description of the Related Art Conventionally, there has been proposed an apparatus for displaying a rear view of a vehicle on a monitor when a driver cannot see a target place due to a blind spot of the vehicle when the vehicle moves backward. For example, in Japanese Patent Publication No. 2-36417,
A television camera for photographing the rear of the vehicle, a monitor television for projecting an image captured by the television camera, a sensor for outputting an information signal related to a tire steering angle, and a marker signal generated in accordance with the information signal from the sensor; A rear monitor monitoring device for a vehicle, comprising a circuit for superimposing a marker on a television screen, is disclosed. In this device, tire steering angle data and marker position data along the reverse direction of the vehicle corresponding to the steering angle are stored in the ROM, and the estimated reverse trajectory of the vehicle according to the steering angle at that time is stored in the ROM. The image is displayed as a column on the television screen so as to be superimposed on the video taken by the television camera.

[0003] According to such a device, when the vehicle is traveling in reverse, the expected backward trajectory of the vehicle in accordance with the steering angle is displayed on the screen of the monitor television together with the visibility of the conditions of the road behind and the like. The vehicle can be moved backward by operating the steering wheel while looking at the television screen without turning around.

[0004]

However, in the case of parallel parking with the vehicle retracted, the angle of approach to the parking space and the timing of turning back the steering wheel are important points. Is difficult to judge in what state the driver should operate the steering wheel simply by looking at the rear view on the TV screen and the expected reverse trajectory of the vehicle, and cannot provide sufficient support for parallel parking. was there. The present invention has been made in order to solve such a problem, and a steering assist at the time of parallel parking in which a driver can easily grasp a proper approach angle and a turning back timing of a steering wheel at the time of parallel parking. It is intended to provide a device.

[0005]

According to a first aspect of the present invention, there is provided a steering assist system for parallel parking, comprising a single camera for photographing the rear of a vehicle, a monitor disposed in a driver's seat of the vehicle, and a vehicle. Display control means for displaying the image from the camera on the monitor when the vehicle is retracted and superimposing the fixed guide display during parallel parking in a fixed state at a predetermined position on the screen of the monitor, and the fixed guide display is for parallel parking. only contains the first of guidelines indicating that the proper angle of approach to the first of the eye mark the parking space that shows the timing of the turning back of the steering wheel, the first of the eye on the screen of the monitor
The mark matches the target point of the parking space and the first
Parking space where the idline extends from the target point
Maximize steering angle when the line matches
The vehicle in the parking space properly
It is to be parked in line .

According to a second aspect of the present invention, in the steering assist device according to the first aspect, the first guide line is drawn as a line segment starting from the first eye mark. According to a third aspect of the present invention, in the device of the second aspect, the fixed guide display includes a second eye mark and a second guideline drawn as a line segment starting from the second eye mark. When the second eye mark coincides with the target point of the parking space on the screen of the monitor and the second guideline coincides with a predetermined line of the parking space, the vehicle is moved straight forward and backward, so that it is displayed on the monitor screen. The first eye mark and the target point, and the first guide line and the predetermined line respectively match.

According to a fourth aspect of the present invention, there is provided the steering assist device according to the third aspect, wherein the second eye mark is 1.3 to 1.5 times the total length of the vehicle behind the rear end of the vehicle on the monitor screen. It is drawn in. According to a fifth aspect of the present invention, there is provided the steering assist device according to the third or fourth aspect, wherein each of the first and second guidelines is drawn as a line segment having a predetermined width to represent an allowable range of an approach angle to a parking space. It is what is done. The steering assist device according to the sixth aspect is the third aspect.
6. The apparatus according to any one of items 1 to 5, wherein the fixed guide display includes a third guideline drawn intermediate between the first guideline and the second guideline. According to a seventh aspect of the present invention, in the steering assist device according to any one of the third to sixth aspects, the first eye mark is drawn in a figure having a predetermined shape, and the second eye mark is a first eye mark. The first and second eye marks are connected to each other by an auxiliary line that is drawn in the same shape as the mark but larger than the first eye mark, and converges from the second eye mark toward the first eye mark. Is what is done. The steering assist device according to an eighth aspect is the steering assist device according to the seventh aspect, wherein the auxiliary line is drawn integrally with the second eye mark. According to a ninth aspect of the present invention, there is provided the steering assist apparatus according to any one of the first to eighth aspects, wherein the fixed guide display includes a plurality of emphasis marks drawn on an outer peripheral portion of the first eye mark.

[0008] In the steering assist device according to the first aspect of the present invention, when the vehicle retreats, an image behind the vehicle photographed by the camera is displayed on the monitor, and the fixed guide display during parallel parking is displayed at a predetermined position on the monitor screen. It is superimposed and displayed in a fixed state. Based on the first eye mark and the first guideline included in the fixed guide display and the image behind the vehicle, the driver grasps the timing of turning the steering wheel for parallel parking and an appropriate approach angle to the parking space. While steering the vehicle.

According to a second aspect of the present invention, in the first aspect of the present invention, the driver can confirm that the first eye mark coincides with the target point of the parking space on the monitor screen and that the first guideline is the target point. When the vehicle coincides with a predetermined line of the parking space extending from the vehicle, it recognizes that the steering wheel is to be turned back and that it is an appropriate approach angle, and makes the steering angle of the steering wheel maximum to retreat the vehicle. In the steering assist device according to the third aspect, in the device according to the second aspect, the driver can confirm that the second eye mark coincides with a target point of the parking space on the monitor screen and the second guideline is a predetermined parking space. When the vehicle coincides with the line, it is recognized that the first eye mark and the target point and the first guide line and the predetermined line can be made to coincide with each other on the monitor screen by moving the vehicle straight forward and backward.

According to a fourth aspect of the present invention, in the device of the third aspect, the second eye mark is located 1.3 to 1.5 times behind the rear end of the vehicle on the monitor screen. , The first eye mark and the target point are reasonably coincident with each other by the rectilinear retreat of the vehicle based on the second eye mark. In the steering assist device according to claim 5, in the device according to claim 3 or 4, the driver uses the first and second guidelines drawn as a line segment having a predetermined width to determine the approach angle to the parking space. Perform parallel parking while grasping the allowable range. In the steering assist device according to claim 6, in the device according to any one of claims 3 to 5, the driver retreats the vehicle while correcting the approach angle to the parking space based on the third guideline. . Claim 7
In the steering assist device described in any one of claims 3 to 6, in the device according to any one of claims 3 to 6, the driver sets a target point of the parking space that coincides with the second eye mark on the monitor screen with the first point along the auxiliary line. To the eye mark. In the steering assist device according to the eighth aspect, in the device according to the seventh aspect, the driver sets the target point of the parking space to the first position along the auxiliary line drawn integrally with the second eye mark on the monitor screen. Guide to eye mark. In the steering assist device according to the ninth aspect, in the device according to any one of the first to eighth aspects, the driver matches the target point of the parking space with the first eye mark highlighted by the plurality of highlight marks. .

[0011]

Embodiments of the present invention will be described below with reference to the accompanying drawings. Embodiment 1 FIG. As shown in FIG. 1, a camera 2 that captures a field of view behind the vehicle 1 is attached to a rear portion of the vehicle 1. The rear bumper 3 of the vehicle 1 is located at the near-side end of the view range of the camera 2. A monitor 4 composed of a color type liquid crystal display is arranged in a driver's seat of the vehicle 1 and is usually used as a display device of a navigation device. When a shift lever 5 provided in the driver's seat is operated to a reverse position. An image from the camera 2 is displayed. The front wheels 6 as steered wheels are steered by operating the steering wheel 7. The steering angle α of the front wheels 6 is represented as a value Kθ obtained by multiplying the steering angle θ of the steering wheel 7 by a predetermined coefficient K.

FIG. 2 shows a configuration of a steering assist device at the time of parallel parking according to the first embodiment of the present invention. An image processing device 8 is connected to the camera 2, and the monitor 4 is connected to the image processing device 8 via a monitor controller 9. The vehicle 1 is provided with a rear position switch 10 for detecting whether or not the shift lever 5 has been switched to the reverse position. The rear position switch 10 is connected to the image processing device 8. Further, a steering angle sensor 11 for detecting a steering angle θ of the handle 7 is attached to a steering shaft of the handle 7, and the steering angle sensor 11 is connected to the image processing device 8 via a steering angle calculation unit 12. I have.

The monitor controller 9 normally inputs a display signal from a navigation device (not shown) and causes the monitor 4 to display the display signal. When a display signal is input from the image processing device 8, the display signal from the image processing device 8 is displayed. Is displayed on the monitor 4 based on. Further, the steering angle calculation unit 12
The steering angle α of the front wheels 6 is calculated from the steering angle θ of the steering wheel 7 detected by the steering angle sensor 11 and output to the image processing device 8. The image processing device 8 includes a CPU 13, a ROM 14 storing a control program, an image processing processor 15 for processing video data from the camera 2, and an image memory for storing video data processed by the image processing processor 15. 16 and a work RAM 17. A display control means is formed by the image processing device 8, the monitor controller 9, the rear position switch 10, the steering angle sensor 11, and the steering angle calculation unit 12.

The CPU 13 operates based on a control program stored in the ROM 14 and controls the rear position switch 10.
When it is detected that the shift lever 5 has been switched to the reverse position, the expected trajectory of the vehicle 1 at the time of retreating at the steering angle α at that time is calculated from the output signal of the steering angle calculation unit 12,
Based on the predicted trajectory, display data for displaying a guide display indicating a guide of the vehicle width at a position corresponding to the steering angle α so as to be superimposed on the image of the camera 2 is generated at a predetermined cycle.

As shown by a broken line in FIG. 3 (b), the guide display 20 indicates that the vehicle 1 at the time of retreating at the steering angle α at that time.
Corresponding to the expected trajectory, a line segment 21 having a vehicle width at a position substantially at the wheelbase length from the rear bumper 3 at the rear end of the vehicle on the screen 19 of the monitor 4, and the vehicle width from both ends of the line segment 21. The vehicle has a pair of side lines 22 extending to the rear end of the vehicle at an interval, and a pair of line segments 23 and 24 indicating an intermediate portion of the vehicle and extending in the vehicle width direction. In response to the steering of the steering wheel 7, the guide display 20 moves so as to bend in the left-right direction, for example, as shown by a broken line in FIG.

The ROM 14 stores display data of a fixed guide display 25 that is fixedly displayed at a predetermined position on the screen 19 of the monitor 4 irrespective of the steering of the steering wheel 7. As shown by a solid line in FIG. 3 (a), the fixed guide display 25 is disposed substantially at the center of the screen 19 and indicates a first eye mark 26 indicating the timing of turning the steering wheel for parallel parking. It has first guidelines 27 and 28 which are drawn as line segments extending left and right downward from the first eye mark 26 and indicate an appropriate approach angle to the parking space. Further, the fixed guide display 25 is displayed on the screen 19 on the rear bumper 3 of the vehicle 1.
, A second eye mark 29 drawn 1.3 to 1.5 times behind the entire length of the vehicle, and an approach angle drawn as a line segment extending downward and rightward from the second eye mark 29, respectively. There are second guidelines 30 and 31 for guiding.

Here, a method of drawing the first eye mark 26 and the first guide lines 27 and 28 will be described. As shown in FIG. 5, a point E in a state where the vehicle 1 is arranged in an ideal parking space indicated by a chain line is set as a reference position. At this time, the distance a from the point E to the rear axle extension line becomes the rear overhang. Next, the position of the center C when the tangent to the circle of the radius Rc drawn by the movement trajectory of the center C of the rear axle when the vehicle 1 turns with the steering angle of the handle 7 being the maximum passes through the point E is determined. The length of a line segment CE connecting the point E is obtained.

An angle between a line segment OC connecting the center O of the circle of radius Rc and the center C of the rear axle and an extension line of the rear axle in the ideal parking space, that is, an appropriate approach angle is α, and the center O and the point E are connected. When the angle formed between the rear axle extension line in line segment OE and ideal stationed car space and β, it is established the following relationship. α + β = cos ⁻¹ (Rc / OE) β = tan ⁻¹ [a / (Rc + W / 2)] OE = [(Rc + W / 2) ² + a ² ] ^1/2 ∴ α = cos ⁻¹ (Rc / OE) OE) -β CE = Rc · tan (α + β) where W indicates the width of the vehicle 1.

When the vehicle 1 is at the position shown by the solid line in FIG.
In addition, a point corresponding to the reference point E on the screen 19 is defined as a first eye mark 26, and a first eye mark 2
From 6, a line segment corresponding to the roadside line of the ideal parking space that forms an angle α on both sides of the length direction of the vehicle 1 (direction of the line segment CE) is drawn. Length of a line corresponding to the road side line is up to intersect with the line obtained by extending the vehicle width, a line segment corresponding to these roadside line and the first guidelines 27 and 28.

On the screen 19, the first eye
Above the vehicle 26, 1.3 to 1.5 times the total length of the vehicle.
The corresponding point is referred to as a second eye mark 29. And the first
In the case the same way the eye marks 26, draw a line segment corresponding to the roadside line ideal parking spaces angled α on both sides of the second eye mark 29 with respect to the longitudinal direction of the vehicle 1 <br /> Length of a line corresponding to the road side line is up to intersect with the line obtained by extending the vehicle width, to correspond to these roadside line
These segments are referred to as second guidelines 30 and 31. Then, the first eye mark 26 and the second eye mark 29 are connected by a line segment, and each tip of the first guide lines 27 and 28 and each tip of the second guide lines 30 and 31 are respectively line segments. Are joined by

Next, the operation of the steering assist device during parallel parking will be described. First, the driver operates the shift lever 5 to the reverse position, and at first, the direction and the rear safety are visually checked, and the distance between the rear end of the parked vehicle 32 and the own vehicle is approximately 50c.
Confirm that m. At this time, based on the detection signal from the rear position switch 10 when the shift lever 5 is switched, the image processing device 8 displays the guide display 20 and the fixed guide on the screen 19 of the monitor 4 as shown in FIG. The display 25 is superimposed on the image of the camera 2 and displayed.
Then, the driver turns the steering wheel 7 so that the second eye mark 29 coincides with the corner 34 of the parking space 33 and
The vehicle 1 is slowly moved backward while the steering wheel 7 is steered such that the guide line 30 of FIG. 1 matches the roadside line 35 of the parking space 33 extending from the corner 34.

As shown in FIG. 3B, a second eye mark 29, a corner 34 and a second guide line 30 are provided.
When the road line 35 coincides with the roadside line 35, the steering wheel 7
Is returned to the straight-ahead state, and the vehicle is retracted as it is, as shown in FIG.
In addition, the first guide line 27 and the roadside line 35 are matched. This allows the driver to know that the angle of entry into the parking space 33 is appropriate and to handle the steering wheel 7.
It is possible to grasp the timing of switching back.

Here, as shown in FIG. 4A, the steering angle of the steering wheel 7 is maximized in a direction opposite to that at the start of the parallel parking, and the screen 34 is turned from the corner 34 to the corner 34 as shown in FIG. 4B. When the guide line 22 on the road side of the fixed guide display 25 is parallel to the road side, as shown in FIG.
And the vehicle 1 is stopped. Thus, parallel parking is completed.

As described above, the first eye mark 26, the corner 34 of the parking space 33, and the first guideline 2
By making the road 7 and the roadside line 35 coincide with each other, the turning timing of the steering wheel 7 and the angle of entry into the parking space 33 are determined, and the vehicle can be parked in parallel at a desired place without fail. Further, prior to the first eye mark 26 and the first guide line 27, the second eye mark 29 and the corner 34, and the second guide line 30 and the roadside line 3
By matching 5, it becomes possible to match the first eye mark 26 and the first guide line 27 with the corner 34 and the roadside line 35, respectively, simply by retreating straight.

When parallel parking is started and the second eye mark 29 and the corner 34 and the second guideline 30 and the roadside line 35 do not match as shown in FIG. The first eye mark 26 and the first
If the vehicle 1 is moved backward while the steering wheel 7 is steered so that the guideline 27 of the vehicle coincides with the corner 34 and the roadside line 35, respectively, the parallel parking in the parking space 33 can be completed.

Embodiment 2 FIG. FIG. 6A shows a fixed guide display 37 used in the steering assist device according to the second embodiment. In the fixed guide display 37, the first guide line 38 and the second guide line 39 are drawn as line segments having a predetermined width in order to represent the allowable range of the approach angle to the parking space. The error between the position of the vehicle 1 in the width direction and the length direction from the parking completion position is determined by the angle of approach to the parking space and the timing of turning the steering wheel 7 back. Therefore, the allowable error is expressed as a predetermined width of the first guideline 38 and the second guideline 39. By overlapping the first guide line 38 having a predetermined width on the roadside line of the parking space, parking can be completed even when the approach angle becomes deep or shallow to some extent.

First guideline 38 having a predetermined width
It is preferable that the second guideline 39 be hatched or the like, rather than painted, so that the roadside line or the like in the image on the screen can be confirmed to be within the width. Further, the fixed guide display 4 shown in FIG.
A third guideline 43 may be drawn intermediately between the first guideline 41 and the second guideline 42, such as 0. Intermediate Third Guideline 4
By displaying 3, when the second guideline 42 and the roadside line cannot be matched with each other, the vehicle retreats while correcting the approach angle using the third guideline 43 as a guide. It becomes easy to complete the parallel parking by matching the roadside line.

Embodiment 3 FIG. 7A shows a fixed guide display 44 used in the steering assist device according to the third embodiment. In the fixed guide display 44, the first eye mark 45 is drawn in a circle of a predetermined size, and the second eye mark 46 is drawn in a larger circle than the first eye mark 45. Further, the first and second eye marks 45 and 46 are connected to each other by an auxiliary line 47 that converges from the second eye mark 46 toward the first eye mark 45. Instead of painting the inside of each circle, the video on the screen can be seen as it is.

By doing so, the driver can make the first
And the second eye marks 45 and 46 can be easily matched to a target point such as a corner of a parking space. Also,
The second eye mark 46 is made larger than the first eye mark 45 and the second eye mark 46 is moved from the first eye mark 45 to the first eye mark 45.
Since the first and second eye marks 45 and 46 are connected to each other by an auxiliary line 47 converging toward the target, after the second eye mark 46 is matched with the target point, the handle 7
, And the vehicle is easily guided so that the first eye mark 45 coincides with the target point.

Each eye mark is not limited to a circle, but may be, for example, a fixed guide display 4 shown in FIG.
As shown in FIG. 8, the first and second eye marks 49 and 50 may be triangular. Further, the auxiliary line 51 may be a broken line, or may be colored so that the color changes sequentially from the second eye mark 50 to the first eye mark 49. As shown in a fixed guide display 52 shown in FIG. 7C, a plurality of emphasis marks 54 are drawn on the outer peripheral portion of the first eye mark 53 to emphasize to the driver that it is the timing of turning back the steering wheel 7. You can also. FIG.
The auxiliary line may be drawn integrally with the second eye mark 56 as in a fixed guide display 55 shown in (d). Further, as shown in a fixed guide display 57 shown in FIG. 7E, the second eye mark and the auxiliary line are set to the first eye mark 5.
8 may be drawn integrally.

In each of the above embodiments, the parking space corner is used as the target point for matching the first and second eye marks, and the parking space is used as the predetermined line for matching the first and second guidelines. However, the present invention is not limited to this.

[0032]

As described above, according to the steering assist device of the first aspect, the first eye mark and the first guideline are displayed on the monitor screen together with the image of the rear of the vehicle by the camera when the vehicle retreats. Is displayed in a superimposed manner, so that the driver can easily grasp the appropriate approach angle to the parking space and the turning timing of the steering wheel.

According to the steering assist device of the second aspect,
After matching the first eye mark to the target point of the parking space and the first guideline to the predetermined line of the parking space connected to the target point on the monitor screen, the steering angle of the steering wheel is maximized. Parallel parking can be completed simply by retreating the vehicle. . According to the steering assist device described in claim 3, after the second eye mark is made to coincide with the target point of the parking space and the second guideline is made to coincide with the predetermined line of the parking space on the monitor screen,
The first eye mark and the target point, and the first guide line and the predetermined line can be respectively matched by simply moving the vehicle straight forward and backward.

According to the steering assist device of the fourth aspect,
Using the second eye mark drawn 1.3 to 1.5 times behind the full length of the vehicle from the rear end of the vehicle, the first eye mark and the target point are reasonably matched by the straight-line retreat of the vehicle. Can be done. According to the steering assist device of the fifth aspect, the parking is completed even if the approach angle becomes deep or shallow to some extent using the first and second guidelines drawn as a line segment having a predetermined width. Can be. According to the steering assist device described in claim 6, it is easy to complete the parallel parking by retreating while correcting the approach angle using the third guideline as a guide.

According to the steering assist device of the seventh aspect,
After the second eye mark is aligned with the target point, it is easier to guide the vehicle so that the first eye mark coincides with the target point with minimal correction of the steering wheel turning angle. According to the steering assist device of the eighth aspect, since the auxiliary line is drawn integrally with the second eye mark, after the second eye mark is made coincident with the target point, the target point is smoothly moved to the target point. One eye mark can be guided. According to the steering assist device of the ninth aspect, since the first eye mark is emphasized by the plurality of emphasis marks, the driver can turn the steering wheel without missing the timing.

[Brief description of the drawings]

FIG. 1 is a side view showing a vehicle equipped with a steering assist device during parallel parking according to Embodiment 1 of the present invention.

FIG. 2 is a block diagram illustrating a configuration of a steering assist device according to the first embodiment.

FIG. 3 is a diagram schematically and stepwise showing a position of a vehicle and a monitor screen during parallel parking according to the first embodiment;

FIG. 4 is a diagram showing the position of the vehicle and the monitor screen during parallel parking according to the first embodiment in a stepwise and schematic manner.

FIG. 5 is a schematic diagram showing a method for drawing a fixed guide display.

FIG. 6 is a diagram showing a fixed guide display according to the second embodiment.

FIG. 7 is a diagram showing a fixed guide display according to the third embodiment.

[Explanation of symbols]

Reference Signs List 1 vehicle, 2 camera, 4 monitor, 5 shift lever, 6 front wheel, 7 steering wheel, 8 image processing device, 9
Monitor controller, 10 Rear position switch, 11
Steering angle sensor, 12 steering angle calculation unit, 13 CPU,
19 screens, 20 guide displays, 21, 23, 24 line segments, 22 side lines, 25, 37, 40, 44, 4
8, 52, 55, 57 Fixed guide display, 26, 45,
49, 53, 58 First eye mark, 27, 28, 3
8,41 First guideline, 29,46,50,5
6 Second eye mark, 30, 31, 39, 42 Second
Guidelines, 33 parking spaces, 34 corners,
35, 36 roadside lines, 43 third guidelines,
54 Emphasis mark.

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Goro Asahi 2-1-1 Toyota-cho, Kariya-shi, Aichi Pref. -72019 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B60R 21/00 628 B60R 21/00 621 B60R 21/00 626 G08G 1/16 B62D 6/00

Claims (9)

(57) [Claims] 1. A single camera for photographing the rear of a vehicle, a monitor arranged in a driver's seat of the vehicle, and an image displayed by the camera when the vehicle retreats is displayed on the monitor and a fixed guide display for parallel parking. Display control means for superimposing and displaying the fixed screen at a predetermined position on the screen of the monitor, wherein the fixed guide display is provided with a first eye mark indicating a turning timing of a steering wheel for parallel parking and an appropriateness for a parking space. look including a first guide line indicating that Do is the entry angle, the on screen of the monitor
1 eye mark coincides with the target point of the parking space and
The first guideline is the parking space extending from the target point.
Angle of the handle when it matches the predetermined line of the handle
The vehicle to the parking space
A steering assist device at the time of parallel parking characterized by being appropriately parallel parked . 2. The steering assist system according to claim 1, wherein the first guide line is drawn as a line segment starting from the first eye mark. 3. The fixed guide display includes a second eye mark and a second guide line drawn as a line segment starting from the second eye mark, and displays a second guide mark on a screen of the monitor. When the eye mark coincides with the target point of the parking space and the second guideline coincides with the predetermined line of the parking space, the first eye mark and the first eye mark are displayed on the monitor screen by moving the vehicle straight forward and backward. 3. The steering assist device during parallel parking according to claim 2, wherein the target point, the first guideline, and the predetermined line respectively match. 4. 4. The steering during parallel parking according to claim 3, wherein the second eye mark is drawn 1.3 to 1.5 times behind the entire length of the vehicle from the rear end of the vehicle on the screen of the monitor. Support equipment. 5. The steering during parallel parking according to claim 3, wherein each of the first and second guidelines is drawn as a line segment having a predetermined width to represent an allowable range of an approach angle to a parking space. Support equipment. 6. The column according to claim 3, wherein the fixed guide display includes a third guideline drawn intermediate between the first guideline and the second guideline. Steering assistance device when parking. 7. The first eye mark is drawn in a figure having a predetermined shape, the second eye mark is drawn in the same shape as the first eye mark and is drawn in a figure larger than the first eye mark, The steering during parallel parking according to any one of claims 3 to 6, wherein the first and second eye marks are connected to each other by an auxiliary line that converges from the first eye mark to the first eye mark. Support equipment. 8. The steering assist device according to claim 7, wherein the auxiliary line is drawn integrally with the second eye mark. 9. The fixed guide display includes a plurality of emphasis marks drawn on an outer peripheral portion of the first eye mark.
The steering assist device at the time of parallel parking according to any one of claims 8 to 8.