JP4567375B2 - Auxiliary information presentation device - Google Patents

Description

  The present invention relates to an auxiliary information presentation device that presents information for assisting a driving operation of a vehicle, and more particularly to an auxiliary information presentation device that presents information for assisting a driving operation when the vehicle is parked backward.

2. Description of the Related Art In recent years, auxiliary information presentation devices that can present a driver with information (hereinafter, abbreviated as driving assistance information) that assists a driving operation when the vehicle is moved backward are known and put into practical use. Such an auxiliary information presentation device has a camera installed behind the vehicle, a monitor that can be visually recognized by the driver, and the like. Driving operation is assisted by superimposing and displaying on a monitor (for example, Patent Document 1).
JP 2003-104149 A

  In the auxiliary information presentation device as shown in the above-mentioned Patent Document 1, as shown in the drawing, an expected trajectory when moving backward while maintaining the current steering angle, a line for guiding to the guidance area, etc. Various types of lines are displayed on the monitor. In the above apparatus, when the steering is operated so that the expected trajectory matches the latter line, the vehicle can be parked accurately in the parking space.

  However, when the driving assistance information as described above is displayed on the monitor, there are many lines superimposed on the screen, and the image captured by the camera is hidden over a wide area. Low. In addition, the images of these trajectories are synthesized with the video taken by the camera, and thus are very difficult for the driver to visually recognize.

  Therefore, in view of the above circumstances, an object of the present invention is to provide an auxiliary information presentation device that reduces a decrease in the visibility of a monitor due to a line as described above.

  An auxiliary information presentation device according to an aspect of the present invention that solves the above-described problem is provided with a camera that captures the rear of a vehicle, a monitor that displays captured images, and an expected trajectory of the vehicle based on the angle of the steering wheel. A predicted trajectory calculating means for calculating and displaying the calculated expected trajectory superimposed on the video, a parking space recognizing means for recognizing a parking space, and a positional relationship between the recognized parking space and the vehicle Positional relationship determining means for determining whether or not a predetermined condition is satisfied, and when the positional relationship is determined to satisfy the predetermined condition, vehicle direction information indicating a vehicle body direction is further added to the video It is displayed in a superimposed manner.

Moreover, the said auxiliary information presentation apparatus may recognize the boundary line which a parking space recognition means prescribes | regulates the parking space of a vehicle width direction. In this case, the predetermined condition may be that an angle formed by the boundary line and the direction of the vehicle body is equal to or smaller than a predetermined angle. Further, the parking space recognizing means determines that y = ax + b where the inclination is a and the intercept is b
When a straight line satisfying the above condition is recognized, whether or not the straight line is the boundary line can be determined based on the inclination a.

  The auxiliary information presentation device may further include a curve direction determination unit that determines a direction in which the vehicle curves based on a steering angle. In this case, the parking space recognizing means can determine whether or not the straight line is the boundary line according to the determined direction. If a <0 when it is determined that the direction in which the vehicle curves is left, the parking space recognition unit can determine that the straight line is not a boundary line. If a> 0 when it is determined that the vehicle is turning in the right direction, it is possible to determine that the straight line is not a boundary line. Furthermore, when the value of b is outside the predetermined range, it can be determined that the straight line is not a boundary line.

  In the auxiliary information presentation device, the parking space recognition means may perform image recognition in a display area on the lower side of the monitor.

  In addition, an auxiliary information presentation device according to an aspect of the present invention that solves the above-described problem is provided with a camera that captures the rear of the vehicle, a monitor that displays the captured image, and a vehicle prediction based on the angle of the steering wheel. An expected trajectory calculating means for calculating a trajectory, displaying the calculated expected trajectory superimposed on the video, an approach detecting means for detecting the approach between the vehicle and the parking space, and a parking where the approach has been detected. And a positional relationship determining means for determining whether or not the positional relationship between the space and the vehicle satisfies a predetermined condition, and indicates the direction of the vehicle body when the positional relationship is determined to satisfy the predetermined condition Vehicle orientation information is further displayed on the video.

  When the auxiliary information presentation device according to the present invention is employed, information indicating the direction of the vehicle, which is less necessary to be displayed when the vehicle is away from the parking space, is not actively displayed, and the positional relationship is made minute by approaching each other. In order to display the above information that is highly necessary for adjustment, the number of lines constituting the driving assistance information displayed on the monitor tends to be reduced. For this reason, the deterioration of the visibility of the monitor by the lines as described above is reduced, and the driver can view the monitor image comfortably.

  FIG. 1 is a block diagram illustrating a configuration of a vehicle 100 including an auxiliary information presentation device according to an embodiment of the present invention. Below, with reference to FIG. 1, the structure and effect | action of the auxiliary information presentation apparatus of this embodiment are demonstrated.

  The auxiliary information presentation device of the present embodiment presents driving assistance information to the driver when the vehicle 100 is backed (particularly during parking), and a control unit 10 that performs overall control of the device, and the vehicle A camera 12 installed behind 100, an image processing circuit 14 that processes the image signal output from the camera 12 and outputs it to the monitor, a monitor 16 installed at a position where the driver can visually recognize the screen, Steering angle detection sensor 18 for detecting the angle of the steering wheel, shift lever sensor 20 for detecting which gear a shift lever (not shown) is set in, and right wheel speed for detecting the rotational speed of the right wheel of the vehicle 100 Sensor 22, left wheel speed sensor 24 for detecting the rotation speed of the left wheel of vehicle 100, and driving assistance information output from control unit 10 And a superimpose circuit 26 for superimposing the image captured by the camera 12, and a power supply unit 28 for supplying a power supply voltage to each component.

  The camera 12 has an optical system with a fixed focal length, and can shoot a wide-angle moving image with distortion corrected in a range of several meters behind the vehicle 100, for example. The image signal acquired by the camera 12 is input to the image processing circuit 14, subjected to predetermined processing by this circuit, converted into a video signal, and output to the monitor 16. Thereby, the video behind the vehicle 100 is displayed on the monitor 16.

  The steering angle detection sensor 18 is, for example, a rotary encoder, and detects a rotation angle with respect to a straight traveling state of the vehicle 100 that changes in accordance with an operation amount and a rotation direction of a steering wheel (not shown) and outputs the rotation angle to the control unit 10. . The straight traveling state is a state in which the direction of the front wheels is parallel to the full length direction of the vehicle 100 and the vehicle 100 can travel straight. In the present embodiment, for example, when the rotational speed detected by the right wheel speed sensor 22 or the left wheel speed sensor 24 is equal to or higher than a predetermined speed, the vehicle 100 is considered to be in a straight traveling state.

  When the vehicle 100 is in the straight traveling state, the control unit 10 acquires a predetermined count value. Here, when the steering wheel is rotated clockwise, the steering angle detection sensor 18 outputs a pulse signal for adding a count value to the control unit 10. When the steering wheel is rotated counterclockwise, the steering angle detection sensor 18 outputs a pulse signal for decrementing the count value to the control unit 10. When the steering wheel is rotated to the right from the straight traveling state (that is, when the vehicle 100 is turning to the right), the control unit 10 has a count value corresponding to the rotation angle, and the predetermined count Get a count value greater than the value. When the steering wheel is rotated to the left from the straight traveling state (that is, when the vehicle 100 is turning to the left), the control unit 10 has a count value corresponding to the rotation angle, A count value smaller than the count value of is acquired. In this way, the control unit 10 detects the rotation direction of the steering wheel relative to the straight traveling state based on the magnitude of the acquired count value with respect to the predetermined count value, and detects the rotation angle of the steering wheel based on the acquired count value itself.

  The right wheel speed sensor 22 detects the rotation speed of the driven wheel (here, the rear wheel) on the right side of the vehicle 100 with a pulse signal and outputs it to the control unit 10, and the left wheel speed sensor 24 detects the rotation speed of the driven wheel on the left side of the vehicle 100. Is detected by a pulse signal and output to the control unit 10.

FIG. 2 is a flowchart showing an expected trajectory display process for displaying an expected trajectory that is driving assistance information on the monitor 16 as a process executed in the present embodiment. 3 and 4 are diagrams for explaining the flowchart of FIG. FIG. 3 is a diagram illustrating a situation around the vehicle 100 when the processing of the flowchart of FIG. 2 is performed, and may be a vehicle 100, a parking space 200 in which the vehicle 100 is parked, and an obstacle at the time of parking. It is the figure which showed roughly the positional relationship with the vehicle 110 and the vehicle 120. FIG. The parking space 200 is an area defined by white lines W ₁ , W ₂ , W ₃ , and W ₄ drawn on the parking lot. White lines W ₁ and W ₂ are intended to define the parking space in the vehicle width direction, the white line W ₃ and W ₄ is to define the parking space of the vehicle overall length direction. FIG. 4 is a diagram showing the contents displayed on the monitor 16 when the processing of the flowchart of FIG. 2 is performed. Below, with reference to FIG. 2 to FIG. 4, the expected trajectory display processing of the present embodiment will be described.

  The expected trajectory display process shown in the flowchart of FIG. 2 ends when the power supply unit 28 of the auxiliary information presentation device is turned off or the shift lever is set to a gear other than the rear.

  When the power supply unit 28 of the auxiliary information presentation device of the present embodiment is turned on, the control unit 10 determines whether or not the shift lever is set to the rear (step 1, hereinafter, step is abbreviated as “S”). ). When it is determined that the shift lever is set to the rear (S1: YES), the control unit 10 monitors the outputs of the right wheel speed sensor 22 and the left wheel speed sensor 24 and the speed of the vehicle 100 is equal to or lower than a predetermined speed. It is determined whether or not (S2). When it is determined that the speed of the vehicle 100 is equal to or lower than the predetermined speed (S2: YES), since the vehicle 100 can be determined to be parked in the back, the control unit 10 activates the camera 12 (S3) and supplies power to the monitor 16 It is determined whether or not voltage is supplied (S4). When it is determined that the shift lever is not set to the rear (S1: NO), the control unit 10 performs the determination process of S1 again after a predetermined timing. Further, when it is determined that the speed of the vehicle 100 is higher than the predetermined speed (S2: NO), since it cannot be determined that the vehicle 100 is parked, the control unit 10 performs the determination process of S1 again after a predetermined timing.

  If it is determined that the power supply voltage is supplied to the monitor 16 (S4: YES), the monitor 16 displays other video images such as route guidance information and television broadcasts by a well-known car navigation system. The unit 10 switches these displays (S5), and displays the video imaged by the camera 12 on the monitor 16 (S7). When it is determined that the power supply voltage is not supplied to the monitor 16 (S4: NO), the control unit 10 supplies the power supply voltage to the monitor 16 by the power supply unit 28 (S6), and the video imaged by the camera 12 is captured. Is displayed on the monitor 16 (S7).

  When the video from the camera 12 is displayed on the monitor 16, the control unit 10 next calculates the left and right predicted rear wheel trajectories of the vehicle 100 (S8). This expected rear wheel trajectory is calculated using parameters such as the steering angle detected by the steering wheel angle detection sensor 18 (in other words, the rotation angle of the front wheels), the wheel base length of the vehicle 100, and the like. Further, when the video from the camera 12 is displayed on the monitor 16 in the process of S7, the control unit 10 performs a vehicle width extension line display process (described later) in parallel with the processes of S8 to S12 described below.

  The expected trajectory actually required is the trajectory of the body (for example, the corner of the bumper) that forms the rear end of the vehicle 100. Here, the expected trajectory of the design value only needs to be obtained by converting the predicted rear wheel trajectory into a trajectory of the corner of the rear bumper by adding a predetermined value. However, since the body shape, tire air pressure, and the like include an error with respect to the design value, it causes the rear wheel locus to fluctuate. In addition, since the center of gravity of the vehicle 100 is displaced depending on the number of passengers, this also causes the rear wheel locus to fluctuate. Further, the positional relationship between the image behind the vehicle 100 displayed on the monitor 16 and the predicted rear wheel locus changes depending on the mounting angle of the camera 12. That is, the mounting angle of the camera 12 is a factor that fluctuates the display position of the expected rear wheel locus with respect to the image behind the vehicle 100.

  In the present embodiment, it is necessary to generate an expected trajectory that considers the above-described variation factors so as to avoid contact with obstacles such as other vehicles. Here, an added value that is larger than the added value is added to the expected rear wheel locus as a margin so that the vehicle 100 does not come into contact with an obstacle even when the above-described fluctuation actually occurs (S9). . For example, in the process of S12 described above, as shown in FIG. 3, the locus of the point 102 slightly away from the right corner of the rear bumper of the vehicle 100 is calculated as the expected locus on the right side of the vehicle 100. In addition, the locus of the point 104 slightly away from the left corner of the rear bumper of the vehicle 100 is calculated as the expected locus on the left side of the vehicle 100. Note that the points 102 and 104 are located, for example, about 0 to 30 cm away from the left and right corners of the rear bumper of the vehicle 100. More preferably, the point 102 and the point 104 are located 5 cm to 20 cm away from the corner.

  When a margin is added to the calculated predicted trajectory, the control unit 10 adds a scale to the predicted trajectory (S10). For example, the scale is provided at a position 50 cm, 1 m, 2 m, or 3 m away from the rear end of the vehicle 100.

When the scale is added, the predicted trajectory as the driving assistance information is output from the control unit 10 to the superimpose circuit 26, and is superimposed on the image photographed by the camera 12 by this circuit and is displayed on the monitor 16 as shown in FIG. It is displayed (S11). In FIG. 4, as driving assistance information, an expected trajectory L ₁ near the right corner of the vehicle 100 rear bumper and an expected trajectory L ₂ near the left corner, and a scale M 1 and a distance of 1 m away from the rear end of the vehicle 100 are shown. A scale M2 indicating the position, a scale M3 indicating a position 2 m away, and a scale M4 indicating a position 3 m away are displayed on the monitor 16.

  When the driving assistance information is displayed on the monitor 16, the control unit 10 determines whether a pulse signal is output from the steering angle detection sensor 18, that is, whether the angle of the steering wheel has changed (S12). When it is determined that the angle of the steering wheel has changed (S12: YES), since the expected trajectory changes, the control unit 10 returns to the process of S8 and recalculates the expected trajectory. When it is determined that the angle of the steering wheel has not changed (S12: NO), the control unit 10 performs the determination process of S12 again after a predetermined timing.

  Next, the vehicle width extension line display process according to the present embodiment, which is a process performed in parallel with the above-described predicted trajectory display process, will be described.

  FIG. 5 is a flowchart showing the vehicle width extension line display process of the present embodiment. This vehicle width extension line display process is a process in which the vehicle width extension line is displayed on the monitor 16 as driving assistance information so as to be superimposed on the video imaged by the camera when the vehicle 100 approaches the parking space. The vehicle width extension line referred to here is a fixed line that indicates the direction of the vehicle body, and is a line that extends from the vicinity of both ends in the vehicle width direction toward the rear of the vehicle along the entire length direction of the vehicle. In FIG. 3, a dotted line extended from the points 102 and 104 toward the rear of the vehicle corresponds to a vehicle width extension line.

  When the driving operation is performed so that the above-described predicted trajectory overlaps and coincides with the vehicle width extension line when the vehicle 100 is accommodated in the parking space, the driver performs the operation in a state where the direction of the front wheels is parallel to the vehicle total length direction. The vehicle 100 can be parked. In addition, it is possible to determine whether the vehicle 100 can be parked straight without tilting with respect to the parking space by comparing a boundary line (for example, a white line) that defines the parking space in the vehicle width direction with a vehicle width extension line. it can. The vehicle width extension line is information that is highly necessary when finely adjusting the position of the vehicle 100 with respect to the parking space 200, and is necessary when they are separated from each other (that is, when the position is not finely adjusted). It can be said that the information is low.

  When the vehicle width extension line display process according to the present embodiment is performed, the vehicle width extension line, which is less necessary to be displayed when the vehicle 100 is away from the parking space, is not intentionally displayed. The number of lines forming auxiliary information is reduced. For this reason, the area hidden in the line as described above in the video imaged by the camera is reduced, and the visibility is improved.

  In the vehicle width extension line display process shown in the flowchart of FIG. 5, the power supply unit 28 of the auxiliary information presentation device is turned off or the shift lever is set to a gear other than the rear, similarly to the above-described predicted trajectory display process. And finish.

  When the video by the camera 12 is displayed on the monitor 16 in the process of S7, the control unit 10 starts the vehicle width extension line display process of the present embodiment while performing the processes of S8 to S12. First, the control unit 10 determines the rotation direction of the steering wheel with respect to the straight traveling state based on the magnitude of the acquired count value with respect to the predetermined count value (S21).

Here, the screen of the monitor 16 is divided into four regions for convenience in the horizontal (X direction) and vertical (Y direction) center lines indicated by a one-dot chain line in FIG. 4, and the lower left region of the screen is defined as A _1. and then, the area under the right and a _2.

If the steering wheel is determined to be rotated from the left straight traveling state (i.e. when the vehicle 100 is in a state of a curve to the left) (S21: left), the control unit 10, the output of each pixel in the area A ₁ It is determined whether or not at least one straight line that can binarize the value and can define the parking space in the vehicle width direction is photographed in the area (S22). Specifically, the control unit 10 refers to the luminance of each pixel in the area A _1, determines the brightness for each whether more than a predetermined luminance. And when the horizontal direction of the screen is the X-axis and the vertical direction is the Y-axis, an array of a plurality of pixels determined to have a predetermined luminance or higher is
y = ax + b
(The point O in the center of the screen in FIG. 4 is the origin for convenience.)
Is recognized as a straight line that can define the parking space in the vehicle width direction (S22: YES). When the above straight line cannot be recognized (S22: NO), the control unit 10 performs the process of S21 again after a predetermined timing. Note that since the straight line recognition process in S22 is performed on the pixels on the lower side of the screen, the straight line displayed on the upper side of the screen (that is, a place away from the vehicle 100) is not recognized in the process in S22. Therefore, the vehicle width extension line display process of this embodiment does not proceed unless the vehicle 100 approaches the parking space.

When at least one straight line is recognized in the process of S22, the control unit 10 determines whether there is a recognized straight line whose slope a is larger than 0 (S23). When it is determined that there is a recognized straight line with an inclination a greater than 0 (S23: YES), the control unit 10 defines a straight line with an inclination a greater than 0 as a parking space in the vehicle width direction. The process proceeds to S26. Further, when it is determined that no recognized straight line has an inclination a greater than 0 (S23: NO), the control unit 10 regards that there is no straight line that defines the parking space in the vehicle width direction, and S21. Return to the process. Here, taking FIG. 6 described later as an example, white lines w ₁ and w ₃ are displayed in the area A ₁ in this figure. Here, since the slope a of the white line w ₁ is a positive slope, the white line w ₁ is considered to be able to define a parking space in the vehicle width direction. The slope a of the white line w ₃ is for a negative slope, the white line w ₃ is considered not intended to define the parking space in the vehicle width direction.

Also, (if i.e. the vehicle 100 is in a state of a curve to the right) when it is determined that the steering wheel is rotating clockwise from the straight traveling state (S21: right), the control unit 10, the pixels in the area A ₂ It is determined whether or not at least one straight line capable of defining the parking space in the vehicle width direction is photographed in the area by binarizing the output value (S24). If the such straight lines in the area A ₂ is recognized at least one (S24: YES), the control unit 10, determines whether the slope a in the recognized straight line is smaller than 0 (S25). When the straight line as described above cannot be recognized (S24: NO), the control unit 10 performs the process of S21 again after a predetermined timing.

  In the process of S25, when it is determined that there is a recognized straight line whose slope a is smaller than 0 (S25: YES), the control unit 10 selects a straight line whose slope a is smaller than 0 as the vehicle width direction. It is assumed that the parking space can be defined, and the process proceeds to S26. Further, when it is determined that there is no recognized straight line whose slope a is smaller than 0 (S25: NO), the control unit 10 regards that there is no straight line that defines the parking space in the vehicle width direction, and S21. Return to the process.

  In the process of S26, the control unit 10 is a value within which the intercept b is within a predetermined range in order to determine whether the recognized straight line position in the vehicle width direction is an appropriate position as a desired parking space. It is determined whether or not. Here, when the recognized straight line crosses, for example, the vicinity of the rear end of the vehicle 100 in the vehicle width direction, it is assumed that the straight line is in an appropriate position. When the intercept b is a value that does not fall within the predetermined range (when the straight line crosses, for example, the vicinity of the center of the rear end in the vehicle width direction) (S26: NO), the control unit 10 desires the straight line. It is assumed that the parking space is not defined, and the process returns to S21. In addition, when the intercept b is a value that falls within a predetermined range (S26: YES), since the straight line is likely to define a desired parking space, the control unit 10 sets the straight line to the desired parking space. Assuming that the space is defined, the process proceeds to S27.

In the process of S27, the control unit 10 determines whether or not an angle β formed by a straight line recognized as a boundary line defining the parking space in the vehicle width direction and a line indicating the direction of the vehicle body is α or less. FIG. 6 is a diagram for explaining the processing of S27. Here, the vehicle 100 because in a state of a curve to the left, white line w ₁ in the area A ₂ as described above is recognized as a boundary line defining the parking space in the width direction. F ₁ shown in this figure is an extension line of the white line w ₁ , f ₂ is a line parallel to the Y axis, and f ₃ is a line parallel to the direction of the vehicle body (here, the vehicle width extension line and the substantial line). To the same line). The angle formed by the line f ₂ and the line f ₃ is θ ₀ , the angle formed by the line f ₁ and the line f ₂ is θ _1, and the angle formed by the line f ₁ and the line f ₃ is β (= | θ ₁ −θ ₀ |). If the value of β is equal to or less than α (S27: YES), since the orientation of closely and body vehicle 100 in the parking space 200 is in a state close to the direction of the white line w _1, the control unit 10, shown in FIG. 7 Thus, the vehicle width extension lines L ₃ and L ₄ are superimposed on the image captured by the camera in addition to the predicted trajectory L ₁ and the expected trajectory L ₂ (S 28). When the value of β is larger than α (S27: NO), the control unit 10 returns to the process of S21. Note that α is 30 degrees, for example, but the optimum angle differs depending on the driver, and is not limited to this.

When the vehicle width extension lines L ₃ and L ₄ are displayed, the control unit 10 determines whether or not the values of the recognized straight lines a and b and β satisfy the recognition condition (S29). When it is determined that the values of a, b, and β satisfy the recognition condition (S29: YES), the control unit 10 performs the determination process of S29 again after a predetermined timing. If it is determined that the values of a, b, and β do not satisfy the recognition condition (S29: NO), there is a possibility that no white line appears on the lower side of the screen, or the value of β is larger than α. Therefore, the control unit 10, a vehicle width extension line _{L 3} and _{L 4} temporarily erased (S30), the process returns to S21, a series of processes described above again.

  The above is the embodiment of the present invention. The present invention is not limited to these embodiments and can be modified in various ranges.

  In this embodiment, the vehicle width extension line is displayed when the vehicle 100 approaches the parking space 200 to some extent. However, in another embodiment, the vehicle that is difficult to see at the first stage (for example, a thin line or a transparent color). The width extension line may be displayed and switched to a vehicle width extension line that is easily noticeable (for example, a thick line or a dark color) when approaching.

  Further, although the expected trajectory continues to be displayed in the present embodiment, in another embodiment, the predicted trajectory may be deleted when the vehicle width extension line is displayed.

  In addition, in the present embodiment, the predicted trajectory is a trajectory near both ends in the vehicle width direction, but in another embodiment, the trajectory is only a trajectory near the end located in the direction opposite to the direction in which the vehicle 100 curves. Also good.

It is the block diagram which showed the structure of the vehicle provided with the auxiliary information presentation apparatus of embodiment of this invention. It is the flowchart which showed the prediction locus | trajectory display process which displays the prediction locus | trajectory which is driving assistance information on a monitor. FIG. 3 is a diagram showing a situation around the vehicle when the process of the flowchart of FIG. 2 is performed, and schematically showing a positional relationship between the vehicle and a vehicle that can be an obstacle at the time of parking space and parking. It is. It is the figure which showed the content displayed on a monitor when the process of the flowchart of FIG. 2 is implemented. It is the flowchart which showed the vehicle width extension line display process of embodiment of this invention. It is a figure for demonstrating the process of S27 of the flowchart of FIG. It is the figure which showed the content displayed on a monitor when the process of the flowchart of FIG. 5 was implemented.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Control part 12 Camera 14 Image processing circuit 16 Monitor 18 Front wheel angle detection sensor 20 Shift lever sensor 22 Right wheel speed sensor 24 Left wheel speed sensor 26 Superimpose circuit 28 Power supply part 100 Vehicle

Claims (3)

A camera that captures the rear of the vehicle, a monitor on which the captured image is displayed, and an expected trajectory calculation unit that calculates an expected trajectory of the vehicle based on the angle of the steering wheel, and the calculated expected trajectory is included in the video In the auxiliary information presentation device to be displayed in an overlapping manner,
Curve direction determining means for determining a direction in which the vehicle curves based on an angle of the steering wheel;
Straight line recognizing means for recognizing a linear object formed by a pixel row having a predetermined luminance or more from the video;
When the determination direction determined by the curve direction determination means is the left and the linear object inclination a > 0 with respect to the monitor display screen horizontal direction , or when the determination direction is the right and the inclination a < When it is 0, boundary line specifying means for specifying the subject as a boundary line defining the vehicle width direction of the parking space;
An angle β formed by the boundary line specified by the boundary line specifying means and a virtual vehicle width extension line indicating the width of the vehicle extending rearward of the vehicle along the entire vehicle length direction is equal to or less than a predetermined angle. Angle determination means for determining whether or not,
When the angle determination means determines that the angle β is equal to or less than the predetermined angle, display control means for displaying the vehicle width extension line further superimposed on the image;
Equipped with a,
If the inclination a <0 when the determination direction is determined to be left,
The auxiliary information presenting apparatus, wherein the boundary line specifying unit determines that the subject is not the boundary line . A camera that captures the rear of the vehicle, a monitor on which the captured image is displayed, and an expected trajectory calculation unit that calculates an expected trajectory of the vehicle based on the angle of the steering wheel, and the calculated expected trajectory is included in the video In the auxiliary information presentation device to be displayed in an overlapping manner,
Curve direction determining means for determining a direction in which the vehicle curves based on an angle of the steering wheel;
Straight line recognizing means for recognizing a linear object formed by a pixel row having a predetermined luminance or more from the video;
When the determination direction determined by the curve direction determination means is the left and the linear object inclination a > 0 with respect to the monitor display screen horizontal direction , or when the determination direction is the right and the inclination a < When it is 0, boundary line specifying means for specifying the subject as a boundary line defining the vehicle width direction of the parking space;
An angle β formed by the boundary line specified by the boundary line specifying means and a virtual vehicle width extension line indicating the width of the vehicle extending rearward of the vehicle along the entire vehicle length direction is equal to or less than a predetermined angle. Angle determination means for determining whether or not,
When the angle determination means determines that the angle β is equal to or less than the predetermined angle, display control means for displaying the vehicle width extension line further superimposed on the image;
Equipped with a,
If the inclination a> 0 when the determination direction is determined to be right,
The auxiliary information presenting apparatus, wherein the boundary line specifying unit determines that the subject is not the boundary line . 3. The auxiliary information presentation device according to claim 1, wherein the display control unit deletes the predicted trajectory when the vehicle width extension line is displayed on the video.

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