JP5605000B2 - Parking assistance device and parking assistance method - Google Patents

Description

  The present invention relates to a parking assistance apparatus and method for assisting parking by presenting a video around a host vehicle to a driver.

  Conventionally, a parking assistance device for parking a vehicle at a predetermined parking target position has been developed, and Patent Document 1 has been disclosed as an example of such a parking assistance device.

  In the parking assistance device disclosed in Patent Document 1, a plurality of parking target positions are temporarily set for each parking mode and presented to the driver while the host vehicle is stopped at a predetermined stop position. That is, parking target positions such as parallel parking in the right direction of the host vehicle, parallel parking in the left direction, and parallel parking in the left direction are temporarily set and presented to the driver.

  The driver selects a parking target position by steering operation from the temporarily set parking target positions in this way, and the parking assist device guides the vehicle to the selected parking target position.

JP 2008-201363 A

  However, in the above-described conventional parking assist device, since image recognition is used to recognize the parking target position, there is a problem that the amount of calculation of the CPU increases and the price of the entire system becomes expensive. . In addition, when image recognition is used, when finely adjusting the parking frame detected by image recognition, the work of continuously pressing the screen or button occurs, so it takes a lot of time to specify the parking target frame. There was also a problem of end. Further, when parking in a parking lot where no white line is drawn, it is impossible to perform parking support by image recognition.

  Therefore, the present invention has been proposed in view of the above-described circumstances, and provides a parking assistance device capable of configuring a system at low cost by presenting a parking target position to a driver without using image recognition. An object is to provide such a method.

  The parking assist device according to the present invention superimposes and displays an image of a provisional parking target position prepared in advance on a bird's-eye view around the host vehicle, and places the temporary parking target position on the actual parking target position displayed in the bird's-eye view image. After the driver moves the vehicle so that the images match, the driver specifies the parking target position, and guides and controls the vehicle to the specified parking target position. To do.

  According to the parking assist device and the method thereof according to the present invention, an image of a provisional parking target position prepared in advance is displayed superimposed on the overhead video, and the temporary parking target is displayed at the actual parking target position displayed in the overhead video. Since the driver designates the parking target position after the driver moves the vehicle so that the images of the positions coincide with each other, the parking target position can be designated without using image recognition or the like. As a result, the calculation amount of the CPU can be reduced, and the system can be configured at low cost.

It is a block diagram which shows the structure of the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied. It is a figure which shows an example of arrangement | positioning of the camera in the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied. It is a flowchart which shows the process sequence of the parking assistance process by the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied. It is a figure which shows an example of the bird's-eye view image in the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied. It is a figure for demonstrating the image of the temporary parking target position in the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied. In the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied, it is a figure which shows the superimposed image which superimposed the image of the temporary parking target position on the bird's-eye view image. In the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied, it is a figure which shows the parking assistance image in the case of parallel parking. In the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied, it is a figure which shows the parking assistance image in the case of parallel parking. It is a figure for demonstrating the image and clearance area of a temporary parking target position in the parking assistance apparatus which concerns on 2nd Embodiment to which this invention is applied. It is a figure for demonstrating the image of the temporary parking target position in the parking assistance apparatus which concerns on 3rd Embodiment to which this invention is applied. It is a figure for demonstrating the image of the temporary parking target position in the parking assistance apparatus which concerns on 4th Embodiment to which this invention is applied.

  Hereinafter, first to fourth embodiments of the present invention will be described with reference to the drawings.

[First Embodiment]
[Configuration of parking assist device]
A first embodiment to which the present invention is applied will be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the parking assistance apparatus according to the present embodiment.

  As shown in FIG. 1, the parking assistance device 1 according to the present embodiment receives an overhead image generation unit 2 that converts an image around the host vehicle to generate an overhead image, and an operation from the driver to the parking assistance device. Input unit 3, temporary parking target position setting unit 4 that performs setting for displaying an image of the temporary parking target position superimposed on the overhead view video, and image superposition that superimposes the image of the temporary parking target position on the overhead video Unit 5, a parking target position specifying unit 6 for specifying a parking target position by a driver, and a parking guidance control unit 7 for guiding and controlling the host vehicle to the specified parking target position. Cameras 8a to 8d for imaging, a display unit 9 for presenting an image to the driver, a steering angle sensor 10 for detecting an operation direction and an operation amount of the steering wheel, and an EPS motor 11 for driving the power steering are connected. .

  Here, the parking assistance device 1 described above can be realized by, for example, storing a parking assistance program in a ROM (Read Only Memory) (not shown) and executing the parking assistance program by the CPU.

  The input unit 3 is an interface unit that receives input from the driver. For example, by preparing two buttons and assigning one button as a selection button and the other button as a determination button, the input unit 3 responds to a prompt from the system side. It is formed so that the driver's intention can be expressed.

  The cameras 8a to 8d are imaging means for capturing images around the host vehicle, and acquire images that are used as an interface between the parking assistance device 1 and the driver. Here, FIG. 2 shows an example of the arrangement of the cameras 8a to 8d. As shown in FIG. 2, a camera 8a is arranged on the front grille of the vehicle 20, a camera 8d is arranged near the rear bumper, and cameras 8b and 8c are arranged below the left and right door mirrors. The cameras 8a to 8d can present a wider area to the driver by using a wide-angle camera with a wide viewing angle. The vehicle 20 is not limited to a passenger car, and may be a commercial vehicle or a truck. Further, the installation positions of the cameras 8a to 8d are not limited to the arrangement shown in FIG. 2, and for example, a form installed at four corners of the vehicle or a form installed on the roof may be adopted.

  The overhead view video generation unit 2 performs viewpoint conversion on the images captured by the cameras 8a to 8d to generate an overhead view video. The images captured by the cameras 8a to 8d are images with a viewpoint placed obliquely above, and by performing viewpoint conversion on the images, an image viewed from vertically above the ground can be obtained. Regarding the image conversion performed here, for example, “Masayasu Suzuki, Satoshi Chino, Teruhisa Takano, Development of a bird's-eye view system, Preprint of Academic Lectures of the Society of Automotive Engineers of Japan, 116-07 (2007-10), 17-22. Or the like.

  The temporary parking target position setting unit 4 prepares an image of the temporary parking target position that is the temporary parking target position in advance, and the temporary parking target position based on the driver's intention detection signal input by the input unit 3. Is set to superimpose the image on the overhead video. For example, the image of the temporary parking target position stored in memory or the like may be read in advance, or the size of the read temporary parking target position image may be changed, or the color or brightness may be changed. Or you may.

  The image superimposing unit 5 superimposes the image of the temporary parking target position on the overhead video around the host vehicle generated by the overhead video generating unit 2. The image superposition performed here can be performed using a superimposing method of computer graphics.

  The display unit 9 is a display unit for presenting the image obtained by the image superimposing unit 5 as visual information to the driver, and is a monitor of a car navigation system, for example.

  The parking target position specifying unit 6 is provided in the input unit 3, and after the host vehicle is moved so that the image of the temporary parking target position matches the actual parking target position displayed in the overhead view video. The driver receives an input for designating the temporary parking target position corresponding to the actual parking target position as the parking target position. Further, the parking target position designated here is transmitted to the parking guidance control unit 7.

  The steering angle sensor 10 is attached to the steering wheel, detects an operation amount and an operation direction of the steering wheel, and transmits the detected amount to the parking guidance control unit 7.

  The parking guidance control unit 7 calculates a control command signal for guiding and controlling the host vehicle to the parking target position designated by the parking target position designating unit 6 while feeding back the value detected by the steering angle sensor 10. The obtained control command signal is input to the EPS motor 11.

  The EPS motor 11 operates the power steering based on a control command signal from the parking guidance control unit 7 so that the host vehicle can park at the target parking position.

[Operation of parking assist device]
Next, parking assistance processing by the parking assistance apparatus 1 according to the present embodiment will be described with reference to the flowchart of FIG. The algorithm of the parking assistance process shown in FIG. 3 is implemented by timer interruption, and the parking assistance process is implemented by performing it every preset sampling time.

  As shown in FIG. 3, in step S <b> 101, images around the host vehicle are captured by the cameras 8 a to 8 d, and the captured images are transmitted to the overhead image generation unit 2.

  Next, in step S102, the bird's-eye view image generation unit 2 performs viewpoint conversion on the images around the host vehicle captured by the cameras 8a to 8d, and generates the bird's-eye view images around the host vehicle. Here, an example of the overhead view video generated by the overhead view video generation unit 2 is shown in FIG. As shown in FIG. 4, a bird's-eye view image 42 is formed by arranging computer graphics 40 indicating the position of the host vehicle in the center and displaying images 41a to 41d whose viewpoints are converted in the surrounding four directions side by side. The video 41a is obtained by converting the viewpoint of the image in front of the host vehicle captured by the camera 8a, and the images 41b and 41c are the viewpoints converted from the left and right images of the host vehicle captured by the cameras 8b and 8c. Is a viewpoint-converted image of the rear of the host vehicle captured by the camera 8d. Note that it is not necessary that all the images in the four directions are completely displayed in the overhead image 42. For example, only the images 41b and 41c corresponding to the horizontal direction are displayed in the overhead image 42, and the images in the front-rear direction are the cameras 8a and 8d. It is also possible to display the image itself captured in step (b).

  When the bird's-eye view video is generated in this way, in step S103, it is determined whether or not a parking assistance start signal from the driver is input to the input unit 3. If a parking support start signal is detected by the driver pressing the start button or the like, the process proceeds to step S104, and if not detected, it is determined that parking support is not performed and the process ends.

  In step S104, the temporary parking target position setting unit 4 sets an image of the temporary parking target position. For example, it is sufficient to read and prepare an image of the temporary parking target position stored in advance in the memory, or change the size of the read temporary parking target position image or change the color and brightness. You may do it.

  Here, the image of the temporary parking target position which concerns on this embodiment is shown in FIG. As shown in FIG. 5, in this embodiment, computer graphics 50 indicating the position of the host vehicle is arranged at the center, and the temporary parking target position is expressed by drawing saddle-shaped marks on the left and right. Among the images of the temporary parking target position shown in FIG. 5, the two saddle shapes of the mark 52 a and the mark 52 b indicate images of the temporary parking target position corresponding to the left side parallel parking. The two diagonally oriented line segments of the mark 53a and the mark 53b show images of the temporary parking target position corresponding to the diagonal parking of 45 degrees on the left side. The two saddle shapes of the mark 54a and the mark 54b indicate temporary parking target positions corresponding to the left side parallel parking. Similarly, the mark 55a and the mark 55b indicate the temporary parking target position corresponding to the right side parallel parking frame, the mark 56a and the mark 56b indicate the temporary parking target position corresponding to the right side oblique parking, and the mark 57a and the mark 57b are The temporary parking target position corresponding to the right side parallel parking is shown.

  In the present embodiment, the images 52a and 52b of the temporary parking target position corresponding to the left side parallel parking are drawn at symmetrical positions across the position of the door mirror where the camera 8c is installed. By drawing in this way, drawing is performed close to the position of the camera 8c and at an equal distance from the camera 8c, so that the distortion of the video generated when the video of the camera 8c is converted into a bird's-eye video is minimized. be able to. The same applies to the images 53a and 53b and the right side of the temporary parking target position corresponding to the diagonal parking.

  However, the images 54a and 54b of the temporary parking target position corresponding to the left side parallel parking are drawn behind the host vehicle. This is because the parking target position and the return position are displayed after parking support is started, but in the case of parallel parking, if the parking target position is not set to the rear of the vehicle due to the characteristics of the trajectory, the return position in the initial state. This is because it cannot be displayed in the overhead view video. Therefore, in the present embodiment, the images 54a and 54b of the temporary parking target position corresponding to the parallel parking are set to be behind the vehicle so that the switching position can be displayed in the overhead view video. By displaying the turn-back position in the bird's-eye view in this way, the driver can understand at a glance how far he / she should advance his / her vehicle after the start of parking assistance. A sense of security can be improved. The same applies to right side parallel parking.

  Next, in step S105, the overhead image generated in step S102 and the image of the temporary parking target position set in step S104 are superimposed by the image superimposing unit 5 to generate a superimposed image. The obtained superimposed image is sent to the display unit 9 and displayed on a monitor of a car navigation system. An example of the superimposed image is shown in FIG. As shown in FIG. 6, computer graphics 60 indicating the position of the host vehicle is arranged at the center, and saddle-shaped temporary parking target positions are displayed on the left and right sides thereof.

  When the superimposed image is displayed on the display unit 10 in this way, in step S106, the driver looks at the display of the superimposed image so that the actual parking target position and the temporary parking target position substantially coincide with each other. The parking assistance start position is determined by guiding. For example, as shown in FIG. 6, in the case of parallel parking on the left side, the parking assistance start position is determined by guiding the host vehicle so that the temporary parking target positions 62 a and 62 b substantially coincide with the actual parking target position 61. At this time, the host vehicle is guided by steering, braking and driving operations of the host vehicle by the driver. Note that the host vehicle can be guided to the parking assist start position by performing the same operation even in the case of parallel parking or diagonal parking.

  In this way, the driver designates the parking start position by matching the temporary parking target position superimposed on the bird's-eye view image in advance with the actual parking target position, and the parking route starting from the start position is stored in the memory. Since parking guidance control is performed after reading, image recognition is not necessary, and the load on the CPU can be reduced.

  Next, in step S107, after prompting the driver to select a parking mode such as parallel parking, parallel parking, and diagonal parking, through the parking target position designating unit 6, the temporary parking target position displayed in the superimposed image is displayed. It is determined whether a temporary parking target position corresponding to the actual parking target position is designated. Here, when the determination button is pressed and the parking target position is designated, the process proceeds to step S108, and when the cancel button or the like is pressed and an intention to cancel the parking support is displayed, the parking support process is ended. .

  Further, the image of the temporary parking target position described above can be displayed lightly before the parking target position is designated, and can be highlighted after the parking target position is designated. For example, as shown in the parking target position 70 of FIG. 7, after the parking target position is designated, the parking target position may be surrounded by a solid line and highlighted in a darker color. The same applies to the case of parallel parking shown in FIG. By displaying in this way, the visibility of the overhead view image can be improved before the parking guidance control, and the driver can clearly recognize the parking target position during the parking guidance control.

  When the parking target position is designated and the process proceeds to step S108, a parking support image corresponding to the designated parking target position is displayed superimposed on the overhead view video of the display unit 9. For example, a parking target position 70 and a turn-back position 71 as shown in FIG. 7 are displayed in the case of left side parallel parking, and a parking target position 80 and a turn-back position as shown in FIG. 8 in the case of left side parallel parking. 81 are displayed.

  Next, in step S109, guidance control by the parking guidance control unit 7 is performed. In this guidance control, parking assistance is performed according to the control logic, and a route for guiding the vehicle is first generated. This guidance route can be realized by holding a route corresponding to each of parallel parking, parallel parking, and diagonal parking in the memory one by one and reading a route corresponding to the designated parking target position. The guidance route calculated by the parking guidance control is a curve from the position to the parking target position by switching to the curve to the turn-back position.

  The parking guidance control unit 7 calculates a command signal to the EPS motor 11 installed in the power steering while feeding back the value of the steering angle sensor 10 so as to follow the calculated guidance route. The calculated command signal is sequentially transmitted to the EPS motor 11, and parking guidance control is performed. At this time, it is assumed that the driver performs the braking and driving command of the vehicle and the forward / reverse switching operation.

  However, in addition to the above-described parking guidance control, for example, a route line expected to pass by the host vehicle is calculated from the steering angle and the vehicle speed and superimposed on the display unit 9 to assist and guide the driver's steering. Just be fine. Moreover, the guidance method which notifies only the timing of steering turning, a brake, and an accelerator may be used.

  When the parking guidance control in step S109 is performed in this manner and the parking at the parking target position is completed, the parking support process shown in FIG. 3 ends.

[Effect of the first embodiment]
As described above in detail, according to the parking assistance apparatus according to the first embodiment to which the present invention is applied, an image of the provisional parking target position prepared in advance is displayed superimposed on the overhead video and displayed on the overhead video. Since the driver designates the parking target position after the driver has moved the vehicle so that the image of the temporary parking target position matches the actual parking target position, use image recognition or the like. It is possible to specify a parking target position. As a result, the calculation amount of the CPU can be reduced, and the system can be configured at low cost. In addition, fine adjustment of the target parking position is unnecessary, and parking assistance is possible even in a parking lot without white lines partitioned by strings or the like.

  In addition, according to the present parking assistance device, there are parallel parking, parallel parking, and diagonal parking parking modes as the image of the temporary parking target position, so that it is possible to cope with almost all of the parking modes normally required. The driver can easily set the parking target position.

  Furthermore, according to the present parking assist device, the image of the temporary parking target position indicating parallel parking and oblique parking is superimposed on the overhead view image so that the vicinity of the center is arranged at the position of the door mirror of the own vehicle, so Thus, the temporary parking target position can be set, whereby the distortion of the overhead view image can be reduced, and the accuracy of parking support can be improved.

  In addition, according to the present parking assist device, the image of the temporary parking target position indicating parallel parking is superimposed on the overhead view image so as to be behind the position of the door mirror of the host vehicle, so the switching position is displayed on the overhead view image. This makes it easier for the driver to understand the trajectory when parking.

  Furthermore, according to the present parking assist device, the image of the temporary parking target position is displayed lightly before the parking target position is designated, and the image of the temporary parking target position is highlighted after the parking target position is designated. Before the parking guidance control, the visibility of the overhead view image can be improved, and the driver can clearly recognize the parking target position during the parking guidance control.

[Second Embodiment]
Next, a second embodiment to which the present invention is applied will be described with reference to the drawings. Detailed description of the same parts as those in the first embodiment described above will be omitted.

  FIG. 9 is a diagram illustrating an image of the temporary parking target position according to the second embodiment. As shown in FIG. 9, as for the image of the temporary parking target position which concerns on 2nd Embodiment, the end of each image which shows parallel parking, parallel parking, and diagonal parking is shared.

  For example, the saddle-shaped mark 92 represents the front end of the temporary parking target position corresponding to the left side parallel parking and the left side parallel parking, and is further shared with the front end of the temporary parking target position corresponding to the left side diagonal parking. The mark 93a to be represented also shares one end with the mark 92. Further, the mark 93b of the line segment is the rear end of the temporary parking target position corresponding to the left side oblique parking, and the mark 92b is the rear end of the temporary parking target position corresponding to the left side parallel parking. The mark 94b is the rear end of the temporary parking target position corresponding to the left side parallel parking. As in the first embodiment, the temporary parking target position images 92 and 92b corresponding to the parallel parking are arranged so that the center thereof is the position of the door mirror. Similarly, marks 95, 95b, 96a, 96b, and 97b are images of temporary parking target positions corresponding to right parking, respectively, and are displayed at positions symmetrical to the left temporary parking target position images.

  Moreover, in the parking assistance apparatus according to the second embodiment, saddle-shaped marks 98a to 98d are further displayed. These marks 98a to 98d indicate clearance areas indicating areas through which the host vehicle can pass during parking, and are set outside the image of the temporary parking target position. For example, when there is an obstacle below the area indicated by the mark 98a, it indicates that there is a possibility of colliding with the obstacle during left side parallel parking.

[Effects of Second Embodiment]
As described above in detail, according to the parking assistance device according to the second embodiment to which the present invention is applied, since one end of the image of the temporary parking target position indicating parallel parking, parallel parking, and oblique parking is shared, The number of lines indicating the temporary parking target position is reduced, and a simpler display is possible. As a result, the driver can recognize the display more clearly.

  Moreover, according to the parking assistance apparatus which concerns on 2nd Embodiment, since the clearance area was displayed, the driver | operator can recognize clearly the area | region which can park.

[Third Embodiment]
Next, a third embodiment to which the present invention is applied will be described with reference to the drawings. Detailed description of the same parts as those in the first embodiment described above will be omitted.

  FIG. 10 is a diagram illustrating an image of the temporary parking target position according to the third embodiment. As shown in FIG. 10, in the image of the temporary parking target position according to the third embodiment, the vicinity of the center of the image of the temporary parking target position indicating parallel parking, parallel parking, and diagonal parking is arranged at the position of the door mirror of the host vehicle. Has been. For example, in FIG. 10, saddle-shaped marks 102a and 102b indicate left side parallel parking, line segment marks 103a and 103b indicate left side diagonal parking, and saddle type marks 104a and 104b indicate left side parallel parking. Yes. All of these marks are arranged near the center at the position of the door mirror. Similarly, saddle-shaped marks 105a and 105b indicate right side parallel parking, line segment marks 106a and 106b indicate right side diagonal parking, and saddle type marks 107a and 107b indicate right side parallel parking. The vicinity is arranged at the position of the door mirror.

[Effect of the third embodiment]
As described above in detail, according to the parking assist device according to the third embodiment to which the present invention is applied, the positions of the door mirrors are all located near the center of the image of the temporary parking target position indicating parallel parking, parallel parking, and oblique parking. Therefore, it is possible to minimize the distortion in the overhead view video in all parking modes.

[Fourth Embodiment]
Next, a fourth embodiment to which the present invention is applied will be described with reference to the drawings. Detailed description of the same parts as those in the first embodiment described above will be omitted.

  FIG. 11 is a diagram illustrating an image of the temporary parking target position according to the fourth embodiment. As shown in FIG. 11, in the image of the temporary parking target position according to the fourth embodiment, the temporary parking target position is expressed by a rectangle surrounded by a straight line.

  For example, in FIG. 11, a region 112 represented by a small square indicates a temporary parking target position corresponding to the left side parallel parking, and a region 113 represented by a parallelogram represents a temporary parking target position corresponding to the left side diagonal parking. The area 114 represented by a large square indicates the temporary parking target position corresponding to the left side parallel parking. Similarly, an area 115 expressed by a small square indicates a temporary parking target position corresponding to right side parallel parking, an area 116 expressed by a parallelogram indicates a temporary parking target position corresponding to right diagonal parking, A region 117 expressed by a large square indicates a temporary parking target position corresponding to right side parallel parking.

  Here, the regions 112 and 115 corresponding to the parallel parking and the regions 113 and 116 corresponding to the oblique parking are arranged so that the vicinity of the center is the position of the door mirror, as in the first and second embodiments.

[Effect of Fourth Embodiment]
As described above in detail, according to the parking assistance apparatus according to the fourth embodiment to which the present invention is applied, the image of the temporary parking target position is expressed by a rectangle surrounded by a straight line, so that the parking target position is more clearly displayed. Can be presented to the driver.

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and even if it is a form other than this embodiment, as long as it does not depart from the technical idea according to the present invention, the design and the like Of course, various modifications are possible.

DESCRIPTION OF SYMBOLS 1 Parking assistance apparatus 2 Bird's-eye view image generation part 3 Input part 4 Temporary parking target position setting part 5 Image superimposition part 6 Parking target position designation | designated part 7 Parking guidance control part 8a-8d Camera 9 Display part 10 Rudder angle sensor 11 EPS motor

Claims (11)

A bird's-eye view video generating means for converting a video around the host vehicle to generate a bird's-eye view surrounding the host vehicle;
A provisional parking target position setting means for performing a setting for displaying an image of a provisional parking target position prepared in advance on the overhead view image;
Image superimposing means for superimposing and displaying the image of the temporary parking target position on the overhead view video;
After the host vehicle has been moved by the driver so that the image of the temporary parking target position matches the actual parking target position displayed in the overhead view video, the temporary parking position corresponding to the actual parking target position is displayed. A parking target position specifying means for specifying a parking target position as the parking target position by the driver;
Parking guidance control means for guiding and controlling the host vehicle to the parking target position designated by the parking target position designation means ,
The image of the temporary parking target position shows a plurality of parking modes including at least parallel parking and parallel parking,
The temporary parking target position setting means sets different images of the temporary parking target position for each of the plurality of parking modes,
The said image superimposing means superimposes and displays the image of the temporary parking target position which is different for every said several parking form on the said bird's-eye view image simultaneously, The parking assistance apparatus characterized by the above-mentioned . The parking support device according to claim 1, wherein one end of each of the images indicating the plurality of parking modes is shared with the image of the temporary parking target position. The parking support device according to claim 2, wherein the image of the temporary parking target position does not share the other end of each image indicating the plurality of parking modes. The parking support device according to any one of claims 1 to 3, wherein the image of the temporary parking target position includes an image indicating a parking mode of oblique parking. Parallel parking, the temporary parking target position of the image showing a diagonal parking, according to claim 4, wherein the is superimposed on the overhead image so that the center near the position of the vehicle door mirror is placed Parking assistance device. Of the temporary parking target position indicating the parallel parking image according to claims 1 to 5, characterized in that superimposed on the overhead image so that the rear than the position of the door mirror of the vehicle Parking assistance device. The images of the temporary parking target position indicating parallel parking, parallel parking, and diagonal parking are all superimposed on the overhead video so that the vicinity of the center is arranged at the position of the door mirror of the host vehicle. Item 5. The parking assistance device according to item 4 . The temporary parking target position setting means, either the parking time clearance area indicating the own vehicle that is passable region of claims 1 to 7 and sets the outside of the temporary parking target position 1 The parking assistance device according to item. Before the parking target position is specified by the parking target position specifying means, an image of the temporary parking target position is displayed lightly, and after the parking target position is specified by the parking target position specifying means, the temporary parking target is displayed. The parking support apparatus according to any one of claims 1 to 8 , wherein an image of a position is highlighted. The parking support device according to any one of claims 1 to 9 , wherein the image of the temporary parking target position is displayed as a quadrangle surrounded by a straight line. A bird's-eye view video generating step for converting a video around the host vehicle to generate a bird's-eye view around the host vehicle;
A provisional parking target position setting step for performing a setting for displaying an image of the provisional parking target position prepared in advance on the overhead view image;
An image superimposing step of superimposing and displaying an image of the temporary parking target position on the overhead view video;
After the host vehicle has been moved by the driver so that the image of the temporary parking target position matches the actual parking target position displayed in the overhead view video, the temporary parking position corresponding to the actual parking target position is displayed. A parking target position designation step in which the driver designates a parking target position as a parking target position;
Look including a parking guidance control step of inducing controlling the vehicle to the specified the target parking position by the target parking position designation step,
The image of the temporary parking target position shows a plurality of parking modes including at least parallel parking and parallel parking,
In the temporary parking target position setting step, images of different temporary parking target positions are set for each of the plurality of parking modes,
In the image superimposing step, an image of a temporary parking target position that is different for each of the plurality of parking modes is simultaneously superimposed and displayed on the overhead view video .

Images