JP6548593B2 - Parking assistance apparatus and parking assistance method - Google Patents

Description

  The present invention relates to a parking assistance apparatus and a parking assistance method that display an image obtained by capturing the rear when the vehicle is moving backward.

  Conventionally, as a projection area formed on the ground by the vehicle at a position where the vehicle is parallel to the side end line of the parking area based on the current steering angle of the vehicle when the vehicle is moved backward. There is known a parking assistance apparatus in which a point image of the image is superimposed on a captured rear image and displayed (for example, see Patent Document 1).

JP 2004-98729A

  By the way, in the parking assistance device disclosed in Patent Document 1 described above, since the point image corresponding to the case where the current steering angle is maintained is displayed, this point image is accurately located at the center of the side end line of the parking area. If it does not fit, it is necessary for the driver to operate the steering wheel and adjust the position of the spot image, and there is a problem that it is difficult to understand the steering direction of the steering wheel when the driver is not accustomed to driving. In particular, since the rear image obtained by imaging with the camera provided at the rear of the vehicle is distorted, it is difficult to accurately fit the point image to the center of the side edge line of the parking area unless experience is gained.

  The present invention has been made in view of such a point, and its object is to provide a parking assist device and a parking assist device capable of clearly guiding the operating direction of the steering wheel in order to park the vehicle on the parking frame accurately. To provide support methods.

  In order to solve the problems described above, the parking assistance device of the present invention includes an imaging unit that images the rear of the host vehicle including a road surface, and a parking frame that extracts a parking frame included in a captured image obtained by imaging by the imaging unit. A movement locus for predicting the movement locus of the rear wheel when the host vehicle is moving backward based on the frame extraction means, the steering angle detection means for detecting the steering angle of the host vehicle, and the steering angle detected by the steering angle detection part Predicting means, Parallel position specifying means for specifying the position of the rear wheel where the left and right white lines constituting the parking frame are parallel to the vehicle on the movement trajectory, Parallel position specifying with the steering angle maintained If it is assumed that the host vehicle has moved backward to the position specified by the means, the operation of the steering wheel necessary to park the host vehicle in the center of the parking frame when the parking position of the host vehicle deviates from the center of the parking frame Plan to indicate the direction And a guide information presenting means for presenting the information.

  In the parking assistance method of the present invention, a parking frame extracting step of extracting a parking frame included in a captured image obtained by imaging by an imaging unit imaging a rear of the host vehicle including a road surface by the parking frame extracting unit; Based on the steering angle detection step of detecting the steering angle of the vehicle by the steering angle detection means, and the steering angle detected by the steering angle detection means, the movement locus of the rear wheel when the host vehicle moves backward is Parallel position identification step of specifying, by means of parallel position identification means, a movement locus prediction step to predict, a position of a rear wheel on the movement locus where the left and right white lines constituting the parking frame are parallel to the vehicle, If it is assumed that the vehicle has moved backward to the position specified by the parallel position specifying means while maintaining the corner, the parking position of the vehicle may deviate from the center of the parking frame. And a guidance information presenting step of presenting the guiding information presentation means guidance information instructing the operation direction of the steering wheel required in order to park at the center of both the parking space.

  Thus, when the parking position of the vehicle deviates from the center of the parking frame at the current steering angle, it is easy to understand in which direction the steering wheel can be operated to accurately park in the parking frame. can do.

  In addition, the parking assistance device of the present invention includes an imaging unit that images the rear of the host vehicle including a road surface, a parking frame extraction unit that extracts a parking frame included in a captured image obtained by imaging by the imaging unit, and the host vehicle And a movement locus prediction means for predicting the movement locus of the rear wheel when the host vehicle moves backward based on the steering angle detected by the steering angle detection means; Parallel position specifying means for specifying the position of the rear wheel where the left and right white lines forming the parking frame are parallel to the vehicle, and the position specified by the parallel position specifying means while maintaining the steering angle When at least a part of the host vehicle is out of the parking frame assuming that the host vehicle is moving backward, guidance information indicating the operation direction of the steering wheel necessary for parking the host vehicle in the parking frame is presented. Guidance information presentation And a stage.

  In the parking assistance method of the present invention, a parking frame extracting step of extracting a parking frame included in a captured image obtained by imaging by an imaging unit imaging a rear of the host vehicle including a road surface by the parking frame extracting unit; Based on the steering angle detection step of detecting the steering angle of the vehicle by the steering angle detection means and the steering angle detected by the steering angle detection means, the movement locus of the rear wheel when the host vehicle moves backward Parallel locus identification step for identifying the position of the rear wheel on the locus of movement where the left and right white lines forming the parking frame are parallel to the subject vehicle by the parallel position identification means. And assuming that at least a part of the host vehicle is out of the parking frame, assuming that the host vehicle is moved backward to the position specified by the parallel position specifying unit while maintaining the steering angle, And a guidance information presenting step of presenting the guiding information presentation means guidance information instructing the operation direction of the steering wheel required in order to park the vehicle in the parking space.

  As a result, when the vehicle deviates from the parking frame at the current steering angle, it is possible to easily understand in which direction the steering wheel can be operated to accurately park the parking frame.

  Further, it is desirable that the guide information presenting means described above presents the guide information by drawing a guide image in which the operation direction of the steering wheel can be visually confirmed. This makes it possible to present the driver the direction of the steering wheel operation in an easy-to-understand manner.

  In addition, the movement locus drawing means for drawing the movement locus described above, the movement locus drawn by the movement locus drawing means on the captured image obtained by the imaging by the imaging means, and the guide image drawn by the guidance information presenting means And rear image display processing means for displaying them in an overlapping manner. By displaying the movement locus and the guidance image superimposed on the captured image, it is possible to visually confirm how the movement locus moves to the left and right when the steering wheel is operated while looking at the guidance image.

  Further, it is desirable that the above-described guide image includes either a first index indicating that the operation direction of the steering wheel is directed to the left or a second index indicating that the operation direction of the steering wheel is directed to the right. By displaying a different index for each operation direction of the steering wheel, it is possible to prevent the driver from making a false recognition.

  Further, the above-described guide information presenting means simultaneously displays the first and second indicators when it is possible to park the own vehicle in the parking frame when maintaining the steering angle. It is desirable to hide the second indicator simultaneously. As a result, as a result of operating the steering wheel in accordance with the guide image, it can be easily confirmed that the steering angle has been set to the target position.

  Further, the above-described guide image includes a third index for identifying the position of the vehicle within the parking frame when the vehicle moves backward while maintaining the steering angle detected by the steering angle detection means. Is desirable. In particular, it is desirable that the third indicator described above indicates that the position of the host vehicle at least in the parking frame is closer to the center, to the left, and to the right by different colors. As a result, the driver can decide not only to park his own vehicle in the parking frame but also to which position in the parking frame to park.

  In addition, the above-described guide image includes a third index for identifying the position of the vehicle within the parking frame when the vehicle moves backward while maintaining the steering angle detected by the steering angle detection means. Preferably, one of the first indicator and the second indicator and the third indicator are displayed at the position specified by the parallel position specifying means. Thereby, it becomes possible to confirm both the operation direction of the steering wheel and the position where the parking frame and the host vehicle become parallel only by looking at the places where the first to third indicators are displayed.

  Further, it is desirable that the above-mentioned guide information presenting means presents the guide information by outputting a voice instructing the operation direction of the steering wheel necessary to park the vehicle in the parking frame. By outputting guidance information by voice, it is possible to easily understand in which direction the steering wheel can be operated to accurately park in the parking frame.

It is a figure showing the composition of the parking assistance device of one embodiment. It is a figure which shows the example of drawing of a movement trace. It is a figure which shows the other drawing example of a movement trace. It is a flowchart which shows the operation | movement procedure of the display process of a rear image when the position of a shift lever is set to the rear. It is a flowchart which shows the operation | movement procedure of a modification. It is a flowchart which shows the operation | movement procedure of the modification using a 3rd marker. It is a figure which shows the example of a 3rd marker.

  Hereinafter, a parking assistance device of an embodiment to which the present invention is applied will be described with reference to the drawings.

  FIG. 1 is a diagram showing the configuration of a parking assistance device according to an embodiment. As shown in FIG. 1, the parking assistance device 1 of the present embodiment includes a rear camera 10, an image memory 12, a parking frame extraction unit 20, a steering angle detection unit 22, a movement trajectory prediction unit 24, a parallel position specification unit 26, and movement. A trajectory drawing unit 30, a marker drawing unit 32, a rear image display processing unit 34, and a display device 36 are provided.

  The parking assist device 1 is mounted on a vehicle, and when the position of the shift lever is set to the rear, a rear image obtained by imaging the rear of the vehicle is displayed on the screen of the vehicle interior, and the vehicle is moved backward. This back image displays the movement trajectory, guidance information indicating whether the steering wheel is rotated in the left or right direction to guide the vehicle to the position where the left and right white lines are parallel to the vehicle in the parking frame. Perform the action.

  The rear camera 10 is attached to the rear of the vehicle and captures an imaging range on the rear of the host vehicle including the road surface. For example, it is desirable to use a CCD imaging device or a CMOS imaging device and a camera with a wide angle lens such as a fisheye lens attached to widen the angle of view. The image memory 12 stores an image obtained by imaging by the rear camera 10 at a predetermined frame rate (for example, 30 frames / second).

  The parking frame extraction unit 20 extracts a parking frame included in the rear image stored in the image memory 12. The parking frame includes at least white lines parallel to the left and right of the vehicle when the vehicle is parked.

  The steering angle detection unit 22 detects the steering angle of the vehicle (the operating angle of the steering wheel).

  The movement trajectory prediction unit 24 predicts (calculates) the movement trajectory of the rear wheel when the vehicle is caused to move backward based on the steering angle detected by the steering angle detection unit 22, the wheel base length of the own vehicle, and the like.

  The parallel position specifying unit 26 is a rear wheel on the movement locus calculated by the movement locus prediction unit 24 and in which the left and right white lines constituting the parking frame extracted by the parking frame extraction unit 20 are parallel to each other (Hereinafter, this position is referred to as “parallel position”).

  When displaying the rear image stored in the image memory 12, the movement trajectory drawing unit 30 draws the movement trajectory calculated by the movement trajectory prediction unit 24 on the road surface included in the rear image. For example, this movement trajectory is drawn using a line of a color (for example, red) distinguishable from the background rear image. When a parallel position is included on the movement trajectory, a first mark as a guide image indicating the operation direction of the steering wheel necessary for parking the vehicle at the center of the parking frame at this parallel position or The movement locus to which the second mark is added is drawn.

  When the marker drawing unit 32 assumes that the vehicle has moved backward to the parallel position specified by the parallel position specifying unit 26 while maintaining the steering angle of the vehicle, the parking position of the vehicle is the center of the parking frame (left and right The first marker (the first index) or the second marker (the first index) as a guide image for indicating the operation direction of the steering wheel necessary to park the vehicle at the center of the parking frame when it deviates from The second index is drawn at parallel positions on each movement locus. Here, the first marker indicates that the operation direction of the handle is leftward, and the second marker indicates that the operation direction of the handle is rightward.

  FIG. 2 is a diagram showing an example of drawing of a movement locus. FIG. 2 shows a drawing example of a movement locus and a first marker displayed superimposed on the rear image. The rear image includes the left and right white lines W1 and W2 that constitute the parking frame. In addition, in the rear image, first markers L1 and L2 indicating that it is necessary to turn the steering wheel to the left (turn to the left) in order to park the vehicle at the center of the parking frame are included at the parallel position. The movement trajectories T1 and T2 are drawn in an overlapping manner.

  FIG. 3 is a view showing another drawing example of the movement locus. FIG. 3 shows a drawing example of a movement locus and a second marker displayed superimposed on the rear image. The rear image includes the left and right white lines W1 and W2 that constitute the parking frame. The rear image also includes second markers R1 and R2 at parallel positions, which indicate that it is necessary to turn the steering wheel to the right (turn right) to park the vehicle at the center of the parking frame. The movement trajectories T1 and T2 are drawn in an overlapping manner.

  The rear image display processing unit 34 reads the rear image stored in the image memory 12 and displays it on the screen of the display device 36, and the movement locus drawn by the movement locus drawing unit 30 or the image drawn by the marker drawing unit 32. A process of superimposing the first marker or the second marker on the rear image and displaying it on the screen of the display device 36 is performed. The display device 36 is provided at the driver's seat or at the front between the driver's seat and the front passenger's seat, and is constituted by an LCD, for example. Although it is conceivable to divert the display device 36 used for a navigation device or the like, it may be provided exclusively.

  The rear camera 10 described above is an imaging means, the parking frame extraction unit 20 is a parking frame extraction means, the steering angle detection unit 22 is a steering angle detection means, and the movement locus prediction unit 24 is a movement locus prediction means The reference numeral 26 indicates a parallel position specifying unit, the marker drawing unit 32 corresponds to a guide information presenting unit, the movement locus drawing unit 30 corresponds to a movement locus drawing unit, and the rear image display processing unit 34 corresponds to a rear image display processing unit.

  The parking assistance device 1 of the embodiment has such a configuration, and its operation will be described next.

  FIG. 4 is a flowchart showing an operation procedure of display processing of a rear image when the position of the shift lever is set to the rear. For example, this operation procedure is repeated every imaging interval (for example, 1/30 seconds) by the rear camera 10.

  When the rear camera 10 picks up an image pickup range on the rear of the vehicle including the road surface and the picked up rear image is stored in the image memory 12 (step 100), the parking frame extraction unit 20 includes it in the stored rear image. The parking frame to be extracted is extracted (step 102). For example, when there are two white lines parallel to each other (180 cm + α) in consideration of the width of the vehicle (180 cm + α), these white lines are extracted as a parking frame. In addition, since the rear image is obtained by imaging the road surface obliquely downward through a wide-angle lens and is distorted, the image is converted into a top view image in order to remove the influence of the distortion when performing parking frame extraction or the like. It may be performed based on the image after the

  Next, the steering angle detection unit 22 detects the steering angle of the vehicle (step 104). This detection operation may be performed before or after the operation of steps 100 and 102 described above.

  Next, the movement locus prediction unit 24 predicts (calculates) the movement locus of the rear wheel when the host vehicle is caused to move backward while maintaining the current steering angle (step 106). Further, the parallel position specifying unit 26 determines whether the parking frame extracted in step 102 exists (step 108). If the parking space exists, a positive determination is made. Next, the parallel position specifying unit 26 is located on the movement trajectory predicted in step 106, and the position of the rear wheel where the left and right white lines forming the parking frame extracted in step 102 are parallel to the vehicle Parallel positions are identified (step 110).

  Further, the marker drawing unit 32 determines whether or not the own vehicle deviates from the center of the parking frame when the own vehicle position reaches the specified parallel position (step 112). If it deviates, an affirmative judgment is made. Next, the marker drawing unit 32 moves the first marker L1 or L2 or the second marker R1 or R2 that indicates the operation direction of the steering wheel necessary to park the vehicle within the center of the parking frame on the movement locus. Are drawn at parallel positions (step 114).

  Further, the movement trajectory drawing unit 30 draws two movement trajectories T1 and T2 so as to correspond to each of the two rear wheels (step 116). As shown in FIG. 2 or 3, the rear image display processing unit 34 sets the first markers L 1 and L 2 or the second markers R 1 and R 2 drawn in step 114 on the rear image stored in the image memory 12. The movement trajectories T1 and T2 drawn in step 116 are superimposed and displayed on the screen of the display unit 36 (step 118).

  In addition, when the own vehicle position arrives at a parallel position, when the whole own vehicle is settled in a parking frame, in the determination of step 112, a negative judgment is made. In this case, the marker drawing unit 32 draws both the first markers L1 and L2 and the second markers R1 and R2 at parallel positions on the movement locus (step 120).

  As described above, in the parking assistance device 1 of the present embodiment, when the parking position of the vehicle deviates from the center of the parking frame at the current steering angle, the parking frame can be correctly operated by operating the steering wheel in either direction. It is easy to understand how you can park your car.

  In addition, by using the guide image in which the operation direction of the steering wheel can be visually confirmed, it is possible to present the operation direction of the steering wheel to the driver in an easily understandable manner.

  Further, by displaying the movement locus and the guidance image superimposed on the captured image, it is possible to visually confirm how the movement locus moves to the left and right when the steering wheel is operated while looking at the guidance image.

  In addition, as the guide image, one of a first marker indicating that the operation direction of the steering wheel is directed to the left and a second marker indicating that the steering direction is directed to the right is displayed, and markers different for each operation direction of the steering wheel are displayed. By displaying, it is possible to prevent the driver from making a false recognition.

  In addition, when it is possible to park the own vehicle in the parking frame when the steering angle is maintained, the steering wheel is operated according to the guidance image by simultaneously displaying the first and second markers, as a result of steering It can be easily confirmed that the corner has been set to the target position. It should be noted that by not simultaneously displaying the first marker and the second marker but simultaneously hiding it, it is confirmed that the steering angle can be set to the target position as a result of operating the steering wheel according to the guide image. You may

  Also, by displaying the first marker or the second marker in parallel with the third marker, it is possible to operate the steering wheel, the parking frame, and the vehicle only by looking at a specific part in the screen. It is possible to confirm both of the positions at which are parallel.

  The present invention is not limited to the above embodiment, and various modifications can be made within the scope of the present invention. For example, in the embodiment described above, when the parking position of the vehicle deviates from the center of the parking frame (the center in the left-right direction), the marker drawing unit 32 has a handle necessary to park the vehicle at the center of the parking frame The first marker or the second marker as a guide image indicating the operation direction of the object is drawn at a parallel position on each movement locus, but specified by the parallel position specifying unit 26 while maintaining the steering angle of the vehicle If at least a part of the vehicle is out of the parking frame (assuming at least one of the two parallel positions is outside the parking frame), assuming that the vehicle has retreated to the parallel position, the parking frame of the vehicle A first marker or a second marker may be drawn at a parallel position on each movement locus as a guide image indicating the operation direction of the steering wheel necessary for parking in the interior.

  FIG. 5 is a flowchart showing the operation procedure of the modification. The operation procedure shown in FIG. 5 differs from the operation procedure shown in FIG. 4 in that step 112 is replaced with step 112A, and the operation of this replaced step 112A will be described below.

  In step 112A, when it is assumed that the vehicle position has reached the parallel position while maintaining the steering angle, whether or not at least a part of the vehicle deviates from the parking frame (two parallel It is determined whether or not at least one of the positions is outside the parking frame. Thereby, when at least a part of the vehicle deviates from the parking frame at the current steering angle, it is easy to understand in which direction the steering wheel can be operated to accurately park the parking frame. be able to.

  Further, in the above-described embodiment, the movement locus in which the first or second marker is added to the parallel position is drawn, but the third marker indicating the position of the vehicle within the parking frame of the own vehicle at the parallel position (Third index) may be added. For example, it is desirable that the third marker indicates that the position of the vehicle in the parking frame is closer to the center, to the left, and to the right by different colors.

  FIG. 6 is a flow chart showing the operation procedure of the modification using the third marker. The operation procedure shown in FIG. 6 is different from the operation procedure shown in FIG. 4 in that step 115 is added before step 116, and the operation of step 115 will be described below.

  In step 115, assuming that the vehicle position has reached the parallel position while maintaining the steering angle, the position of the vehicle within the parking frame is closer to the center, to the left, or to the right when the marker drawing unit 32 maintains the steering angle. The third markers having different colors are drawn at parallel positions. By using such a third marker, the driver can determine not only the vehicle within the parking frame but also the position within the parking frame to be parked by the driver himself.

  FIG. 7 is a diagram showing a specific example of the third marker. In the example shown in FIG. 7, a circular third marker C is added at a parallel position along the movement trajectory T1 (or T2). Further, the first markers L1 and L2 (or the second markers R1 and R2) are drawn at positions adjacent to the third marker C.

  Further, in the above-described embodiment, the first and second markers are used as the guide images, but instead, or in parallel, guide voices having similar presentation contents may be used. For example, when the operating direction of the steering wheel is leftward, an audio indicating that is output, and when the operating direction of the steering wheel is right, an audio indicating that is output, and the steering wheel is not operated any more. If the steering angle should be maintained, a voice indicating that is output. As a result, it is possible to easily understand to the driver which direction the steering wheel can be operated to accurately park in the parking frame.

  As described above, according to the present invention, when the parking position of the vehicle deviates from the center of the parking frame at the current steering angle, the user can accurately park in the parking frame by operating the steering wheel in either direction. It can guide you in an easy-to-understand manner. In addition, when the vehicle deviates from the parking frame at the current steering angle, it is possible to easily understand in which direction the steering wheel can be operated to accurately park the parking frame.

1 Parking Support Device 10 Rear Camera 12 Image Memory 20 Parking Frame Extraction Unit 22 Steering Angle Detection Unit 24 Movement Trajectory Prediction Unit 26 Parallel Position Identification Unit 30 Movement Trajectory Drawing Unit 32 Marker Drawing Unit 34 Rear Image Display Processing Unit 36 Display Device

Claims (12)

Imaging means for imaging the rear of the vehicle including the road surface;
Parking frame extraction means for extracting a parking frame included in a captured image obtained by imaging by the imaging means;
Steering angle detection means for detecting the steering angle of the host vehicle;
Movement locus prediction means for predicting a movement locus of a rear wheel when the host vehicle is moving backward based on the steering angle detected by the steering angle detection means;
Parallel position specifying means for specifying the position of the rear wheel where the white lines on the movement frame and the left and right white lines forming the parking frame are parallel to each other,
If it is assumed that the host vehicle has moved backward to the position specified by the parallel position specifying means while maintaining the steering angle, the host vehicle is determined to be the host vehicle when the parking position of the host vehicle deviates from the center of the parking frame. Guidance information presenting means for presenting guidance information indicating the operation direction of the steering wheel necessary for parking at the center of the parking frame;
A parking assist apparatus comprising: Imaging means for imaging the rear of the vehicle including the road surface;
Parking frame extraction means for extracting a parking frame included in a captured image obtained by imaging by the imaging means;
Steering angle detection means for detecting the steering angle of the host vehicle;
Movement locus prediction means for predicting a movement locus of a rear wheel when the host vehicle is moving backward based on the steering angle detected by the steering angle detection means;
Parallel position specifying means for specifying the position of the rear wheel where the white lines on the movement frame and the left and right white lines forming the parking frame are parallel to each other,
When at least a part of the vehicle is out of the parking frame, assuming that the vehicle is moved backward to the position specified by the parallel position specifying means with the steering angle maintained, the vehicle is parked Guidance information presenting means for presenting guidance information indicating the operation direction of the steering wheel necessary for parking within the frame;
A parking assist apparatus comprising: In claim 1 or 2,
The said guidance information presentation means presents the said guidance information by drawing the guidance image which can confirm the operation direction of the said steering wheel visually. In claim 3,
Movement trajectory drawing means for drawing the movement trajectory;
Rearward image display processing in which the movement locus drawn by the movement locus drawing means and the guidance image drawn by the guidance information presenting means are superimposed and displayed on a captured image obtained by imaging by the imaging means Means,
The parking assistance apparatus characterized by further having. In claim 3 or 4,
The parking assistance apparatus according to claim 1, wherein the guidance image includes one of a first index indicating that the operation direction of the steering wheel is leftward and a second index indicating that the steering direction is rightward. In any one of claims 3 to 5,
The guidance information presenting means simultaneously displays the first and second indicators when the own vehicle can be parked in the parking frame when the steering angle is maintained. A parking assist apparatus characterized by simultaneously hiding the second index and the second index. In any one of claims 1 to 6,
The guidance image may include a third index for identifying the position of the vehicle within the parking frame when the vehicle retreats while maintaining the steering angle detected by the steering angle detection means. Parking assistance device characterized by. In claim 7,
The parking assist system according to claim 1, wherein the third indicator indicates that the position of the vehicle within at least the parking frame is closer to the center, to the left, and to the right, by different colors. In claim 5 or 6,
The guidance image includes a third index for identifying the position of the vehicle within the parking frame when the vehicle retreats while maintaining the steering angle detected by the steering angle detection means,
A parking assistance apparatus, wherein any one of the first index and the second index and the third index are displayed at the position specified by the parallel position specifying means. In any one of claims 1 to 9,
The guidance information presentation means presents the guidance information by outputting a voice instructing the operation direction of the steering wheel necessary for parking the vehicle within the parking frame. . A parking frame extracting step of extracting a parking frame included in a captured image obtained by imaging by an imaging unit capturing an area behind the host vehicle including the road surface by the parking frame extracting unit;
A steering angle detection step of detecting the steering angle of the host vehicle by the steering angle detection means;
A movement locus prediction step of predicting a movement locus of a rear wheel when the host vehicle moves backward based on the steering angle detected by the steering angle detection means by the movement locus prediction means;
A parallel position specifying step of specifying the position of the rear wheel on the movement locus, in which the left and right white lines constituting the parking frame are parallel to the vehicle, by a parallel position specifying means;
If it is assumed that the host vehicle has moved backward to the position specified by the parallel position specifying means while maintaining the steering angle, the host vehicle is determined to be the host vehicle when the parking position of the host vehicle deviates from the center of the parking frame. A guidance information presenting step of presenting guidance information indicating the operation direction of the steering wheel necessary for parking in the center of the parking frame by the guidance information presentation means;
A parking assistance method characterized by having. A parking frame extracting step of extracting a parking frame included in a captured image obtained by imaging by an imaging unit capturing an area behind the host vehicle including the road surface by the parking frame extracting unit;
A steering angle detection step of detecting the steering angle of the host vehicle by the steering angle detection means;
A movement locus prediction step of predicting a movement locus of a rear wheel when the host vehicle moves backward based on the steering angle detected by the steering angle detection means by the movement locus prediction means;
A parallel position specifying step of specifying the position of the rear wheel on the movement locus, in which the left and right white lines constituting the parking frame are parallel to the vehicle, by a parallel position specifying means;
When at least a part of the vehicle is out of the parking frame, assuming that the vehicle is moved backward to the position specified by the parallel position specifying means with the steering angle maintained, the vehicle is parked A guidance information presenting step of presenting guidance information indicating the operation direction of the steering wheel necessary for parking within the frame by the guidance information presentation means;
A parking assistance method characterized by having.

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