WO2017179205A1

WO2017179205A1 - Display control device for parking assistance, and display control method for parking assistance

Info

Publication number: WO2017179205A1
Application number: PCT/JP2016/062155
Authority: WO
Inventors: 直志宮原; 下谷　光生
Original assignee: 三菱電機株式会社
Priority date: 2016-04-15
Filing date: 2016-04-15
Publication date: 2017-10-19
Also published as: JP6611918B2; JPWO2017179205A1

Abstract

Image information representing vehicle side images (P1, P2, ..., Pn) of the sides of a vehicle (31) photographed sequentially along the advancing direction (32) of the vehicle (31) by peripheral photographing devices (21, 22) is acquired. A composite image, in which the vehicle side images (P1, P2, ..., Pn) are spliced together along the advancing direction (32) of the vehicle (31), is generated on the basis of the acquired image information. On the basis of the state of the periphery of the vehicle (31) detected by a periphery detection device, it is determined whether there is a parkable space. If it is determined that there is a parkable space, a parking space image, in which a parking space display object indicating the position of the parkable space is superimposed on the composite image, is generated and outputted to a display device. At least a portion of the parking space image is a stereoscopic image viewable in three dimensions.

Description

Parking assistance display control apparatus and parking assistance display control method

The present invention relates to a parking assistance display control device and a parking assistance display control method.

In order to support vehicle parking, a technology for detecting a parking space and presenting it to the driver has been proposed. For example, in the technologies disclosed in

Patent Documents

1 and 2, an overhead image as seen from above the vehicle is synthesized from images taken by a plurality of cameras mounted on the vehicle and presented to the driver.

JP 2006-129021 A JP 2013-1333098 A

When the vehicle is moving at a relatively low speed to find a parking space, the driver looks around from the driver's seat position. In the technologies disclosed in

Patent Documents

1 and 2 described above, the parking space is presented to the driver as a bird's-eye view image, which is different from the scene that the driver actually saw. Therefore, there is a problem that the driver may not be able to immediately understand the presented parking space.

From the above, technology that can more intuitively present the parking space to the driver is required.

An object of the present invention is to provide a parking assistance display control device and a parking assistance display control method capable of presenting a parking space in a display form that can be intuitively understood by a driver.

The display control device for parking assistance according to the present invention is a parking space determination unit that determines whether there is a parking space that can be parked around the vehicle based on the situation around the vehicle detected by the surrounding detection device. And image information representing vehicle side images of the side of the vehicle that are sequentially photographed along the traveling direction of the vehicle by the peripheral photographing device, and based on the acquired image information, the vehicle side image is When it is determined that there is a parking available space by the image combining unit that generates a combined image that is connected along the direction and the parking space determination unit, a parking space display object that indicates the position of the parking space is displayed as an image combining unit. A control unit that generates a parking space image superimposed on the composite image generated by the control unit, and outputs the parking space image generated by the control unit to the display device And an image output unit, parking space image is at least partially, characterized in that it is a sterically visible stereoscopic image.

The display control method for parking assistance according to the present invention acquires image information representing a vehicle side image of a side of the vehicle that is sequentially photographed along the traveling direction of the vehicle by the peripheral imaging device, and based on the acquired image information. There is a parking space that can be parked around the vehicle based on the situation around the vehicle, which is generated by connecting the vehicle side images along the traveling direction of the vehicle to generate a composite image If it is determined that there is a parking space, a parking space display object indicating the position of the parking space is superimposed on the composite image, and at least a part of the stereoscopic image is stereoscopically visible. A certain parking space image is generated, and the generated parking space image is output to a display device capable of stereoscopically displaying a stereoscopic image of the parking space image.

According to the parking assistance display control device of the present invention, the parking space determination unit determines whether there is a parking space around the vehicle based on the situation around the vehicle detected by the periphery detection device. Is done. Image information representing vehicle side images that are sequentially photographed along the traveling direction of the vehicle by the peripheral photographing device is acquired by the image composition unit, and based on the acquired image information, the vehicle side image is set in the traveling direction of the vehicle. A composite image joined together is generated. When the parking space determination unit determines that there is a parking space, the control unit superimposes the parking space display object on the synthesized image generated by the image synthesis unit, and at least a part of the parking image is a stereoscopic image. A space image is generated. The parking space image generated by the control unit is output to the display device by the image output unit. Accordingly, it is possible to present a parking space in a display form that can be intuitively understood by the driver.

According to the parking assist display control method of the present invention, image information representing vehicle side images that are sequentially photographed along the traveling direction of the vehicle by the peripheral photographing device is acquired, and the vehicle is based on the acquired image information. A composite image is generated by joining the side images along the traveling direction of the vehicle. It is determined whether there is a parking space around the vehicle based on the situation around the vehicle detected by the periphery detection device. When it is determined that there is a parking space, the parking space display object is superimposed on the composite image, and a parking space image, at least a part of which is a stereoscopic image, is generated. The generated parking space image is output to the display device. Accordingly, it is possible to present a parking space in a display form that can be intuitively understood by the driver.

The objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description and the accompanying drawings.

It is a block diagram which shows the structure of the parking assistance apparatus 100 in the 1st Embodiment of this invention. It is a block diagram which shows the structure of the parking assistance apparatus 200 in the 2nd Embodiment of this invention. It is a block diagram which shows the hardware constitutions of the display control apparatus 10 for parking assistance in the 2nd Embodiment of this invention. It is a figure which shows typically a mode that a vehicle side image is image | photographed with the monocular camera 21 of the peripheral imaging device 2. FIG. It is a figure which shows typically a mode that a left side image is image | photographed. 4 is a diagram illustrating an example of a composite image 40. FIG. It is a figure which shows an example of a vehicle unit image. 5 is a diagram illustrating an example of a left-eye drawing plane 41. FIG. It is a figure which shows an example of the drawing plane 42 for right eyes. It is a figure for demonstrating the attachment method to the drawing plane of a divided image. It is a figure which shows an example of the depth of a stereoscopic vision image. It is a figure which shows an example of the parking space image containing a stereoscopic vision image. It is a figure which shows the relationship between the depth of a stereoscopic vision image, and the position of each stereoscopic vision image in a parking space image. It is a flowchart which shows the process sequence regarding the display control process in the display control apparatus 10 for parking assistance of the 2nd Embodiment of this invention. It is a flowchart which shows the process sequence regarding the display control process in the display control apparatus 10 for parking assistance of the 2nd Embodiment of this invention. It is a figure which shows the vehicle unit image a1 cut out in the 2nd Embodiment of this invention shown in FIG. It is a figure which shows the other example of a vehicle unit image. It is a figure which shows the other example of the position of the background of a parked vehicle. It is a figure which simplifies and shows the structure of the binocular camera apparatus. It is a figure which shows typically a mode that a left side image is image | photographed using the binocular camera apparatus. 5 is a diagram illustrating an example of a left-eye drawing plane 71. FIG. It is a figure which shows an example of the drawing plane 72 for right eyes. It is a figure for demonstrating the sticking method to a drawing plane. It is a figure which shows the other example of the depth of a stereoscopic vision image. It is a figure which shows the other example of the parking space image containing a stereoscopic vision image. It is a figure which shows typically the state which mapped the vehicle to the three-dimensional virtual space. It is a figure for demonstrating the method to detect a parking space. It is a figure which shows the other example of a parking space image. It is a figure which shows typically the viewpoint of a parking space image. It is a figure which shows typically the viewpoint of a parking space image. It is a figure which shows typically the viewpoint of a parking space image. It is a figure which shows typically the viewpoint of a parking space image. It is a figure which shows typically the other example of the viewpoint of a parking space image. It is a figure which shows typically the other example of the viewpoint of a parking space image. It is a figure which shows typically the other example of the viewpoint of a parking space image. It is a figure which shows typically the other example of the viewpoint of a parking space image. It is a figure which shows the other example of a parking space image. It is a figure which shows the other example of a parking space image. It is a figure which shows an example of the parking space image in case there exists a parking space candidate in the right and left of a vehicle. It is a figure which shows the other example of a parking space image in case there exists a parking space candidate in the right and left of a vehicle. It is a figure which shows the other example of a parking space image in case there exists a parking space candidate in the right and left of a vehicle. It is a figure which shows the other example of a parking space image in case there exists a parking space candidate in the right and left of a vehicle. It is a figure which shows the other example of a parking space image in case there exists a parking space candidate in the right and left of a vehicle. It is a figure which shows the other example of a parking space image in case there exists a parking space candidate in the right and left of a vehicle. It is a figure which shows the other example of a parking space image in case there exists a parking space candidate in the right and left of a vehicle. It is a figure which shows the other example of a parking space image in case there exists a parking space candidate in the right and left of a vehicle. It is a figure which shows the other example of a parking space image in case there exists a parking space candidate in the right and left of a vehicle. It is a block diagram which shows the structure of the parking assistance apparatus 201 in the 3rd Embodiment of this invention. It is a figure which shows an example of the parking space image 290 in the 3rd Embodiment of this invention. It is a block diagram which shows the structure of the parking assistance apparatus 500 in the 4th Embodiment of this invention. It is a block diagram which shows the structure of the parking assistance apparatus 510 in the 5th Embodiment of this invention.

<First Embodiment>
FIG. 1 is a block diagram showing a configuration of a parking assistance apparatus 100 according to the first embodiment of the present invention. The parking assistance device 100 includes a parking assistance display control device 1, a peripheral photographing device 2, a peripheral detection device 3, and a display device 4. The parking assistance display control device 1 includes an image composition unit 11, a parking space determination unit 12, a control unit 13, and an image output unit 14.

The parking support display control device 1 is mounted on a vehicle and used. The peripheral photographing device 2, the peripheral detection device 3, and the display device 4 are provided in a vehicle (hereinafter sometimes referred to as “own vehicle”) on which the parking assist display control device 1 is mounted. The parking support display control method according to another embodiment of the present invention is executed by the parking support display control apparatus 1 of the present embodiment.

The peripheral photographing device 2 is constituted by a camera. In the present embodiment, the peripheral photographing device 2 is provided on the right side, the left side, and the rear in the traveling direction of the host vehicle. The peripheral imaging device 2 captures images of the vicinity of the host vehicle, specifically, images on the right side, left side, and rear of the traveling direction of the host vehicle. In the following description, an image on the right side of the traveling direction of the host vehicle is referred to as a “right side image”, an image on the left side of the traveling direction of the host vehicle is referred to as a “left side image”, and the rear side in the traveling direction of the host vehicle. These images may be referred to as “rear images”.

The peripheral imaging device 2 sequentially captures images of the side of the host vehicle (hereinafter sometimes referred to as “vehicle side image”) along the traveling direction of the host vehicle. The peripheral photographing device 2 is connected to the image composition unit 11 of the parking assistance display control device 1. Image information representing an image photographed by the peripheral photographing device 2 is given to the image composition unit 11.

The image composition unit 11 acquires image information representing a vehicle side image and the like from the peripheral photographing device 2. Based on the acquired image information, the image composition unit 11 generates a composite image obtained by joining the vehicle side images along the traveling direction of the vehicle.

The periphery detection device 3 detects the situation around the host vehicle. Specifically, the periphery detection device 3 detects an object existing around the host vehicle and detects the relative position between the host vehicle and the object. Objects existing around the host vehicle are, for example, other vehicles and features. The peripheral detection device 3 is configured by at least one of an ultrasonic sensor, an image processing sensor, a millimeter wave radar, and a laser radar, for example. The image processing sensor may be a camera.

The periphery detection device 3 is connected to the parking space determination unit 12 of the parking assistance display control device 1. The surroundings detection device 3 generates detection information representing the detected situation around the host vehicle. For example, the periphery detection device 3 generates detection information indicating the detected object and the relative position between the host vehicle and the object. The surroundings detection device 3 gives the generated detection information to the parking space determination unit 12.

The parking space determination unit 12 is a space that can be parked around the host vehicle based on the situation around the host vehicle detected by the surroundings detection device 3, specifically based on the detection information provided from the surrounding detection device 3. Determine if there is a parking space available. In the present embodiment, the parking space determination unit 12 determines whether there is a parking space as a parking space.

The control part 13 produces | generates the parking space display object which shows the position of the parking available space, when it is judged by the parking available space judgment part 12 that there is parking available space. The control unit 13 superimposes the generated parking space display object on the composite image generated by the image composition unit 11 to generate a parking space image. In the present embodiment, the parking space image is a stereoscopic image that is at least partially visible in a stereoscopic manner.

The image output unit 14 outputs the parking space image generated by the control unit 13, specifically, image information representing the parking space image to the display device 4.

The display device 4 is configured by a liquid crystal display, a head-up display, or the like, for example. The display device 4 displays an image represented by the image information given from the image output unit 14 on the display screen. Thereby, various information, for example, a parking space, can be presented to the user of the parking assistance display control device 1, for example, the driver of the host vehicle.

In the present embodiment, the display device 4 is configured to display a stereoscopic image of the parking space image in a three-dimensional manner. Accordingly, the parking space image can be presented to the user of the parking assistance display control device 1, for example, the driver of the host vehicle, in a state where the stereoscopic image can be viewed stereoscopically.

As described above, according to the present embodiment, based on the situation around the own vehicle detected by the surrounding detection device 3, whether or not there is a parking available space around the own vehicle is determined. 12 is determined. Image information representing vehicle side images that are sequentially photographed along the traveling direction of the host vehicle by the peripheral photographing device 2 is acquired by the image synthesizing unit 11, and the vehicle side image is converted into the host vehicle based on the acquired image information. A combined image is generated along the traveling direction.

When it is determined by the parking space determination unit 12 that there is a parking space, the control unit 13 superimposes the parking space display object on the synthesized image generated by the image synthesis unit 11 to generate a parking space image. The The parking space image generated by the control unit 13 is output to the display device 4 by the image output unit 14. The parking space image is a stereoscopic image that is at least partially visible in a stereoscopic manner. Accordingly, it is possible to present a parking space in a display form that can be intuitively understood by the driver.

In the present embodiment described above, the peripheral photographing device 2 and the peripheral detecting device 3 are provided separately, but the peripheral photographing device 2 may also serve as the peripheral detecting device 3.

<Second Embodiment>
FIG. 2 is a block diagram showing the configuration of the parking assistance apparatus 200 according to the second embodiment of the present invention. The parking assistance device 200 includes a parking assistance display control device 10, a peripheral photographing device 2, a peripheral detection device 3, a display device 4, an in-vehicle LAN (Local Area Network) 5, and an operation input device 6. The parking assistance display control device 10 includes an image composition unit 11, a parking space determination unit 12, a control unit 13, an image output unit 14, and an in-vehicle LAN interface 15.

The parking support display control device 10 is mounted on a vehicle and used. The peripheral photographing device 2, the peripheral detection device 3, the display device 4, the in-vehicle LAN 5, and the operation input device 6 are provided in the own vehicle on which the parking assistance display control device 10 is mounted.

Since parking assist device 200 of the present embodiment includes the same configuration as parking assist device 100 of the first embodiment shown in FIG. 1, the same reference numerals are assigned to the same components. Thus, a common description is omitted. The parking assistance display control method according to another embodiment of the present invention is executed by the parking assistance display control apparatus 10 of the present embodiment.

The in-vehicle LAN 5 is configured by, for example, CAN (Controller Area Network). The in-vehicle LAN 5 is connected to the in-vehicle LAN interface 15 of the parking assistance display control device 10. The in-vehicle LAN 5 gives various vehicle information related to the own vehicle to the in-vehicle LAN interface 15.

The vehicle information includes, for example, sensor information detected by various sensors provided on the host vehicle, information on vehicle equipment such as indicator lights and warning lights provided on the host vehicle, information indicating the state of the vehicle equipment, traveling of the vehicle Vehicle speed information indicating speed, information indicating steering angle, information indicating the state of the brake, information indicating the state of the shift lever, and the like. The indicator lamp is, for example, a blinker, and the information on the vehicle device is, for example, blinker information on the blinker.

The in-vehicle LAN interface 15 provides the vehicle information given from the in-vehicle LAN 5 to the image composition unit 11, the parking space determination unit 12, and the control unit 13. The control unit 13 obtains vehicle movement trajectory information representing a miracle of vehicle movement from the vehicle information given from the in-vehicle LAN 5. The vehicle movement trajectory information obtained by the control unit 13 is used in each unit of the parking assistance display control device 10.

The operation input device 6 includes an operation input unit (not shown) operated by the user. The operation input unit includes, for example, an operation switch and an operation button. The operation input device 6 is used when the user inputs various information such as numerical information, character information, and instruction information to the parking assistance display control device 10. When the operation input unit is operated by the user, the operation input device 6 generates operation information corresponding to the user's input operation and supplies the operation information to the control unit 13. The operation input device 6 generates operation information including information indicating that the user is not operating anything when the user is not operating anything.

The operation input unit of the operation input device 6 may be configured by a touch panel or a voice input device capable of voice operation input instead of the operation switch and the operation button.

When the operation input unit of the operation input device 6 is configured with a touch panel, the touch panel is installed on the display screen of the display device 4 and detects the touch operation and the touch position of the user. The touch panel generates operation information corresponding to the detected touch operation and the touch position, and supplies the operation information to the control unit 13.

When the operation input unit of the operation input device 6 is composed of a voice input device, the voice input device recognizes the input voice. The voice input device generates operation information corresponding to the recognized voice and gives it to the control unit 13.

The control unit 13 functions as an image superimposing unit. When the control unit 13 functions as an image superimposing unit, it has the same function as the control unit 13 in the first embodiment described above. Specifically, when it is determined by the parking space determination unit 12 that there is a parking space, the control unit 13 generates a parking space display object indicating the position of the parking space, and generates the generated parking space display object. The parking space image is generated by superimposing the image on the combined image generated by the image combining unit 11.

Further, the control unit 13 controls the entire parking assistance display control device 10 based on operation information given from the operation input device 6.

FIG. 3 is a block diagram showing a hardware configuration of the parking assistance display control apparatus 10 according to the second embodiment of the present invention. The image composition unit 11, the parking space determination unit 12, the control unit 13, and the image output unit 14 in the parking assistance display control device 10 are realized by a processing circuit. That is, the parking support display control device 10 determines whether or not there is a parking space that can be parked around the vehicle based on the situation around the vehicle detected by the surroundings detection device 3 by the parking space determination unit 12. The image composition unit 11 obtains image information representing a side image of the vehicle that is photographed in order along the traveling direction of the vehicle by the peripheral photographing device 2, and based on the obtained image information. When the controller 13 determines that there is a parking space by the parking space determination unit 12, the side image of the vehicle is joined along the traveling direction of the vehicle. A parking space display object indicating the position is superimposed on the composite image generated by the image composition unit 11 to generate a parking space image, and the image output unit 14 Comprising a processing circuit for outputting a parking space image generated in the display device Te.

A dedicated hardware may be applied to the processing circuit, or a processor (Central Processing Unit, Graphics Processing Unit, processing device, arithmetic device, microprocessor, microcomputer, DSP that executes a program stored in the memory 102 101 (also referred to as “Digital Signal） Processor”) may be applied.

When the processing circuit is dedicated hardware, the processing circuit can be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA (Field Programmable Gate Array). Or a combination of these. The functions of the image synthesizing unit 11, the parking space determining unit 12, the control unit 13, and the image output unit 14 may be realized by a plurality of processing circuits, respectively, or the functions of the units may be combined into one processing circuit. It may be realized with.

When the processing circuit is configured using a processor, each function of the image composition unit 11, the parking space determination unit 12, the control unit 13, and the image output unit 14 in the parking assistance display control device 10 includes software, firmware, Alternatively, it is realized by a combination of software and firmware. Software and firmware are described as programs and stored in the memory 102.

The processing circuit implements the functions of each unit by reading and executing the program stored in the memory 102. That is, the parking assistance display control device 10 displays image information representing a vehicle side image of the side of the vehicle that is sequentially photographed along the traveling direction of the vehicle by the peripheral photographing device 2 when executed by the processing circuit. Based on the acquired image information, a step of generating a composite image obtained by connecting the vehicle side images along the traveling direction of the vehicle, and a situation around the vehicle detected by the periphery detection device 3 The step of determining whether there is a parking space that can be parked around the vehicle, and if it is determined that there is a parking space, a parking space display object indicating the position of the parking space is superimposed on the composite image. And a step of generating a parking space image and a step of outputting the generated parking space image to the display device 4 as a result. A memory 102 for storing the beam.

Also, it can be said that these programs cause the computer to execute procedures and methods of processing performed by the image composition unit 11, the parking space determination unit 12, the control unit 13, and the image output unit 14.

Here, the memory 102 is, for example, non-volatile or RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), or the like. Volatile semiconductor memories and magnetic disks, flexible disks, optical disks, compact disks, mini disks, DVDs (Digital Versatile Discs), and the like are applicable.

As described above, in the present embodiment, each function of the image composition unit 11, the parking space determination unit 12, the control unit 13, and the image output unit 14 is realized by either hardware or software. It is. However, the present invention is not limited to these configurations, and part of the image composition unit 11, the parking space determination unit 12, the control unit 13, and the image output unit 14 is realized by dedicated hardware, and another part is software. It may be a configuration realized by such as For example, the function of the control unit 13 is realized by a processing circuit as dedicated hardware, and other functions are realized by the processing circuit as a processor reading and executing a program stored in the memory 102 Is possible.

As described above, the processing circuit can realize the aforementioned functions by hardware, software, or the like, or a combination thereof.

4 to 12 are diagrams for explaining a method of forming a parking space image including a stereoscopic image. In the present embodiment, the parking assistance display control device 10 once synthesizes the two-dimensional image, then divides the synthesized two-dimensional image into each parked vehicle image, and each image corresponds to the parked vehicle position. A parking space image is generated so as to obtain a stereoscopic image having a large depth. Specifically, a parking space image is generated as follows.

FIG. 4 is a diagram schematically illustrating a state in which a vehicle side image is captured by the monocular camera 21 of the peripheral imaging device 2. The peripheral photographing device 2 includes a monocular camera 21. FIG. 4 shows a case where the monocular camera 21 is provided on the left side surface (hereinafter also referred to as “left side surface”) in the traveling direction of the vehicle. In the following description, the monocular camera 21 provided on the left side surface of the vehicle may be referred to as a “left monocular camera 21”.

In the present embodiment, the image composition unit 11 captures two images Pic (t) and Pic (t + Δt) photographed at two positions separated by a predetermined distance D1 by the monocular camera 21 of the peripheral photographing device 2. Use to create a stereoscopic image.

Here, it is assumed that the subject to be photographed has not moved, and the distance D1 between the two positions where photographing is performed is relatively short so that the difference Δt in photographing time at both positions is within about one second.

For example, when the monocular camera 21 is provided on the left side surface of the vehicle, the monocular camera 21 captures the first image Pic (t) at the first position at time t. The monocular camera 21 captures the second image Pic (t + Δt) at a second position that is a distance D1 away from the first position at time t + Δt after Δt from time t.

FIG. 5 is a diagram schematically showing a state in which a left side image is taken. As shown in FIG. 5, the host vehicle 31 starts from a position Ts of the host vehicle 31 at the time of starting a search for a parking space that can be parked (hereinafter may be referred to as “parking space search start position”). The vehicle travels in the traveling direction 32 toward the position Te of the host vehicle 31 at the time of presenting the parking space (hereinafter sometimes referred to as “parking space presentation position”) Te. While the host vehicle 31 travels, the peripheral photographing device 2 shown in FIG. 2 described above uses the monocular camera 21 shown in FIG. 4 to detect a vehicle side image that is a side image of the host vehicle 31, for example, the left side. The direction images P1, P2,..., Pn (n is a natural number) are photographed intermittently or continuously. The monocular camera 21 is provided on the left side surface of the host vehicle 31, for example. The peripheral photographing device 2 may include a monocular camera 22 provided on the right side surface on the right side in the traveling direction 32 of the host vehicle 31.

The peripheral photographing device 2 obtains a distance Yln between the own vehicle 31 and an object on the side of the own vehicle 31, for example, the parked vehicles L1, L3, L4, from the vehicle side images taken by the

monocular cameras

21, 22. Record. 5A, the horizontal axis indicates the distance X from the host vehicle 31, and the vertical axis indicates the depth Yl on the left side of the host vehicle 31. The direction of the horizontal axis corresponds to the horizontal direction X of the display screen of the display device 4, for example. Specifically, the distance X from the host vehicle 31 is a distance from the parking space presentation position Te in the traveling direction 32 of the host vehicle 31.

For example, when there are three parked vehicles on the left side of the host vehicle 31, that is, the first parked vehicle L1, the third parked vehicle L3, and the fourth parked vehicle L4, the peripheral photographing device 2 And the distance Yl1 between the host vehicle 31 and the third parked vehicle L3, and the distance Yl4 between the host vehicle 31 and the fourth parked vehicle L4 are recorded.

The peripheral photographing device 2 generates image information representing the photographed vehicle side images, for example, left side images P1, P2,. The peripheral photographing device 2 includes the generated image information and the recorded distance between the own vehicle 31 and an object on the side of the own vehicle 31, for example, the distances Yl1, Yl3, Yl4 between the own vehicle 31 and the parked vehicles L1, L3, L4. Is provided to the image composition unit 11 of the parking assistance display control device 10.

The distance between the host vehicle 31 and an object on the side of the host vehicle 31 may be obtained by the periphery detection device 3. In this case, the surroundings detection apparatus 3 calculates | requires the distance of the own vehicle 3 and the object of the side of the own vehicle 31 by an ultrasonic sensor, for example. Specifically, the distance between the host vehicle 31 and the object on the side of the host vehicle 31 is a travel locus that represents a track that the host vehicle 31 has traveled during a parking space search to search for a parking space, and the host vehicle 31. Is the shortest distance from the object on the side. For example, when the objects on the side of the host vehicle 31 are the parked vehicles L1, L3, and L4, the distances Yl1, Yl3, and Yl4 between the host vehicle 31 and the parked vehicles L1, L3, and L4 are the parking space search of the host vehicle 31. The distance between the travel locus at the time of the vehicle and the front end of each parked vehicle L1, L3, L4 on the own vehicle 31 side.

FIG. 6 is a diagram illustrating an example of the composite image 40. The image composition unit 11 generates a composite image 40 in which the vehicle side images are joined along the traveling direction 32 of the host vehicle 31 based on the image information given from the peripheral photographing device 2. The image composition unit 11 gives the generated composite image 40 to the control unit 13. In FIG. 6, the horizontal axis indicates the distance X from the host vehicle 31, and the vertical axis indicates the height Z. Specifically, the height Z is a height from the road surface on which the host vehicle 31 travels.

FIG. 7 is a diagram illustrating an example of a vehicle unit image. The control unit 13 cuts out an image of a parked vehicle unit (hereinafter sometimes referred to as “vehicle unit image”) from the composite image 40 given from the image composition unit 11 by image processing. In the example shown in FIG. 7, the control unit 13 divides the composite image 40 into seven images a1, a3, a4, and b1 to b4 (hereinafter sometimes referred to as “divided images”). Three vehicle unit images a1, a3, and a4, each including three parked vehicles L1, L3, and L4, are cut out.

The control unit 13 may estimate the position of each parked vehicle L1, L3, L4 using the distance measurement result by the periphery detection device 3, and may cut out the vehicle unit images a1, a3, a4.

8 is a diagram illustrating an example of the drawing plane 41 for the left eye, and FIG. 9 is a diagram illustrating an example of the drawing plane 42 for the right eye. The control unit 13 provides a left-eye drawing plane 41 shown in FIG. 8 and a right-eye drawing plane 42 shown in FIG. 9 as drawing planes for creating a stereoscopic image.

FIG. 10 is a diagram for explaining a method of pasting a divided image onto a drawing plane. FIG. 10A is a diagram illustrating an example of divided images a1, a3, a4, and b1 to b4 including vehicle unit images a1, a3, and a4. FIG. 10B is a diagram showing an example of a state in which the divided images a1, a3, a4, b1 to b4 are pasted on the left-eye drawing plane 41. FIG. 10C is a diagram showing an example of a state in which the divided images a1, a3, a4, b1 to b4 are pasted on the right-eye drawing plane.

The control unit 13 generates a parking space display object 51 representing the position of the parking space SL shown in FIG. 6 and superimposes the generated parking space display object 51 on the corresponding divided image b2 of the composite image 40. The parking space display object 51 is a mark shown in FIG. 10, for example.

The control unit 13 calculates binocular parallax so that each of the parked vehicles L1, L3, and L4 is displayed at the position of the Y axis that is a depth position corresponding to the distance of the parked vehicles L1, L3, and L4. The position where the divided images a1, a3, a4, b1 to b4 are pasted on the left and right drawing planes 41 and 42 is calculated.

Since the binocular parallax is smaller as the depth of the parked vehicles L1, L3, and L4 is larger, the pasting positions of the vehicle unit images a1, a3, and a4 on the left-eye drawing plane 41 and the vehicle unit image a1 on the right-eye drawing plane 42 , A3, a4 are less different from the pasting positions.

In other words, the binocular parallax increases as the depths of the parked vehicles L1, L3, and L4 are smaller. Therefore, the attachment positions of the vehicle unit images a1, a3, and a4 on the left-eye drawing plane 41 and the right-eye drawing plane 42 The difference from the attachment position of the vehicle unit images a1, a3, a4 becomes large.

The control unit 13 pastes the divided images a1, a3, a4, b1 to b4 at the calculated positions of the drawing planes 41 and 42. In the following description, the left-eye divided images a1, a3, a4, b1 to b4 pasted on the left-eye drawing plane 41 are denoted by reference numerals a1-l, a3-l, a4-l, and b1-l to b4-l. Represented by The right-eye divided images a1, a3, a4, b1 to b4 to be pasted on the right-eye drawing plane 42 are represented by reference symbols a1-r, a3-r, a4-r, b1-r to b4-r.

Here, when the n-th vehicle unit image is an (n is a natural number), the position of the n-th left-eye vehicle unit image an-l and the position of the n-th right-eye vehicle unit image an-r are: Since binocular parallax is taken into account, the drawing positions 41 and 42 are not necessarily at the same position. Therefore, the control unit 13 performs interpolation by enlarging or reducing the screen on the background side so that a loss between images does not occur.

In this way, the left-eye image 43L in which the left-eye divided images a1-l, a3-l, a4-l, and b1-l to b4-l are pasted on the left-eye drawing plane 41, and the right-eye drawing plane 42 To the right-eye divided image a1-r, a3-r, a4-r, and b1-r to b4-r are generated.

FIG. 11 is a diagram illustrating an example of the depth of a stereoscopic image. FIG. 12 is a diagram illustrating an example of a parking space image including a stereoscopic image. FIG. 13 is a diagram illustrating a relationship between the depth of the stereoscopic image and the position of each stereoscopic image in the parking space image.

The left-eye image 43L and the right-eye image 43R shown in FIG. 10 generated by the control unit 13 as described above are given to the image output unit 14 and output from the image output unit 14 to the display device 4. As a result, as shown in FIG. 12, a parking space image 45 including stereoscopic images L1, L3, L4, 51 with depth is displayed on the display screen 44 of the display device 4, and is observed by the driver of the host vehicle 31. Is done.

The depth display positions of the stereoscopic images L1, L3, L4, and 51 included in the parking space image 45 are in a positional relationship as shown in FIGS. In FIG. 11, the depth display positions of the divided images a1, a3, a4, b1 to b4 are indicated by the corresponding reference symbols a1, a3, a4, b1 to b4.

FIG. 14 and FIG. 15 are flowcharts showing a processing procedure related to the display control process in the parking assistance display control apparatus 10 according to the second embodiment of the present invention. In the present embodiment, display control processing for displaying the parking space image 45 shown in FIG. 13 on the display device 4 is performed according to the processing procedure shown in FIGS. 14 and 15.

14 and 15 are executed by the image composition unit 11, the parking space determination unit 12, the control unit 13, the image output unit 14, and the in-vehicle LAN interface 15 of the parking assistance display control device 10. . The processing of the flowcharts shown in FIGS. 14 and 15 is started when the parking assist display control device 10 is turned on, and the process proceeds to step S1 in FIG.

In step S1, the in-vehicle LAN interface 15 acquires vehicle information from the in-vehicle LAN 5. If vehicle information is acquired, it will transfer to Step S2.

In step S2, the control unit 13 acquires operation information from the operation input device 6. When the operation information is acquired, the process proceeds to step S3.

In step S3, the control unit 13 determines whether or not a parking space search start condition is satisfied. Here, the parking space search start condition is that the speed of the host vehicle 31 (hereinafter sometimes referred to as “vehicle speed”) is less than a predetermined speed, for example, less than 10 km / h, or a parking space from the user. A detection command is input. If it is determined that the parking space search start condition is satisfied, the process proceeds to step S4. If it is determined that the parking space search start condition is not satisfied, the process returns to step S1.

In step S4, the image composition unit 11 acquires image information from the peripheral photographing device 2. In the present embodiment, the image synthesizing unit 11 acquires image information representing the aforementioned vehicle side images, for example, the left side images P1, P2,..., Pn shown in FIG. When the image information is acquired, the process proceeds to step S5.

In step S <b> 5, the parking space determination unit 12 acquires vehicle periphery information from the periphery detection device 3. The vehicle periphery information is, for example, the relative position or distance between the host vehicle and an obstacle such as another vehicle or a feature. If vehicle periphery information is acquired, it will transfer to step S6.

In step S6, the parking space determination unit 12 performs a parking space detection process. In the parking space detection process, the parking space determination unit 12 determines whether there is a parking space using the vehicle periphery information acquired in step S5.

In the present embodiment, the parking space determination unit 12 obtains a parking space in the parking space detection process, and determines that parking is possible when there is a route for parking the host vehicle at that position. To do.

At this time, the parking space determination unit 12 obtains the travel route of the host vehicle from the vehicle information given from the in-vehicle LAN interface 15, the image captured by the peripheral imaging device 2, and the detection information detected by the peripheral detection device 3. Of time attribute and position attribute. The parking space determination unit 12 uses these to determine whether or not there is a route for the own vehicle to park at the position of the determined parking space. After the parking space detection process ends, the process proceeds to step S7.

In step S7, the control unit 13 acquires operation information from the operation input device 6. When the operation information is acquired, the process proceeds to step S8.

In step S8, the in-vehicle LAN interface 15 acquires vehicle information from the in-vehicle LAN 5. If vehicle information is acquired, it will transfer to step S9 of FIG.

15, the control unit 13 determines whether or not the parking space search end condition is satisfied. Here, the parking space search end condition is that the vehicle speed is equal to or higher than a predetermined speed, for example, 10 km / h or higher, or that a parking space search end command is input from the user. When it is determined that the parking space search end condition is satisfied, all the processing procedures are ended, and when it is determined that the parking space search end condition is not satisfied, the process proceeds to step S10.

In step S10, the control unit 13 determines whether or not a parking space display condition is satisfied. Here, the parking space display condition is to satisfy any of the cases where a parking space is found, the host vehicle stops, or a parking space display command is input from the user. . When it is determined that the parking space display condition is satisfied, the process proceeds to step S11. When it is determined that the parking space display condition is not satisfied, the process proceeds to step S15.

In step S11, the image composition unit 11 generates a composite image, for example, the composite image 40 shown in FIG. When the composite image is generated, the process proceeds to step S12.

In step S12, the control unit 13 generates a parking space display object, for example, the parking space display object 51 shown in FIG. When the parking space display object is generated, the process proceeds to step S13.

In step S13, the control unit 13 superimposes the parking space display object generated in step S12 on the composite image generated in step S11 to generate a parking space image, for example, the parking space image 45 shown in FIG. . When the parking space image is generated, the process proceeds to step S14.

In step S14, the image output unit 14 outputs the parking space image generated in step S14 to the display device 4. After outputting the parking space image to the display device 4, the process returns to step S4 in FIG.

In step S15, the control unit 13 deletes the parking space image generated in step S14. After erasing the parking space image, the process returns to step S4 in FIG.

According to the present embodiment described above, the same effects as those of the first embodiment can be obtained. More specifically, the parking space determination unit 12 determines whether or not there is a parking space around the host vehicle 31 based on the situation around the host vehicle 31 detected by the surrounding detection device 3. . Image information representing vehicle side images that are sequentially photographed along the traveling direction 32 of the host vehicle 31 by the peripheral photographing device 2 is acquired by the image synthesis unit 11, and based on the acquired image information, the vehicle side images are displayed. A composite image 40 joined along the traveling direction 32 of the host vehicle 31 is generated.

When it is determined by the parking space determination unit 12 that there is a parking space, the control unit 13 superimposes the parking space display object 51 on the synthesized image 40 generated by the image synthesis unit 11, and the parking space image 45. Is generated. The parking space image 45 generated by the control unit 13 is output to the display device 4 by the image output unit 14. The parking space image is a stereoscopic image that is at least partially visible in a stereoscopic manner. Accordingly, it is possible to present a parking space in a display form that can be intuitively understood by the driver.

Moreover, in this Embodiment, as shown in FIG. 12, the parking space image 45 contains the parked vehicle area | region where other vehicles L1, L3, and L4 other than the own vehicle 31 are parked, and the parked vehicle area | region is stereoscopically viewed. Represented by an image. by this. The parking space can be presented to the driver in a display form that can be understood more intuitively.

Further, in the present embodiment, as shown in FIG. 12, the parking available space is represented by a parking space display object 51 that is a stereoscopic image, specifically, a stereoscopic image. Thus, the parking space can be presented to the driver in a display form that can be understood more intuitively.

In the present embodiment, as shown in FIG. 7 described above, the vehicle unit images a1, a3, and a4 are cut out from the composite image 40 for each parked vehicle, but the vehicle unit image cutting method is not limited to this. FIG. 16 and FIG. 17 are diagrams for explaining a method of cutting a vehicle unit image. FIG. 16 is a diagram showing a vehicle unit image a1 cut out in the second embodiment of the present invention shown in FIG. FIG. 17 is a diagram illustrating another example of the vehicle unit image.

As shown in FIG. 17, the control unit 13 divides the parked vehicle portion a1-1 of the first parked vehicle L1 and the non-parked vehicle portion a1-2, and only the parked vehicle portion a1-1 is Parking is performed so that the depth corresponding to the distance Yl1 between the vehicle 31 and the first parked vehicle L1 is displayed, and the portion a1-2 other than the parked vehicle is displayed so that there is more depth than the parked vehicle portion a1-1. A space image may be generated.

In the present embodiment, as shown in FIG. 11 described above, the divided images b1 to b4 that do not include the parked vehicle, which are the background of the parked vehicle, are displayed at different distances. However, the present invention is not limited to this. FIG. 18 is a diagram illustrating another example of the background position of the parked vehicle. For example, as shown in FIG. 18, the divided images b1 to b4 that do not include a parked vehicle as a background may be displayed such that the distance from the own vehicle 31, that is, the depth distance d0 is the same.

In the present embodiment, the peripheral photographing device 2 includes the

monocular cameras

21 and 22, but is not limited thereto. FIG. 19 is a diagram showing a simplified configuration of the binocular camera device 60. The peripheral photographing device 2 may include a binocular camera device 60 shown in FIG. 19 instead of the

monocular cameras

21 and 22.

The binocular camera device 60 includes two cameras, that is, a first camera 61 and a second camera 62. The first camera 61 and the second camera 62 are provided separated by a predetermined distance D2.

The binocular camera device 60 is provided such that the first camera 61 captures a left image and the second camera 62 captures a right image. For example, when the binocular camera device 60 is provided on the left side surface of the host vehicle 31, the binocular camera device 60 has the first camera 61 disposed on the rear side in the traveling direction 32 of the host vehicle 31, and the second camera 62. It is provided so as to be arranged on the front side in the traveling direction 32 of the host vehicle 31.

Two images taken at the same time t by the first camera 61 and the second camera 62 of the binocular camera device 60, that is, the left image PicL (t) taken by the first camera 61 and the second camera 62. A stereoscopic image is generated using the paired right image PicR (t).

When the distance D2 between the first camera 61 and the second camera 62 is the same as the distance D1 between the two shooting positions by the monocular camera 21 shown in FIG. 4, the left image PicL shot by the first camera 61 (T) is the same as the first image Pic (t) taken by the monocular camera 21 at time t. The right image PicR (t) photographed by the second camera 62 is the same as the second image Pic (t + Δt) photographed by the monocular camera 21 at time t + Δt.

FIG. 20 is a diagram schematically illustrating a state in which a left-side image is captured using the binocular camera device 60. In the example illustrated in FIG. 20, the peripheral photographing device 2 synthesizes left and right pair images for stereoscopic images individually photographed by the binocular camera device 60 on the drawing plane.

Specifically, the peripheral photographing device 2 uses the binocular camera device 60 shown in FIG. 19 described above to display an image of the side of the own vehicle 31 while the own vehicle 31 travels in the traveling direction 32. A vehicle side image, for example, a left side image is taken. The binocular camera device 60 uses the first camera 61 and the second camera 62 at each position as the left image PicL (t), the left-eye left-side images Pl1, Pl2,..., Pln and the right image PicR (t). .., Prn for the right-eye left side images Pr1, Pr2,. Here, n is a natural number.

The left-eye left images Pl1, Pl2,..., Pln and the right-eye left-side images Pr1, Pr2,..., Prn are a pair of left and right images taken at the same point. It has a distance attribute to L1, L3, L4 or an obstacle. The distance between the host vehicle 31 and the parked vehicles L 1, L 3, L 4 or the obstacle may be measured by an ultrasonic sensor that is the periphery detection device 3, or is measured from an image captured by the binocular camera device 60. May be.

FIG. 21 is a diagram illustrating an example of the drawing plane 71 for the left eye, and FIG. 22 is a diagram illustrating an example of the drawing plane 72 for the right eye. The control unit 13 provides a left-eye drawing plane 71 shown in FIG. 21 and a right-eye drawing plane 72 shown in FIG. 22 as drawing planes for creating a stereoscopic image. Here, for convenience of explanation, the depth of the left-eye drawing plane 71 and the depth of the right-eye drawing plane 72 are the same distance as shown in FIG.

FIG. 23 is a diagram for explaining a method of pasting on a drawing plane. The control unit 13 uses the left-eye left-side images Pl1, Pl2,..., Pln and the right-eye left-side images Pr1, Pr2,. As shown in a), left and right pair images corresponding to the captured parked vehicles L1, L3, and L4 and left and right parking space display objects are prepared. For example, a left-eye vehicle image an-1 and a right-eye vehicle image an-r that are left and right pair images, and a left-eye display object 51L and a right-eye display object 51R that are left and right parking space display objects are prepared.

The control unit 13 pastes the prepared left and right pair images an-1 and an-r and the left and right parking space display objects 51L and 51R on the corresponding left and right drawing planes 71 and 72, respectively. Here, the positions on the left and right drawing planes 71 and 72 to which the left and right image pairs are pasted are the same.

In this way, the left-eye image 73L in which the left-eye vehicle image an-1 and the left-eye display object 51L are pasted on the left-eye drawing plane 71, and the right-eye vehicle image an-r and the right-eye are displayed on the right-eye drawing plane 72. A right-eye image 73R to which the display object 51L is pasted is generated.

FIG. 24 is a diagram illustrating another example of the depth of a stereoscopic image. FIG. 25 is a diagram illustrating another example of a parking space image including a stereoscopic image. The left-eye image 73L and the right-eye image 73R shown in FIG. 21 generated by the control unit 13 as described above are given to the image output unit 14 and output from the image output unit 14 to the display device 4.

As shown in FIG. 24, the background portions are displayed such that the depth distance d0 is the same. The parked vehicles L1, L3, and L4 are displayed with a depth corresponding to the distance from the host vehicle 31. For example, the fourth parked vehicle L4 is displayed with a depth distance d4 corresponding to the distance Yl4 from the host vehicle 31.

In this way, as shown in FIG. 25, the parking space image 75 including the three stereoscopic images L1, L3, and L4 having a depth is displayed on the display screen 74 of the display device 4, and the vehicle 31 Observed by the driver.

Further, the control unit 13 constructs a vehicle and a parking space in a three-dimensional virtual space from the image captured by the monocular camera 21 shown in FIG. 4 or the binocular camera device 60 shown in FIG. May be configured to generate a stereoscopic image. In this case, the vehicle side image is taken by the monocular camera 21 or the binocular camera device 60 and given to the control unit 13 via the image synthesis unit 11. The control unit 13 three-dimensionally measures the shape and position of each vehicle from the given vehicle side image.

FIG. 26 is a diagram schematically showing a state in which the vehicle is mapped in the three-dimensional virtual space. Based on the shape and position of each vehicle measured as described above, the control unit 13 maps each vehicle in a three-dimensional virtual space as shown in FIG. At this time, a portion that could not be photographed by the monocular camera 21 or the binocular camera device 60 and could not be measured may be compensated for missing information by applying an appropriate vehicle model.

Specifically, a virtual viewpoint Pver (x, y, z, θ, φ) is provided in a three-dimensional virtual space, a virtual binocular camera device 80 is installed at that position, and the image is taken by the binocular camera device 80. As an example, a left-eye image 81 and a right-eye image 82 are generated. For example, known three-dimensional image processing is applied to the image generation processing.

The left-eye image 81 and the right-eye image 82 thus generated by the control unit 13 are given to the image output unit 14 and output from the image output unit 14 to the display device 4. Thus, a parking space image including a stereoscopic image having a depth is displayed on the display screen of the display device 4 and is observed by the driver of the host vehicle 31.

In addition, the display device 4 that displays a parking space image including a stereoscopic image with a depth is not limited to a display device that can display a stereoscopic image, and may be a head-up display that can perform three-dimensional expression. However, it may be a three-dimensional image display device according to another method.

FIG. 27 is a diagram for explaining a method of detecting a parking space. As described above, the peripheral photographing device 2 uses the binocular camera device 60 installed on the left side of the vehicle 31, for example, for the right-eye images L1-r, L3-r, L4-r and the left-eye images for stereoscopic images. Photograph L1-l, L3-l, and L4-l in pairs. For example, the control unit 13 generates a composite image from the images L1-l, L1-r, L3-l, L3-r, L4-l, and L4-r taken by the binocular camera device 60. The control unit 13 detects parking spaces SL-l and Sl-r from the generated composite image.

When detecting the parking available space, for example, the left and right empty spaces are detected with an ultrasonic sensor in combination with shooting. A known technique can be used for the detection algorithm and parking availability determination.

The control unit 13 presents to the driver by causing the display device 4 to display an image in which the display objects indicating the parking spaces SL-l and Sl-r detected in this way are superimposed on the composite image. For example, as shown in FIG. 12 described above, both the vehicle and the parking space are displayed as stereoscopic images.

FIG. 28 is a diagram showing another example of a parking space image. As shown in FIG. 28 (b), the parking space image is displayed on the display device 4 along the traveling direction of the vehicle corresponding to the vehicle side images L 1, L 3, and L 4 on the display screen of the display device 4. It may be configured to be displayed in order from the lower side toward the upper side.

In the example shown in FIG. 28 (b), as shown in FIG. 28 (a), the third parked vehicle L3 is parked farther than the fourth parked vehicle L4. The distance Yl3 with the parked vehicle L3 is larger than the distance Yl4 between the host vehicle 31 and the fourth parked vehicle L4 (Yl3> Yl4). Therefore, in the parking space image 90 shown in FIG. 28B, the solid angle of the third parked vehicle L3 is slightly narrower than the solid angle of the fourth parked vehicle L4.

FIG. 29 to FIG. 32 are diagrams schematically showing viewpoints of parking space images. As shown in FIGS. 29 to 32, the parking space image may be displayed by changing the viewpoint of the display area. For example, as shown in FIG. 29, the parking space image may be displayed as an image viewed from the viewpoint Peey 1 from the front in the horizontal direction. In addition, as shown in FIG. 30, the parking space image may be displayed as an image viewed from the viewpoint Peee2 from a slightly horizontal position. Further, as shown in FIG. 31, the parking space image may be displayed as an image viewed from the viewpoint Peee3 viewed from directly above. In addition, as shown in FIG. 32, the parking space image may be displayed as an image viewed from an oblique viewpoint Peey4.

33 to 36 are diagrams schematically illustrating other examples of the viewpoint of the parking space image. As shown in FIGS. 33 to 36, the parking pace image may be displayed by changing the viewpoint of a predetermined designated area, for example, a parking space SL.

In this case, the control unit 13 selects a parking space and performs viewpoint conversion only on the parking space. The area other than the designated area may be displayed with the original viewpoint, or may be displayed with the viewpoint changed in the same manner as the designated area. Further, only the designated area may be displayed wider than the area other than the designated area. In addition, a virtual three-dimensional display object 51 that represents the vehicle as a stereoscopic image may be displayed in the parking space SL.

For example, as shown in FIG. 33, the parking space image may be displayed as an image viewed from the viewpoint Peee 1 from the front in a horizontal direction by selecting a parking space as the designated area. In the example shown in FIG. 33, the virtual three-dimensional display object 51 and the wheel stopper 91 are displayed in the parking space.

As shown in FIG. 34, the parking space image may be displayed as an image in which the parking space including the virtual three-dimensional display object 51 and the wheel stopper 91 is viewed from the viewpoint Peey 2 from the front slightly. In addition, as shown in FIG. 35, the parking space image may be displayed as an image viewed from the viewpoint Peee3 where the parking space including the virtual three-dimensional display object 51 and the wheel stopper 91 is seen from directly above. In addition, as shown in FIG. 36, the parking space image may be displayed as an image of a parking space including the virtual three-dimensional display object 51 and the wheel stopper 91 viewed from the viewpoint Peee 4 from diagonally above.

As described above, the parking space image may be converted into an image viewed from a viewpoint different from the viewpoint when the vehicle side image is captured by the peripheral imaging device 2 and displayed. In particular, a predetermined designated area in the parking space image may be converted into an image viewed from a viewpoint different from the viewpoint when the vehicle side image is captured by the peripheral imaging device 2 and displayed. Thus, the parking space can be presented to the driver in a display form that can be understood more intuitively.

FIG. 37 is a diagram showing another example of a parking space image. For example, as shown in FIG. 37, the parking space image is displayed even if the area E3 of the parking space SL where no vehicle is present is displayed as a stereoscopic image and the vehicle areas E1 and E2 where the vehicle is present are displayed as a two-dimensional image. Good.

This can reduce the amount of image processing. In this case, the actual depth of the parked vehicle is as shown in FIG. 37A, but the vehicle areas E1 and E2 are displayed as a two-dimensional image. Therefore, when combining a two-dimensional image with a stereoscopic image, as shown in FIG. 37 (b), the depth distance Yl of the parked vehicles L1, L3, L4 is set to the distance between any parked vehicle and the host vehicle 31, for example, The distance Yl4 between the fourth parked vehicle L4 and the host vehicle 31 is unified.

FIG. 38 is a diagram illustrating another example of the parking space image. As shown in FIG. 38, the parking space image may include a three-dimensional display object that indicates the position of the host vehicle 31. The position of the host vehicle on which the stereoscopic display object is displayed corresponds to the actual position of the vehicle in the three-dimensional space. Other than the three-dimensional display object of the host vehicle, for example, the same display as in FIG.

Although illustration is abbreviate | omitted, a parked vehicle area | region may be displayed in cooperation compared with another area | region. Specifically, the parked vehicle area may be displayed as a deformed display object that deforms and displays the vehicles L1, L3, and L4. Thus, the parking space can be presented to the driver in a display form that can be understood more intuitively.

In the example shown in FIG. 38, the left and right vehicle groups are displayed as a composite image including a stereoscopic image obtained by connecting a plurality of images photographed from the host vehicle photographed from the driver's viewpoint. The third parked vehicle L3 is parked farther than the fourth parked vehicle L4, and the distance Yl3 between the third parked vehicle L3 and the host vehicle is the distance between the fourth parked vehicle L4 and the host vehicle. It is larger than Yl4 (Yl3> Yl4). Therefore, in the stereoscopic image shown in FIG. 38, the solid angle of the third parked vehicle L3 is slightly narrower than that of the fourth parked vehicle L4.

FIG. 39 is a diagram illustrating an example of a parking space image when there are parking space candidates on the left and right of the vehicle. When there are parking space candidates on the left and right of the host vehicle 31, the peripheral photographing device 2 captures left and right binocular images with the monocular camera 21 or the binocular camera device 60 installed on the left and right of the host vehicle 31. Then, image information representing the photographed image is given to the image composition unit 11. The image composition unit 11 generates

composite images

261 and 262 from the provided image information. The parking space determination unit 12 searches the left and right parking spaces. Thereby, for example, the left parking space SL and the right parking space SR are detected.

The control unit 13 superimposes display objects indicating the parking spaces SL and SR on the left and right

composite images

261 and 262, that is, the left composite image 261 and the right composite image 262. Thereby, a parking space image 140 including the left and right parking spaces SL and SR is generated. By setting it as such a parking space image 140, the parking space can be presented to the driver in a display form that can be understood more intuitively. The host vehicle 31 is displayed on a predetermined reference line 141 on the display screen of the display device 4, for example, the center line of the display screen. Specifically, the host vehicle 31 is displayed such that a line representing the travel locus of the host vehicle 31 coincides with the reference line 141 on the display screen.

Further, the parking space image 140 shown in FIG. 39 is displayed on the display screen of the display device 4 according to the positional relationship between the own vehicle 31 and the vehicle or the parking area existing on the right side and the left side in the traveling direction 32 of the own vehicle 31. The display position of the left composite image 261 and the right composite image 262 may be generated so as to be changed. Thus, the parking space can be presented to the driver in a display form that can be understood more intuitively. In this case, for example, the display positions of the left composite image 61 and the right composite image 62 on the display screen of the display device 4 are changed according to the side distances dl, dr and the traveling direction distances H1, Hr of each parked vehicle.

Here, the side distances dl and dr are distances between the host vehicle 31 on the side of the host vehicle 31 and an object on the side of the host vehicle 31. The side distances dl and dr are specifically the shortest distances between the travel locus 33 at the time of the parking space search of the host vehicle 31 and the objects on the side of the host vehicle 31. For example, when the objects on the side of the own vehicle 31 are the vehicles L1, L3, L4, R1, R2, and R4, the side distances dl and dr are the travel locus 33 when the parking space search of the own vehicle 31 is performed, This is the distance from the front end of the vehicle L1, L3, L4, R1, R2, R4 on the own vehicle 31 side. The lateral distances dl and dr correspond to the distance Yln from the host vehicle 31 described above.

Further, the traveling direction distances Hl and Hr are distances between the host vehicle 31 and an object on the side of the host vehicle 31 in the traveling direction of the host vehicle 31. The traveling direction distances Hl and Hr are specifically the shortest distances between the end portion on the rear side in the traveling direction of the host vehicle 31 and the object on the side of the host vehicle 31 at the stop position. For example, when the objects on the side of the host vehicle 31 are the vehicles L1, L3, L4, R1, R2, and R4, the traveling direction distances H1 and Hr are the end portions on the rear side in the traveling direction of the host vehicle 31 at the stop position, This is the distance from the side surface of each vehicle L1, L3, L4, R1, R2, R4 on the own vehicle 31 side. The traveling direction distances Hl and Hr correspond to the distance X from the host vehicle 31 described above.

40 to 47 are diagrams showing other examples of parking space images when there are parking space candidates on the left and right of the vehicle. As shown in FIG. 40, the parking space image 150 may include a host vehicle position display object 151 that indicates the position of the host vehicle 31. Thus, the parking space can be presented to the driver in a display form that can be understood more intuitively.

In FIG. 40, the left composite image 261 is displayed in the left region of the display screen of the display device 4 toward the display screen corresponding to the predetermined first display region, which corresponds to the predetermined second display region. The parking space image 150 is generated so that the right composite image 262 is displayed in the right surface area toward the display screen. Thus, the parking space can be presented to the driver in a display form that can be understood more intuitively.

In FIG. 40, the left composite image 261 and the right composite image 262 are displayed so as to be rotated at predetermined rotation angles in opposite directions from the traveling direction 32 of the host vehicle 31 with the position of the host vehicle 31 as a fulcrum. A parking space image 150 is generated. Specifically, the left composite image 261 and the right composite image 262 are parked so that they are displayed by being rotated 90 ° in opposite directions from the center line 152 of the display screen that coincides with the traveling direction 32 of the host vehicle 31. A space image 150 is generated. Thus, the parking space can be presented to the driver in a display form that can be understood more intuitively.

As shown in FIG. 41, the parking space image 160 is recommended in addition to the first display area 161 where the left composite image 261 is displayed and the second display area 162 where the right composite image 262 is displayed. A third display area 163 indicating a space may be included. Thus, the parking space can be presented to the driver in a display form that can be understood more intuitively.

42, the parking space image 170 may include a host vehicle position display object 151 indicating the position of the host vehicle 31. Thus, the parking space can be presented to the driver in a display form that can be understood more intuitively. In this case, as shown in FIG. 42, the parking space image 170 is divided into a host vehicle display area 171 in which the host vehicle position display object 151 is displayed and a composite image display area 172 in which the

composite images

261 and 262 are displayed. It may be a configured.

Further, as shown in FIG. 42, the control unit 13 displays a rear image 173 on the rear side in the traveling direction 32 of the host vehicle 31 photographed by the peripheral photographing device 2 between the left composite image 261 and the right composite image 262. The parking space image 170 may be generated so as to insert the left composite image 261, the rear image 171 and the right composite image 262 together. Thus, the parking space can be presented to the driver in a display form that can be understood more intuitively.

43, the control unit 13 may generate the parking space image 180 so that a part of the parking space image 180 is displayed in a display form different from the remaining part. In the example shown in FIG. 43, a part of the parking space image 180, specifically, the host vehicle display area 182 in which the host vehicle 31 is displayed is displayed as an overhead image. In addition, areas other than the host vehicle display area 182, for example, the composite

image display areas

181 and 183 where the

composite images

261 and 262 are displayed may be displayed as two-dimensional images.

FIG. 44 is a diagram showing another example of a parking space image. In FIG. 44 (b), the horizontal axis indicates the horizontal direction X, and the vertical axis indicates the depth Y. As shown in FIG. 44, the parking space image may be combined with the overhead image and displayed. In the example shown in FIG. 44, the parking space image is displayed as a composite of the image of the host vehicle 31 shown in FIG. 44 (a) and the bird's-eye view images shown in FIGS. 44 (c) and 44 (d).

In the example shown in FIG. 44, the image of the vehicle 31 synthesized or photographed as a bird's-eye view and the stereoscopic images L4 and R4 photographed from the driver's viewpoint are displayed side by side. At this time, although the traveling area that is not the parking area is an overhead image, it is preferable that the position of the depth plane on which the overhead image is displayed is matched to the depth of the parking space.

The overhead image may be a stereoscopic image as shown in FIG. 44, y1 is the distance from the tip of the left parking space 210 on the left side of the host vehicle 31 to the tip of the fourth left vehicle L4, that is, around the parking area 212 where the fourth left vehicle L4 is parked. The width of the area 211 is shown. y2 represents the distance from the left side surface of the host vehicle 31 to the tip of the left parking space 210.

Y3 indicates the distance from the right side surface of the host vehicle 31 to the tip of the right parking space 215 on the right side of the host vehicle 31. y4 shows the distance from the front-end | tip of the right parking possible space 215 to the front-end | tip of the 4th right vehicle R4, ie, the width | variety of the area | region 216 around the parking area 217 where the 4th right vehicle R4 is parked.

Zr indicates the vehicle height of the fourth right vehicle R4. zl represents the vehicle height of the fourth left vehicle L4. za indicates the vehicle height of the host vehicle display object representing the host vehicle 31. xa indicates the vehicle width of the host vehicle display object. xw indicates the width of the travel area.

In FIG. 44, y2 is the distance from the left side surface of the host vehicle 31 to the tip of the left parking space 210, but may be half (1/2) the width of the travel area, or the host vehicle 31. The distance from the center of the vehicle to the tip of the left parking space 210 may be used. The same applies to y3.

Since the road is basically a plane, it does not have to be a stereoscopic image, but by displaying at least a part of the parking space image as an overhead image, for example, an obstacle such as a stone can be displayed in a stereoscopic manner. Can do.

FIG. 45 is a diagram illustrating an example of a parking space image when a recommended parking space exists. For example, as shown in FIG. 45, it is assumed that seven parking vehicles exist in the parking area and two parking spaces PL1 and PL2 exist.

FIG. 45 shows a display example when the second parking space PL2 is recommended. FIG. 45A is a diagram for explaining a parking situation in the parking area, and corresponds to an overhead view seen from above. The display seen from the front is shown in FIG. 45 (c), and the depth representation of the stereoscopic display is shown in FIG. 45 (b). In the example shown in FIG. 45, the recommended parking space PL2 and the adjacent parked vehicles L6 and L8 are displayed as a stereoscopic image, and the others are displayed as a planar image. That is, the area Q2 including the parking space PL2 and the adjacent parked vehicles L6 and L8 is set as a stereoscopic image display area displayed as a stereoscopic image, and the areas Q1 and Q3 other than the stereoscopic image display area Q2 are planar. A planar image display area displayed as an image is used.

FIG. 46 is a diagram showing another example of a parking space image. FIG. 46A is a diagram for explaining the state of depth display, and FIG. 46B is a diagram illustrating a display example of a recommended parking space. As shown in FIG. 46, a display object 220 indicating a vehicle may be added and displayed in the recommended parking space PL2 instead of the plane image. The display object 220 is a display object represented by a stereoscopic image, for example. By displaying the display object represented by the stereoscopic image in the recommended parking space as described above, the parking space can be presented to the driver in a display form that can be understood more intuitively. .

FIG. 47 is a diagram showing another example of a parking space image. FIG. 47A is a diagram illustrating the depths of the recommended parking spaces SL and SR, and FIG. 47B is a diagram illustrating a display example of the recommended parking spaces. As shown in FIG. 47, the display mode may be changed between a parking area on the side where a recommended parking space exists and other parking areas. In the parking space image 230 of the example shown in FIG. 47, the right parking space SR is recommended, and the right parking area 232 is displayed as a stereoscopic image with respect to the center line 233 of the display screen of the display device 4. The parking area 231 is displayed as a planar image. A display object may be used instead of the planar image.

As described above, of the left composite image 261 and the right composite image 262, the composite image on the side where the recommended parking space exists, that is, the right composite image 262, and the remaining composite image, that is, the left composite image 261 are displayed differently. By generating the parking space image 230 so as to be displayed in the form, the parking space can be presented to the driver in a display form that can be understood more intuitively.

In particular, by representing the composite image of the side where the recommended parking space exists, that is, the right composite image 262 with a stereoscopic image, it is possible to park in a display form that can be more intuitively understood by the driver. Space can be presented.

<Third Embodiment>
FIG. 48 is a block diagram showing the configuration of the parking assistance apparatus 201 according to the third embodiment of the present invention. The parking assistance device 201 includes a parking assistance display control device 10 </ b> A, a peripheral photographing device 2, a peripheral detection device 3, a display device 4, an in-vehicle LAN 5, an operation input device 6, and a travel drive device 7. The parking assistance display control device 10 </ b> A includes an image composition unit 11, a parking space determination unit 12, a control unit 13, an image output unit 14, and an automatic parking control unit 16.

The parking support display control device 10A is mounted on a moving body such as a vehicle, for example. The peripheral photographing device 2, the peripheral detection device 3, the display device 4, the in-vehicle LAN 5, the operation input device 6, and the travel drive device 7 are provided in the host vehicle on which the parking assist display control device 10A is mounted.

Since parking support apparatus 201 of the present embodiment includes the same configuration as parking support apparatus 100 of the first embodiment and parking support apparatus 200 of the second embodiment, the same configuration is used. Are denoted by the same reference numerals, and a common description is omitted. The parking assistance display control method according to another embodiment of the present invention is executed by the parking assistance display control apparatus 10A of the present embodiment.

The automatic parking control unit 16 controls the driving device 7 based on the parking space information and the parking space selection information, and executes automatic parking.

The traveling drive device 7 controls the steering wheel, brake, and accelerator of the vehicle to drive the vehicle.

FIG. 49 is a diagram showing an example of a parking space image 290 according to the third embodiment of the present invention. In the present embodiment, the parking space image 290 includes a display object 291 for selecting a parking available space. The display object 291 includes a character display area 292 for displaying characters such as “Please select a parking space”, a button 293 for selecting the left parking space SL, and a right parking space SR. Button 294. The driver selects a parking space by selecting one of the

buttons

293 and 294 in the display object 291.

Also in the present embodiment, since the parking space image 290 includes a vehicle side image, it is possible to obtain the same effects as those of the first and second embodiments described above.

The parking support display control device of the present embodiment described above is not only a navigation device that can be mounted on a vehicle, but also a parking support system constructed as a system by appropriately combining communication terminal devices, server devices, and the like. Can be applied. The communication terminal device is, for example, a PND (Portable Navigation Device) and a portable communication device having a function of communicating with a server device. The mobile communication device is, for example, a mobile phone, a smartphone, and a tablet terminal device.

As described above, when the system is constructed by appropriately combining the navigation device, the communication terminal device, and the server device, each component of the parking assistance display control device according to the present embodiment includes each device that constructs the system. It may be arranged in a distributed manner, or may be arranged concentrated on any device.

For example, the image composition unit, the parking space determination unit, and the control unit provided in the parking assistance display control device may be arranged in the server device or in a communication terminal device such as a portable communication device.

The parking assistance apparatus in the case where the image composition unit, the parking space determination unit, and the control unit provided in the parking assistance display control device described above are arranged in the server device has a configuration shown in the following fourth embodiment. . Moreover, the parking assistance apparatus in case the above-mentioned image composition part, parking space determination part, and control part are arrange | positioned at a portable communication apparatus has a structure shown in the following 5th Embodiment.

<Fourth embodiment>
FIG. 50 is a block diagram showing a configuration of a parking assistance apparatus 500 according to the fourth embodiment of the present invention. The parking assistance apparatus 500 according to the present embodiment includes an information providing apparatus 300 and a server apparatus 400. Since the parking support device 500 of the present embodiment includes the same configuration as the

parking support devices

100 and 200 of the first and second embodiments described above, the same reference numerals are used for the same configuration. In addition, a common description is omitted.

The information providing apparatus 300 is mounted on a vehicle. The information providing apparatus 300 includes an information providing apparatus main body 310, a peripheral photographing apparatus 2, a peripheral detection apparatus 3, a display apparatus 4, an in-vehicle LAN 5, and an operation input apparatus 6.

The information providing apparatus main body 310 includes an image output unit 14, an in-vehicle LAN interface 15, an in-vehicle side control unit 311, and an in-vehicle side communication unit 312. The in-vehicle side control unit 311 includes, for example, a CPU (Central Processing Unit) and a memory such as a writable RAM. The memory stores a control program. The CPU controls the image output unit 14, the in-vehicle LAN interface 15, and the in-vehicle side communication unit 312 in an integrated manner by executing a control program stored in the memory.

The server device 400 includes an image composition unit 11, a parking space determination unit 12, a server side communication unit 401, and a server side control unit 402.

The server side communication unit 401 communicates with the information providing apparatus 300. When communicating with the information providing apparatus 300, the server side communication unit 401 is configured to be able to communicate with the information providing apparatus 300 via a communication network such as the Internet, for example.

The server-side control unit 402 includes, for example, a CPU and a memory such as a writable RAM. The memory stores a control program. The CPU executes the control program stored in the memory, thereby comprehensively controlling the image composition unit 11, the parking space determination unit 12, and the server side communication unit 401.

As described above, in the present embodiment, the image composition unit 11, the parking space determination unit 12, and the server-side control unit 402 are arranged in the server device 400. Even in this arrangement, the same effects as those of the first to third embodiments can be obtained.

<Fifth embodiment>
FIG. 51 is a block diagram showing a configuration of a parking assistance apparatus 510 according to the fifth embodiment of the present invention. The parking assistance apparatus 510 according to the present embodiment includes an information providing apparatus 300 and a portable communication apparatus 410. Since the parking support device 500 of the present embodiment includes the same configuration as the parking support device 500 of the fourth embodiment described above, the same configuration is denoted by the same reference numeral and is common. Description to be omitted is omitted.

The mobile communication device 410 is realized by, for example, a mobile phone, a smartphone, or a tablet terminal device. The mobile communication device 410 includes an image composition unit 11, a parking space determination unit 12, a mobile side communication unit 411, and a mobile side control unit 412.

The mobile communication unit 411 communicates with the information providing apparatus 300. When communicating with the information providing apparatus 300, the mobile communication unit 411 is configured to be able to communicate with the information providing apparatus 300 via a communication network such as the Internet, for example. Further, when communicating with the information providing apparatus 300, the portable communication unit 411 communicates with the information providing apparatus 300 by wireless such as Bluetooth (registered trademark) or wireless LAN, which is a short-range wireless communication standard. It may be configured to be possible. Further, the mobile communication unit 411 may be configured to be able to communicate with the information providing apparatus 300 by a wired line such as a USB (Universal Serial Bus) cable or a LAN cable.

The portable side control unit 412 is constituted by, for example, a CPU and a memory such as a writable RAM. The memory stores a control program. The CPU executes the control program stored in the memory, thereby comprehensively controlling the image composition unit 11, the parking space determination unit 12, and the mobile communication unit 411.

As described above, in the present embodiment, the image composition unit 11, the parking space determination unit 12, and the portable side control unit 412 are arranged in the portable communication device 410. Even in this arrangement, the same effects as those of the first to third embodiments can be obtained.

The present invention can be freely combined with each embodiment within the scope of the invention. In addition, any component in each embodiment can be changed or omitted as appropriate.

Although the present invention has been described in detail, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention.

1, 10, 10A Parking support display control device, 2 peripheral photographing device, 3 peripheral detection device, 4 display device, 5 in-vehicle LAN, 6 operation input device, 7 travel drive device, 11 image compositing unit, 12 parking space judgment Unit, 13 control unit, 14 image output unit, 15 in-vehicle LAN interface, 16 automatic parking control unit, 21 left camera, 22 right camera, 100, 200, 201, 500, 510 parking assist device, 311 in-vehicle control unit, 312 On-vehicle side communication unit, 300 information providing device, 310 information providing device body, 400 server device, 401 server side communication unit, 402 server side control unit, 410 mobile communication device, 411 mobile side communication unit, 412 mobile side control unit.

Claims

A parking space determination unit that determines whether or not there is a parking space that can be parked around the vehicle, based on the situation around the vehicle detected by the periphery detection device;
Image information representing vehicle side images of the side of the vehicle that are sequentially photographed along a traveling direction of the vehicle by a peripheral photographing device is acquired, and the vehicle side image is acquired based on the acquired image information. An image compositing unit that generates a composite image joined along the traveling direction of the vehicle;
When the parking space determination unit determines that the parking space is present, the parking space display object indicating the position of the parking space is superimposed on the composite image generated by the image combining unit, and parking is performed. A control unit for generating a space image;
An image output unit that outputs the parking space image generated by the control unit to a display device;
The parking support display control device, wherein at least a part of the parking space image is a stereoscopically viewable stereoscopic image.
The parking space image includes a parked vehicle area where a vehicle other than the vehicle is parked,
The parking assistance display control apparatus according to claim 1, wherein the parked vehicle area is represented by the stereoscopic image.
The parking support display control device according to claim 1, wherein the parking space is represented by the stereoscopic image.
The parking support display control device according to claim 1, wherein the parking space display object is represented by the stereoscopic image.
The parking space according to claim 1, wherein the parking space image is displayed after being converted into an image viewed from a viewpoint different from a viewpoint when the vehicle side image is captured by the peripheral imaging device. Display control device for support.
Of the parking space image, a predetermined designated area is converted into an image viewed from a viewpoint different from the viewpoint when the vehicle side image is captured by the peripheral imaging device, and is displayed. The display control apparatus for parking assistance according to claim 1.
The parking space image includes a parked vehicle area where a vehicle other than the vehicle is parked,
The parking assistance display control apparatus according to claim 1, wherein the parked vehicle area is represented by a planar image visually recognized in a planar manner.
The parking space image includes a parked vehicle area where a vehicle other than the vehicle is parked,
The parking assist display control apparatus according to claim 1, wherein the parked vehicle area is displayed with emphasis as compared with other areas.
The parking control display control device according to claim 1, wherein the control unit further superimposes a vehicle position display object indicating the position of the vehicle on the composite image to generate the parking space image. .
The image composition unit, as the composite image, among the vehicle side images, a right composite image obtained by joining right side images on the right side in the traveling direction of the vehicle along the traveling direction of the vehicle, Generating a left composite image in which left side images on the left side in the direction of travel of the vehicle are joined together along the direction of travel of the vehicle;
The parking control display control according to claim 1, wherein the control unit generates the parking space image by superimposing the parking space display object on the right composite image and the left composite image, respectively. apparatus.
The control unit is configured to display the left composite image in a predetermined first display area and display the right composite image in a predetermined second display area of the display screen of the display device. The parking support display control device according to claim 10, wherein a parking space image is generated.
The control unit is configured to display the parking space so that the right composite image and the left composite image are displayed by rotating at predetermined rotation angles in opposite directions from the traveling direction of the vehicle with the position of the vehicle as a fulcrum. The display control apparatus for parking assistance according to claim 10, wherein an image is generated.
The control unit is configured to display the right composite image and the left composite image on the display screen of the display device according to a positional relationship between the vehicle and a vehicle or a parking space existing on the right and left sides in the traveling direction of the vehicle. The parking assist display control device according to claim 10, wherein the parking space image is generated so as to change a display position of the parking space.
The control unit inserts a rear image on the rear side in the traveling direction of the vehicle photographed by the peripheral photographing device between the right composite image and the left composite image, so that the right composite image and the rear The parking support display control apparatus according to claim 10, wherein the parking space image is generated so as to connect the image and the left composite image.
The parking control display control according to claim 1, wherein the control unit generates the parking space image so that a recommended parking space and a remaining area are displayed in different display forms. apparatus.
The parking support display control device according to claim 15, wherein the parking space image includes a display object represented by the stereoscopic image in the recommended parking space.
The control unit is configured to display the parking image so that a composite image on a side where a recommended parking space is present and a remaining composite image are displayed in different display forms among the right composite image and the left composite image. The display control device for parking assistance according to claim 10, wherein a space image is generated.
18. The parking assistance display control device according to claim 17, wherein the composite image on the side where the recommended parking space exists is represented by the stereoscopic image.
Obtaining image information representing a vehicle side image of the side of the vehicle that is sequentially photographed along the traveling direction of the vehicle by the peripheral photographing device;
Based on the acquired image information, generate a composite image in which the vehicle side images are joined along the traveling direction of the vehicle,
Based on the situation around the vehicle detected by the surrounding detection device, determine whether there is a parking space that can be parked around the vehicle,
When it is determined that there is a parking space, a parking space image that is a stereoscopic image that is at least partially stereoscopically visible by superimposing a parking space display object indicating the position of the parking space on the composite image. Produces
A parking assistance display control method, comprising: outputting the generated parking space image to a display device.