JP4650252B2 - Parking assistance device - Google Patents

Description

  The present invention relates to a parking assistance device that provides parking assistance by displaying an image of the rear of a vehicle captured by a camera mounted on the vehicle.

  Conventionally, as this type of device, there is an apparatus that captures the rear of a vehicle with an in-vehicle camera that captures the rear of the vehicle, converts the rear image of the vehicle into a bird's-eye image looking down on the ground surface from the vertical direction, and displays the image on a monitor. Yes (see, for example, Patent Document 1).

Furthermore, a region close to the vehicle that deviates from the field of view of the in-vehicle camera as the vehicle moves backward is extracted from the past image, and a synthesized image obtained by matching the image of the region outside the field of view with the bird's-eye image is synthesized on the monitor. (For example, see Patent Document 2).
Patent No. 3663801 Japanese Patent No. 3677458

  As in the device shown in Patent Document 2, a region close to the vehicle that is out of the field of view of the in-vehicle camera is extracted from the past image, and a combined image obtained by matching the image of the region outside the field of view with the bird's-eye image is synthesized. A display example when displayed on the monitor is shown in FIG. The right side in the figure is an image converted into a bird's-eye view image, and the left side image in the figure is a captured image of the in-vehicle camera. The driver can perform a parking operation while confirming the positional relationship between the entire parking frame and the host vehicle in the bird's-eye view image shown on the right side in the figure. In addition, the state behind the vehicle can be confirmed from the captured image on the left side in the figure.

  As shown in FIG. 9, the display screen of the in-vehicle display is horizontally long. Therefore, when a vertically long bird's-eye image is displayed on the vehicle-mounted display so that the entire parking frame is included, the bird's-eye image is reduced. Need to be displayed.

  However, when the bird's-eye view image including the entire parking frame is reduced and displayed on the vehicle-mounted display, the visibility is not good. According to the inventor's experiment, the visibility is improved and the operability of the parking operation is improved when the bird's eye view image is enlarged to a certain size and displayed rather than the display as shown in FIG. Was confirmed.

  However, if the bird's eye view image is enlarged and displayed, only the positional relationship between a part of the parking frame and the host vehicle can be recognized. For this reason, for example, even if the rear side of the vehicle displayed on the display screen is within the parking frame, a situation where the right tip portion or the left tip portion of the vehicle not displayed on the display screen protrudes from the parking frame is conceivable.

  The present invention has been made in view of such a problem, and an object thereof is to enable a vehicle to be parked in a parking frame without displaying the entire parking frame on a display screen.

In order to achieve the above object, the first feature of the present invention is that an image obtained by imaging the rear of the vehicle with a camera mounted on the vehicle is converted into a bird's-eye view image looking down on the ground surface from the vertical direction, and parking is performed from this bird's-eye view image. The parking frame line on the side of the parking position recognized from the bird's-eye view image, and the front position prediction unit, recognizing the position side parking frame line and predicting the positions of the left and right front ends of the vehicle after a predetermined reference time Based on the position of the left and right front end portions of the vehicle predicted by the above, it is determined whether the left and right front end portions of the vehicle protrude from the parking frame line, and the rear end portion of the vehicle and the parking frame behind the vehicle are determined based on the bird's-eye view image. displays an enlarged bird's-eye image, if the right and left front end portion of the vehicle is determined to protrude from the parking frame line is to broadcast from the notification means that the left and right front end portion of the vehicle protrude from the parking frame line.

In such a configuration, the parking frame lines of the parking position side recognized from the bird's-eye image, based on the positions of the left and right front end portion of the vehicle after the reference predicted time, the left and right front end portion of the vehicle protrude from the parking frame line If it is determined whether or not a bird's-eye view image in which the rear end portion of the vehicle and the parking frame behind the vehicle are enlarged is displayed based on the bird's-eye view image, and the left and right tip portions of the vehicle protrude from the parking frame line, Since the notifying means informs that the left and right front end portions protrude from the parking frame line, the vehicle can be parked in the parking frame without displaying the entire parking frame on the display screen.

  Further, the second feature of the present invention is that a straight line on the side of the parking position is detected from the bird's-eye view image, and it is determined whether or not the detected straight line on the side of the parking position is continuously detected for a predetermined reference number of times. When it is determined that the straight line on the side of the parking position has been continuously detected for a predetermined reference number or more, the straight line on the side of the parking position is recognized as a parking frame line on the side of the parking position. .

  Thus, when it is determined that the straight line on the side of the parking position has been continuously detected for a predetermined reference number or more, the straight line on the side of the parking position is determined as the parking frame line on the side of the parking position. Therefore, it is possible to reduce detection errors of straight lines on the side of the parking position.

In addition, the third feature of the present invention is that the movement trajectory of the left and right front ends of the vehicle when the vehicle moves backward is predicted, the movement amount of the vehicle after a certain time is calculated from the vehicle speed, and the predicted movement trajectory is calculated. calculated by predicting the positions of the left and right front end portion of the vehicle after a predetermined time from the amount of movement of the vehicle after a predetermined time, the determination means includes a parking space lines recognized parking position side by the parking frame line recognition means and, Based on the positions of the left and right front ends of the vehicle after a predetermined time predicted by the front end position predicting means, it is determined whether or not the left and right front ends of the vehicle protrude from the parking frame line after a predetermined time. When it is determined by the means that the left and right front ends of the vehicle protrude from the parking frame line after a predetermined time, the notification means notifies that the left and right front ends of the vehicle protrude from the parking frame line .

  Thus, since the positions of the left and right tip portions of the vehicle are predicted based on the speed of the vehicle, when the vehicle speed is high, it is possible to notify the user at an earlier timing than when the speed is low. .

  The structure of the parking assistance apparatus which concerns on 1st Embodiment of this invention is shown in FIG. As shown in the figure, the parking assist device is disposed on the dashboard of an in-vehicle camera (for example, a CCD camera) 1 serving as a photographing means disposed on the rear portion of the vehicle 10 so as to photograph an obliquely downward view. A vehicle-mounted display (for example, a color liquid crystal display) 3 serving as a display means, and a microcomputer including a CPU, an internal memory, and the like are included as main parts, and based on photographed image data obtained by photographing with the vehicle-mounted camera 1. And a data processing unit 5 for generating display image data used for actual display. The in-vehicle camera 1 of the parking assist device is attached so that the front-rear direction of the vehicle 10 is the vertical direction of the captured image and the rear of the vehicle 10 is the lower side of the captured image.

  The data processing unit 5 includes a gyro sensor that outputs a signal indicating the rotation angle of the vehicle 10, a wheel speed sensor that outputs a signal corresponding to the speed of the vehicle 10, a steering sensor that outputs a signal corresponding to the steering wheel angle, Various signals are input from a shift position detection switch (not shown) that outputs a signal corresponding to the shift position of the shift lever.

  The data processing unit 5 has an image memory (not shown). Image data is output from the image memory to the in-vehicle display 3 in accordance with the drawing of the image to the image memory.

  The internal memory of the data processing unit 5 stores vehicle parameters (to be described later with reference to FIG. 3) for specifying the dimensions of each part of the vehicle. The vehicle parameters stored in the internal memory of the data processing unit 5 include the vehicle length a, the length b from the vehicle front end to the front wheel, the wheel base length c representing the length of the front wheel and the rear wheel, and the rear wheel to the vehicle rear end. Length t, vehicle width e, tread length f representing the length between the left and right wheels.

  The in-vehicle display 3 in the present embodiment is a 7-inch, 16: 9 wide type. The parking assist apparatus displays the bird's-eye view image of the area shown in FIG. That is, a bird's-eye view image of an area including 1.2 meters of the rear end of the vehicle within a range of 6 meters behind the vehicle and 10 meters in the vehicle width direction is displayed on the vehicle-mounted display 3 in full screen. This display area has been confirmed by the inventor's experiment as having good visibility and the easiest parking operation.

  In addition, the area | region below the boundary line A in a figure is the bird's-eye view image coordinate-transformed by the process similar to the apparatus shown in patent document 1 mentioned later, and the area | region above the boundary line A is patent document 2 4 is a composite image of the out-of-view area of the in-vehicle camera 1 generated by the same processing as the apparatus shown in FIG. The own vehicle position F is an image in which the planar image data of the vehicle 10 from the viewpoint from directly above is displayed at the fixed position in correspondence with the fixed position of the own vehicle in the bird's-eye view image. Since the background color is different between the upper side and the lower side of the boundary line A, the boundary line A is displayed as a line.

  Next, processing of the data processing unit 5 will be described with reference to FIG. This process is started when the ignition switch is turned on and power is supplied from the battery.

  When this process is started, first, it is determined whether or not the shift lever is set to a reverse (REV) position indicating reverse travel (S100). This shift position can be detected by a signal from a shift position detection switch (not shown).

  If the shift lever is not in the reverse position, the determination in S100 is repeated. Also, if the shift lever is in the reverse position, the photographed image data is taken from the in-vehicle camera 1, and coordinate conversion is performed on the photographed image data looking down on the ground surface from behind, thereby looking down on the ground surface from the vertical direction. Converted image data representing a bird's eye view image is generated (S102). In addition, a process of combining the plane image data of the vehicle 10 with the viewpoint from directly above prepared in advance corresponding to the fixed position of the own vehicle in the bird's-eye view image so as to be always displayed at the fixed position is also performed.

  A process for converting a captured image from the in-vehicle camera 1 into converted image data and a process for synthesizing the planar image data of the vehicle 10 from a viewpoint from directly above so as to be always displayed at a fixed position are disclosed in Patent Document 1 of Background Art. Is described in detail in the patent gazette shown in FIG.

  Next, the converted image data generated in the previous S102 is compared with the peripheral image data being displayed on the in-vehicle display 3, and an area close to the vehicle that is outside the field of view of the in-vehicle camera 1 due to the backward movement of the vehicle 10 is determined. A composite image extracted from the past image and synthesized by matching the image of the region outside the field of view with the bird's-eye view image is drawn in the image memory (S104).

  The processing for synthesizing the out-of-view area by matching the added area outside the field of view of the in-vehicle camera 1 with the converted image is also described in detail in the patent publication shown in Patent Document 2 of the background art. Then, the explanation is omitted. In the process shown in S102, the image of the entire parking frame is out of the field of view of the in-vehicle camera 1 when the vehicle moves backward and fits in the parking frame. Since the entire image of the entire parking frame is synthesized from the (past image), it is possible to display a bird's-eye view image including the entire parking frame even when the vehicle moves backward and fits in the parking frame.

  When the composite image is drawn in the image memory in S104, the image shown in FIG. A composite image obtained by combining the image of the out-of-view area and the planar image of the vehicle 10 from the viewpoint from directly above the bird's-eye view image behind the vehicle 10 is enlarged and displayed. The area below the boundary line A in the figure is a bird's-eye view image that has undergone coordinate conversion by the process of S102, and the area above the boundary line A is an out-of-view area of the in-vehicle camera 1 generated by the process of S104. It is a composite image.

  Next, a vehicle movement amount is calculated based on each signal input from the gyro sensor and the wheel speed sensor (S106). Specifically, the amount of vehicle movement along the movement locus is calculated from a signal indicating the rotation angle of the vehicle 10 input from the gyro sensor and a signal corresponding to the speed of the vehicle 10 input from the wheel speed sensor. Note that when the vehicle 10 moves backward while turning by a steering operation, the movement trajectory of the front wheels is arcuate, so the arcuate vehicle movement amount along the movement trajectory is calculated from the rotation angle and speed of the vehicle 10. ing.

  Next, it is determined whether or not the calculated vehicle movement amount is equal to or greater than a preset reference distance (for example, 10 centimeters) (S108). Here, the amount of vehicle movement is calculated based on the point where the shift lever is in the reverse position.

  When the vehicle 10 moves rearward and the amount of vehicle movement is less than the reference distance, the determination in S108 is NO and the processes in S100 to S106 are repeated. Therefore, the image displayed on the in-vehicle display 3 is always updated to the latest one.

  If the amount of vehicle movement is greater than or equal to the reference distance, the determination in S108 is YES, and then it is determined whether or not the parking frame has been determined (S110). In addition, since determination of a parking frame is performed by the step of subsequent S116, it demonstrates here that a parking frame has not been determined.

  Next, a straight line detection process for detecting a straight line on the side of the parking position is performed (S112). Specifically, the color composite image data generated in S102 and S104 is converted into a monochrome image as shown on the left side of FIG. 5, and the process of first-order differentiation in the horizontal direction is repeated from the top to the bottom of the image, as shown in FIG. As shown on the right side, a straight edge on the side of the parking position of the parking frame line indicating the parking position is detected. Note that edge detection by primary differentiation can be performed, for example, by image processing using a Sobel filter. Then, a straight line is detected from the detected plurality of edges (a set of points) using Hough transform or the like. In the present embodiment, as shown in FIG. 6, a straight line C with a parallelism up to ± 20 degrees is detected only in the detection area B set in advance with the own vehicle 10 as a reference. The detection of the straight line C is performed not only in the range of the display area D of the in-vehicle display 3 but also in the drawing range in the image memory.

  In the present embodiment, straight line detection is performed only in the horizontal direction, thereby reducing the processing load on the data processing unit 5 and efficiently detecting straight lines. Further, as shown in FIG. 6, by detecting the straight line C by limiting the detection area, the processing load of the data processing unit 5 is reduced and the straight line is efficiently detected.

  Next, it is determined whether or not a straight line is continuously detected a predetermined number of times (for example, five times) or more by the straight line detection process (S114).

  Here, when the straight line is not continuously detected more than a predetermined number of times, the determination in S114 is NO, and the processes of S100 to S112 are repeated. In addition, although it demonstrated as what calculates vehicle movement amount on the basis of the point where the shift lever was made into the reverse position in previous S106, when it determines with vehicle movement amount being more than a reference distance in S108, the point Recalculate the amount of vehicle movement with reference to. Thus, every time the vehicle 10 moves the reference distance, the vehicle movement amount is calculated while changing the reference point. Therefore, every time the vehicle 10 moves a reference distance (for example, 10 centimeters), the straight line detection process of S112 is performed.

  Moreover, when a straight line is continuously detected a predetermined number of times, the determination in S114 is YES, and then a parking frame determination process is performed (S116). Specifically, the detected average value of the predetermined number of straight lines is determined as a parking frame line on the side of the parking position, and information indicating that the parking frame line has been determined is stored in the internal memory.

  In this way, when a straight line is continuously detected a predetermined number of times (for example, 5 times) or more, the detected straight line is determined as a parking frame line on the side of the parking position, thereby detecting a parking frame line detection error. I try to reduce it.

  Next, based on the steering angle of the vehicle 10 and various vehicle parameters stored in the internal memory of the data processing unit 5, the movement trajectory of the left and right tip portions of the vehicle 10 is predicted (S118). Specifically, first, as shown in FIG. 7, the image generated in S <b> 102 and S <b> 104, that is, the bird's-eye view image behind the vehicle 10, is synthesized with the planar image of the vehicle 10 from the out-of-view area and the viewpoint from directly above. The vehicle outer shape based on various vehicle parameters stored in the internal memory of the data processing unit 5 is matched with the vehicle position of the image thus obtained. Next, the tire angle θ is calculated from the steering wheel angle of the vehicle 10. Specifically, the steering wheel angle ρ is obtained based on a signal from the steering sensor, and the tire angle θ is calculated by multiplying the steering wheel angle ρ by a predetermined constant K. For example, when the steering wheel angle is 540 degrees (one half rotation of the steering wheel) and the constant K = 0.11, the steering wheel angle ρ and the constant K are multiplied to obtain the tire angle θ≈60 degrees. Next, as shown in FIG. 7, at an intersection M where the axles of the front wheels W1 and W2 and the vehicle center line direction of the vehicle 10 intersect, a direction orthogonal to the direction of the front wheels W1 and W2, that is, the rear direction of the vehicle 10 Then, an extension line extending in the direction corresponding to the tire angle θ is generated, and a vehicle rotation center O where the extension line and an extension line extending the axles of the rear wheels W3 and W4 intersect is obtained. Note that the left and right tip portions L0 and L1 move on arcs around the vehicle rotation center O, respectively.

(1) Movement Trajectory of Left Tip Part L0 The left tip part L0 moves on an arc-shaped trajectory centered on the vehicle rotation center O and having a radius R between the vehicle rotation center O and the left tip part L0. . The radius R is expressed by Equation 1.

（２）右先端部分Ｒ０の移動軌跡
右先端部分Ｌ０は、車両回転中心Ｏを中心とし、車両回転中心Ｏと右先端部分Ｒ０との長さを半径Ｒとする円弧状の軌跡上を移動する。なお、半径Ｒは、数式２によって表される。

(2) Trajectory of movement of the right tip portion R0 The right tip portion L0 moves on an arc-shaped track centered on the vehicle rotation center O and having a radius R between the vehicle rotation center O and the right tip portion R0. . The radius R is expressed by Equation 2.

次に、車速に基づいて予め定められた基準時間（例えば、１秒）後の移動量を算出する（Ｓ１１９）。なお、車速は、車輪速センサからの信号により検出することができる。具体的には、車速と基準時間を乗算して基準時間後の移動量を算出する。

Next, a movement amount after a predetermined reference time (for example, 1 second) based on the vehicle speed is calculated (S119). The vehicle speed can be detected by a signal from a wheel speed sensor. Specifically, the amount of movement after the reference time is calculated by multiplying the vehicle speed and the reference time.

  Next, the positions of the left and right front end portions L0 and R0 of the vehicle 10 after the reference time are predicted (S120). Specifically, the positions of the left and right tip portions L0 and R0 of the vehicle 10 after the reference time from the movement trajectory of the left and right tip portions L0 and R0 of the vehicle 10 predicted at S118 and the movement amount after the reference time calculated at S119. (Indicated by L1 and R1 in the figure) is predicted.

  Next, it is determined whether or not the vehicle 10 protrudes from the parking frame (S122). Specifically, as shown in FIG. 7, the parking frame line on the side of the parking position is virtually extended forward of the vehicle 10, and this extended line (shown by E in the figure) is the vehicle 10 after the reference time. Whether or not the vehicle 10 protrudes from the parking frame is determined based on whether or not the positions of the left and right tip portions L1 and R1 straddle.

  If the positions of the left and right tip portions L1 and R1 of the vehicle 10 after the reference time cross the extension line E, the determination in S122 is YES, and then warns that the vehicle 10 protrudes from the parking position (S124). Specifically, a message “Please pay attention to the front of the vehicle” is displayed on the in-vehicle display 3 and a sound such as “Please pay attention to the front of the vehicle” is generated from the speaker, and the process returns to S100.

  If the positions of the left and right tip portions L1 and R1 of the vehicle 10 after the reference time do not cross the extension line E, the process returns to S100 without warning.

  Moreover, once a parking frame line is determined in S116, the determination in S110 is YES from the next time, and next, a process of calculating the relative position between the determined parking frame line on the side of the parking position and the vehicle 10 is performed ( S126).

  FIG. 8 schematically shows how the parking frame line on the left side of the parking position relatively moves as the vehicle 10 turns. As the vehicle 10 turns (rotates), the parking frame line rotates about the vehicle rotation center O obtained in S118. Further, the amount of movement of the parking frame line is determined by the rotation angle θ ′ of the vehicle 10. That is, when the vehicle rotation center O is the origin (0, 0) and the rotation angle of the vehicle 10 is θ ′, the coordinates (X ′, Y ′) after rotation of the coordinates (X, Y) on the parking frame line are ( X ′, Y ′) = (X · cos θ ′ + Y · sin θ ′, −X · sin θ ′ + Y · cos θ). In this way, the relative position between the parking frame line on the side of the parking position and the vehicle 10 is calculated, and the relative position between the parking frame line on the side of the vehicle 10 and the parking position is corrected. Thus, by correcting the parking frame line on the side of the vehicle 10 and the parking position, the position of the parking frame line on the side of the parking position is updated, and the process proceeds to S118.

  Although not shown, when it is determined that the shift lever has been moved from the reverse position to another position (for example, the drive position) after guiding the direction in which the steering wheel operation should be rotated in S124, drawing data to the image memory and The information indicating that the parking frame line stored in the internal memory is determined is deleted, and the determination in S100 is repeated.

  According to the configuration described above, an image obtained by imaging the rear of the vehicle with a camera mounted on the vehicle is converted into a bird's-eye view image looking down on the ground surface from the vertical direction, and a parking frame line on the side of the parking position is recognized from this bird's-eye view image. In addition, the position of the left and right front ends of the vehicle after a predetermined reference time is predicted, the parking frame line on the side of the parking position recognized from the bird's-eye view image, and the left and right front ends of the vehicle after the predicted reference time. Based on the position, it is determined whether or not the vehicle protrudes from the parking frame line. When it is determined that the vehicle protrudes from the parking frame line, the user is notified from the notification means, so the entire parking frame is not displayed on the display screen. However, the vehicle can be parked in the parking frame.

  In addition, when it is determined in S114 that the straight line on the side of the parking position has been continuously detected for a predetermined reference number or more, the detected straight line on the side of the parking position is used as the parking frame line on the side of the parking position. Therefore, it is possible to reduce detection errors of straight lines on the side of the parking position.

  Further, in S119 and S120, the positions of the left and right front ends of the vehicle after a predetermined reference time are predicted based on the vehicle speed. Therefore, when the vehicle speed is high, the timing is earlier than when the speed is low. It is possible to notify the user.

  In addition, this invention is not limited to the said embodiment, Based on the meaning of this invention, it can implement with a various form.

  For example, in the above-described embodiment, an example in which a sound such as “please pay attention to the front of the vehicle” is generated from the speaker in S124, but a warning may be generated by generating a beep sound from the speaker, for example.

  Moreover, in the said embodiment, although the example which detects the parking frame line of a parking position side from the synthesized image data produced | generated by S102 and S104 was shown in S112, for example, it parks only from the bird's-eye view image data shown in S112. You may make it detect the parking frame line of a position side.

  In addition, the process of each step of the flowchart shown in FIG. 3 is grasped as a means for realizing each function, and the data processing unit 5 is configured by software as shown in the above-described embodiment. It is not limited to this, and may be configured by hardware.

The correspondence relationship between the configuration in the above embodiment and the configuration of the claims will be described. The in-vehicle camera 1 corresponds to the imaging unit, S102 corresponds to the image conversion unit, and S112 corresponds to the straight line detection unit. , S112, S114, and S116 correspond to parking frame line recognition means, S118 to S120 correspond to tip position prediction means, S122 corresponds to determination means, the in-vehicle display 3 and the speaker correspond to notification means, and S124. S112 corresponds to the straight line detection means, S114 corresponds to the straight line detection determination means, S118 corresponds to the movement trajectory prediction means, and S119 corresponds to the movement amount calculation means.

It is a figure which shows the structure of the parking assistance apparatus which concerns on one Embodiment of this invention. It is a figure for demonstrating the display to the vehicle-mounted display of this parking assistance apparatus. It is a figure which shows the process of the data processing part of this parking assistance apparatus. It is a figure which shows the example of a display of the vehicle-mounted display of this parking assistance apparatus. It is a figure for demonstrating the edge detection of a straight line detection process. It is a figure for demonstrating a straight line detection process. It is a figure for demonstrating the process which estimates the movement locus | trajectory of the left-right front-end | tip part of a vehicle. It is the figure which showed typically a mode that the parking frame line of a parking position side moved relatively with the movement of a vehicle. It is a figure for demonstrating a subject.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Car-mounted camera, 3 ... Car-mounted display, 5 ... Data processing part, 10 ... Vehicle.

Claims (3)

Imaging means for imaging the rear of the vehicle with a camera mounted on the vehicle;
Image conversion means for converting the image captured by the imaging means into a bird's-eye view representing a bird's-eye view looking down on the ground surface from the vertical direction;
Recognizing the parking frame line recognition means the parking frame lines of the parking position side from the converted the bird's-eye image by the previous SL image converting means,
Tip position prediction means for predicting the positions of the left and right tip portions of the vehicle after a predetermined reference time;
Wherein said recognized by the parking frame line recognition means and the parking position side of the parking frame line, on the basis of the positions of the left and right front end of the vehicle predicted by the tip position prediction means, the left and right front end of the vehicle the Determining means for determining whether or not to protrude from the parking frame line;
Based on the bird's-eye image converted by the image conversion means, a rear-view image in which the rear end portion of the vehicle and the parking frame at the rear of the vehicle are enlarged is displayed, and the left and right tip portions of the vehicle are A parking support device comprising: a notification control means for notifying from the notification means that the left and right front ends of the vehicle protrude from the parking frame line when it is determined that the vehicle protrudes from the parking frame line. The parking frame line recognition means includes a straight line detection means for detecting a straight line on the side of the parking position from the bird's-eye view image converted by the image conversion means,
A straight line detection determination means for determining whether or not the straight line on the side of the parking position is continuously detected by a predetermined reference number or more by the straight line detection means;
The straight line on the side of the parking position detected by the straight line detection means when it is determined by the straight line detection determination means that the straight line on the side of the parking position has been continuously detected for a predetermined reference number or more. The parking assist apparatus according to claim 1, wherein the parking position line is recognized as a parking frame line on the side of the parking position. The tip position prediction means predicts a movement locus of left and right tip portions of the vehicle when the vehicle is retreated,
A moving amount calculating means for calculating a moving amount of the vehicle after a certain time from the speed of the vehicle,
Predicting the positions of the left and right front end portions of the vehicle after the predetermined time from the movement locus predicted by the movement locus prediction means and the movement amount of the vehicle after the predetermined time calculated by the movement amount calculation means ;
The determination means is based on the parking frame line on the side of the parking position recognized by the parking frame line recognition means, and the positions of the left and right tip portions of the vehicle after the predetermined time predicted by the tip position prediction means. Determining whether the left and right front ends of the vehicle protrude from the parking frame line after the predetermined time,
The notification control means notifies that the right and left front ends of the vehicle protrude from the parking frame line when the determination means determines that the left and right front ends of the vehicle protrude from the parking frame line after the predetermined time. parking assist apparatus according to claim 1 or 2, characterized in that broadcast from.

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