Parking assist apparatus, parking assist method and program thereof

1. A parking assist apparatus comprising:

an imager provided at a vehicle that sequentially captures images;

a monitor device; and

a control unit including

a detection portion configured to detect a parking target position indicating a position of a parking-possible region for a vehicle from a captured image captured by the imager or from distance information measured by a distance measuring portion which is provided at the vehicle and which sequentially measures a distance from the vehicle to an object;

a moving amount calculation portion configured to calculate a moving amount of the vehicle from a time point when the captured image is captured or from a time point when the distance information is measured to a present time point;

a correction portion configured to calculate a corrected parking target position, the corrected parking target position correcting the detected parking target position based on the calculated moving amount;

a setting portion configured to set the corrected parking target position as a parking assist target; and

a display portion configured to display a surrounding image which represents an external environment around the vehicle from the images captured by the imager and a parking region image which indicates the parking-possible region at the corrected parking target position on the monitor device at the present time point in a manner that the surrounding image and the parking region image are superimposed on each other.

2. The parking assist apparatus according to claim 1 , wherein

after the detection portion detects a previous parking target position and later detects a present parking target position which differs from the previous parking target position,

the moving amount calculation portion calculates a first moving amount of the vehicle from the time point when the captured image for the detection of the present parking target position is captured or from the time point when the distance information for the detection of the present parking target position is measured to a time point when the parking region image is displayed, the time point when the parking region image is displayed corresponding to the present time point, and

the correction portion calculates, based on the calculated first moving amount, the corrected parking target position.

3. The parking assist apparatus according to claim 2 , wherein

after the detection portion detects the previous parking target position and before the detection portion detects the present parking target position, the moving amount calculation portion calculates a second moving amount of the vehicle from the time point when the parking region image which is obtained by the detection of the previous parking target position is displayed to the time point when the present parking region image is displayed, the time point when the present parking region image is displayed corresponding to the present time point, and

the correction portion calculates the corrected parking target position based on the calculated second moving amount, and the detection of the previous parking target position.

4. The parking assist apparatus according to claim 1 , further comprising:

a wheel speed sensor configured to detect wheel speed pulse of the vehicle and to output a sensor value, wherein

the moving amount calculation portion calculates the moving amount from the sensor value at the time point when the captured image is captured or the time point when the distance information is measured, and the sensor value at the time point when the parking region image is displayed.

5. The parking assistance apparatus according to claim 1 , wherein the surrounding image is a bird's eye image including the images captured by the imager and an image of the vehicle.

6. A parking assist apparatus comprising:

an imager provided at a vehicle that sequentially captures images;

a monitor device; and

a control unit including

a detection portion configured to detect a parking target position indicating a position of a parking-possible region for a vehicle from a captured image captured by the imager or from distance information measured by a distance measuring portion which is provided at the vehicle and sequentially measures a distance from the vehicle to an object;

a moving amount calculation portion configured to calculate a moving amount of the vehicle before the parking target position is set as the parking assist target, the moving amount calculation portion calculating the moving amount from a time point when a parking region image which is obtained by the detection of a previous parking target position is displayed to a time point when a present parking region image is displayed, after the previous parking target position is detected and before a present parking target position is detected, the time point when the present parking region image is displayed corresponding to a present time point;

a correction portion configured to calculate a corrected parking target position, the corrected parking target position correcting the detected parking target position based on the calculated moving amount;

a setting portion configured to set the corrected parking target position as a parking assist target; and

a display portion configured to display a surrounding image which represents an external environment around the vehicle from the images captured by the imager and the parking region image which indicates the parking-possible region at the corrected parking target position on the monitor at the present time point in a manner that the surrounding image and the parking region image are superimposed on each other.

7. The parking assistance apparatus according to claim 6 , wherein the surrounding image is a bird's eye image including the images captured by the imager and an image of the vehicle.

8. A parking assist method, comprising:

detecting a parking target position indicating a position of a parking-possible region for a vehicle from a captured image or from distance information, the captured image being captured by an imager which is provided at the vehicle and which sequentially captures images, the distance information being measured by a distance measuring portion which is provided at the vehicle and which sequentially measures a distance from the vehicle to an object;

calculating a moving amount of the vehicle from a time point when the captured image is captured or from a time point when the distance information is measured to a present time point

calculating a corrected parking target position, the corrected parking target position correcting the detected parking target position on based on the calculated moving amount;

setting the corrected parking target position as a parking assist target; and

displaying a surrounding image which represents an external environment around the vehicle from the images captured by the imager and a parking region image which indicates the parking-possible region at the corrected parking target position on a monitor device at the present time point in a manner that the surrounding image and the parking region image are superimposed on each other.

9. The parking assist method according to claim 8 , wherein

a previous parking target position is detected and later a present parking target position which differs from the previous parking target position is detected,

a first moving amount of the vehicle is calculated from the time point when the captured image for the detection of the present parking target position is captured or from the time point when the distance information for the detection of the present parking target position is measured to a time point when the parking region image is displayed, the time point when the parking region image is displayed corresponding to the present time point, and

the corrected parking target position is calculated based on the calculated first moving amount.

10. The parking assist method according to claim 9 , wherein

after the previous parking target position and before the present parking target position is detected, a second moving amount of the vehicle is calculated from the time point when the parking region image which is obtained by the detection of the previous parking target position is displayed to the time point when the present parking region image is displayed, the time point when the present parking region image is displayed corresponding to the present time point, and

the corrected parking target position is calculated based on the calculated second moving amount and the detection of the previous parking target position.

11. The parking assist method according to claim 8 , further comprising:

detecting a wheel speed pulse of the vehicle and outputting a sensor value, wherein

the moving amount is calculated from the sensor value at the time point when the captured image is captured or the time point when the distance information is measured, and the sensor value at the time point when the parking region image is displayed.

12. The parking assistance method according to claim 8 , wherein the surrounding image is a bird's eye image including the images captured by the imager and an image of the vehicle.

13. A non-transitory computer readable medium storing a program that provides a parking assist method, comprising:

detecting a parking target position indicating a position of a parking-possible region for a vehicle from a captured image or from distance information, the captured image being captured by an imager which is provided at the vehicle and which sequentially captures images, the distance information being measured by a distance measuring portion which is provided at the vehicle and which sequentially measures a distance from the vehicle to an object;

calculating a moving amount of the vehicle from a time point when the captured image is captured or from a time point when the distance information is measured to a present time point;

calculating a corrected parking target position, the corrected parking target position correcting the detected parking target position on based on the calculated moving amount;

setting the corrected parking target position as a parking assist target; and

displaying a surrounding image which represents an external environment around the vehicle from the images captured by the imager and a parking region image which indicates the parking-possible region at the corrected parking target position on a monitor device at the present time point in a manner that the surrounding image and the parking region image are superimposed on each other.

14. The non-transitory computer readable medium according to claim 13 , wherein the surrounding image is a bird's eye image including the images captured by the imager and an image of the vehicle.