Parking assistance device, parking assistance method, and non-transitory computer readable medium

1. A control method of a driving assistance device configured to be mounted in a vehicle, the method comprising:

receiving a first ambient image of the vehicle, the first ambient image captured by at least one camera mounted in the vehicle;

displaying a first image on a screen of a display mounted in the vehicle, at least a part of the first image corresponding to the first ambient image, the first image including a vehicle image indicating the vehicle, a first line segment, and a second line segment, the first line segment having a first end point and a second end point, the first line segment arranged along a forward traveling direction of the vehicle image on the first image, the first end point being farther from the vehicle image than the second end point on the first image, the second line segment having a third end point and a fourth end point, the second line segment arranged along the forward traveling direction of the vehicle image on the first image, the third end point being farther from the vehicle than the fourth end point on the first image, and the first line segment and the second line segment having a first distance between the first end point and the third end point on the first image, when a steering angle of the vehicle equals to a first angle from a reference angle;

receiving a second ambient image of the vehicle, the second ambient image captured by the at least one camera mounted in the vehicle; and

displaying a second image on the screen of the display mounted in the vehicle, at least a part of the second image corresponding to the second ambient image, the second image including the vehicle image, a third line segment, and a fourth line segment, the third line segment having a fifth end point and a sixth end point, the third line segment arranged along the forward traveling direction of the vehicle image on the second image, the fifth end point being farther from the vehicle image than the sixth end point on the second image, the fourth line segment having a seventh end point and a eighth end point, the fourth line segment arranged along the forward traveling direction of the vehicle image on the second image, the seventh end point being farther from the vehicle than the eighth end point, and the third line segment and the fourth line segment having a second distance between the fifth end point and the seventh end point on the second image, when the steering angle of the vehicle equals to a second angle from the reference angle, the second distance being greater than the first distance, when the steering angle of the vehicle equals to the second angle from the reference angle.

2. The control method of the driving assistance device according to claim 1 , wherein the reference angle corresponds to a neutral state of the steering wheel directing the vehicle to travel in a straight line.

3. The control method of the driving assistance device according to claim 1 , wherein

the displaying of the first image includes displaying, on the screen, the first image with a first steering angle indicator indicating the first angle,

the displaying of the second image includes displaying, on the screen, the second image with a second steering angle indicator indicating the second angle.

4. The control method of the driving assistance device according to claim 1 , wherein

the displaying of the first image includes displaying the first image of the vehicle on the screen, when the steering angle of the vehicle equals to the first angle, while the vehicle is traveling from a parking start position to a target parking position, and

the displaying of the second image includes displaying the second image of the vehicle on the screen, when the steering angle of the vehicle equals to the second angle, while the vehicle is traveling from the parking start position to the target parking position.

5. The control method of the driving assistance device according to claim 1 , further comprising:

receiving a third ambient image of the vehicle, the third ambient image captured by at least one camera mounted in the vehicle;

displaying a third image on a screen, at least a part of the third image corresponding to the third ambient image, the third image including the vehicle image, a fifth line segment, and a sixth line segment, the fifth line segment having a ninth end point and a tenth end point, the fifth line segment arranged along the forward traveling direction of the vehicle image on the third image, the ninth end point being farther from the vehicle than the tenth end point, the sixth line segment having an eleventh end point and a twelfth end point, the sixth line segment arranged along the forward traveling direction of the vehicle image on the third image, the eleventh end point being farther from the vehicle than the twelfth end point, and the fifth line segment and the sixth line segment having a third distance between the ninth end point and the eleventh end point when the steering angle of the vehicle equals to a third angle from the reference angle; and

changing the third distance based on a change in the steering angle of the vehicle.

6. The control method of the driving assistance device according to claim 5 , wherein when a difference between the steering angle of the vehicle and the reference angle increases in a clockwise direction, the third distance becomes longer rightward facing one longitudinal direction of the vehicle image, on third image.

7. The control method of the driving assistance device according to claim 1 , further comprising displaying a seventh line segment between the first end point and the third end point.