US 11,697,408 B2
Parking assisting device, parking assisting method and storage medium storing program for the parking assisting device
Hiroshi Yamanaka, Wako (JP); and Yasushi Shoda, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Dec. 11, 2020, as Appl. No. 17/118,710.
Claims priority of application No. 2019-225906 (JP), filed on Dec. 13, 2019.
Prior Publication US 2021/0179086 A1, Jun. 17, 2021
Int. Cl. B60W 30/06 (2006.01); B60W 50/14 (2020.01); B60K 35/00 (2006.01)
CPC B60W 30/06 (2013.01) [B60K 35/00 (2013.01); B60W 50/14 (2013.01); B60K 2370/171 (2019.05); B60K 2370/175 (2019.05); B60K 2370/176 (2019.05); B60K 2370/21 (2019.05); B60K 2370/31 (2019.05); B60K 2370/52 (2019.05); B60R 2300/602 (2013.01); B60R 2300/605 (2013.01); B60R 2300/802 (2013.01); B60R 2300/806 (2013.01); B60W 2050/146 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A parking assisting device comprising an electronic control unit, wherein the electronic control unit is configured to:
recognize an outer world outside a vehicle;
control an operation of the vehicle;
perform a parking operation to park the vehicle at a target parking position that is determined with a predetermined measure;
produce a first image of a surrounding area of the vehicle from images taken of the surrounding area of the vehicle by an imaging device with which the vehicle is equipped; and
display a three-dimensional view image of the vehicle and its surrounding area as seen from a viewpoint, wherein
the three-dimensional view image includes a first vehicle body image of the vehicle and the first image of the surrounding area of the vehicle on which the first vehicle body image is superimposed,
the viewpoint is located rearward and obliquely upward of the vehicle when the vehicle is running frontward,
the viewpoint is located frontward and obliquely upward of the vehicle when the vehicle is running rearward,
the first vehicle body image shows a portion of the vehicle made translucent, which makes a blind area visible to a driver in the surrounding area of the vehicle,
the portion of the vehicle made translucent is changed according to a direction in which the vehicle is running,
the first vehicle body image shows a translucent front portion of the vehicle and an opaque rear portion of the vehicle when the vehicle is running frontward, and
the first vehicle body image shows a translucent rear portion of the vehicle and an opaque front portion of the vehicle when the vehicle is running rearward.