PARKING ASSISTANCE DEVICE, VEHICLE-SIDE DEVICE FOR PARKING ASSISTANCE DEVICE, PARKING ASSISTANCE METHOD, AND PARKING ASSISTANCE PROGRAM

摘要

A parking assistance device that allows the driver of a vehicle to easily understand the relative positional relationship between the vehicle and a target parking position and to highly accurately park the vehicle at the target parking position in a parking space. A vehicle-side camera (7) captures a mark (M) in a parking space (S), a relative position calculation section (8) calculates the relative positional relationship between the vehicle and a target parking position (T), a reverse trajectory calculation section (9) calculates a predicted trajectory of movement of the vehicle based on the relative positional relationship and on a steering angle detected by a steering angle sensor (15), a parking space-side camera (3) captures the parking space (S) and sends the captured image to a vehicle-side device (1), and an image composition section (12) combines the received image of the parking space (S) captured by the parking space-side camera (3) and the predicted trajectory calculated by the reverse trajectory calculation section (9) and displays the result on a monitor (14) placed near the driver seat of the vehicle.