Parking assistance apparatus, vehicle-side apparatus of parking assistance apparatus, parking assist method, and parking assist program

Abstract

A parking assistance apparatus makes it easy for a driver to grasp a relative positional relation between a vehicle and a target parking position and makes it possible to park the vehicle at the target parking position in a parking space with accuracy. An image of a mark M in a parking space S is taken by a vehicle-side camera. A relative position calculation portioncalculates a relative positional relation between the vehicle and a target parking position T based on the taken image of the mark M. A backward locus calculation portioncalculates an expected locus when the vehicle moves based on the relative positional relation and based on a steering angle detected by a steering angle sensor. An image of the parking space S is taken by a parking-space-side cameraand transmitted to a vehicle-side apparatus. An image composition portioncomposes the image of the parking space S from the parking-space-side cameraand the expected locus calculated by the backward locus calculation portion. The composed image is displayed on the monitorlocated in the vicinity of a drivers seat of the vehicle.