Target parking position setting apparatus and vehicle provided with the same

A target parking position setting apparatus includes: image capturing means adapted for a vehicle and capturing an image of an outside of the vehicle; displaying means provided inside the vehicle and displaying an image captured by the image capturing means on a display screen; parking position display controlling means for displaying on the displaying means a mark representing a provisional target parking position by superimposing the mark on the image captured by the image capturing means, the parking position display controlling means moving a display position of the mark in response to an instruction of an operator and displaying on the display screen a moving direction indicator indicating a moving direction of the mark; and setting means for setting the display position of the mark on the image captured by the image capturing means as a target parking position in response to an instruction of the operator.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is based on and claims priority under 35 U.S.C. § 119 to Japanese Patent Application 2005-317732, filed on Oct. 31, 2005, the entire content of which is incorporated herein by reference.

FIELD OF THE INVENTION

The present invention relates to a target parking position setting apparatus, which facilitates setting a target parking position for example of a vehicle mounted with a vehicle rear movement assisting apparatus.

BACKGROUND

Drivers of vehicles, especially inexperienced drivers, are most likely to encounter difficulties in backing-in their car or parallel parking among multiple vehicle driving operations. Here, the backing-in operation represents for example a rearward movement of a vehicle for the purpose of parking the vehicle in a parking stall, a garage or the like. In the light of the foregoing, one of technologies for facilitating a vehicle driving at an event of parking is disclosed in JP2005-067565A (US2005-0049766A1). According to this technology, in a condition where a target parking frame is displayed on a display screen, and the target parking frame is set at a desired position in response to an operation of a touch panel by an operator, an electronic control unit (ECU) automatically controls steering of a vehicle so that the vehicle parks within the target parking frame.

However, according to this technology, an operation for moving the target parking frame over the display screen is not easy and setting the target parking frame is a time-consuming operation.

For example, in cases where a vehicle moves in an angled rearward direction to be parked in a parking stall, a garage or the like, an initial position, and an initial orientation of a target parking frame, which is first displayed on the display screen, affect on setting the target parking frame. For example, in order to set the target parking frame at a desired position, it is necessary to adjust a rotation angle of the target parking frame as well as vertical and lateral directions thereof. When the operator attempts to set the target parking frame at the desired position by using the display screen, an image of a rear environment of the vehicle is displayed in a planar manner, i.e., in a two-dimensional system, on the display screen. This may cause a difference between the rear environment image and the rear environment, which is visually observing with a feeling of distance. Such a difference and a reverse in the right and left direction complicate directions of the target parking frame and make it difficult to perform an operation of setting the target parking frame at the position desired by the operator.

The present invention has been made in view of the above circumstances, and provides a target parking position setting apparatus, which facilitates for an operator to understand a direction of a target parking position to be moved or rotated in response to an input operation of the operator.

SUMMARY OF THE INVENTION

According to an aspect of the present invention, a target parking position setting apparatus includes: image capturing means adapted for a vehicle and capturing an image of an outside of the vehicle; displaying means provided inside the vehicle and displaying an image captured by the image capturing means on a display screen; parking position display controlling means for displaying on the display screen a mark representing a provisional target parking position by superimposing the mark on the image captured by the image capturing means, the parking position display controlling means moving a display position of the mark in response to an instruction of an operator and displaying on the display screen a moving direction indicator indicating a moving direction of the mark; and setting means for setting the display position of the mark on the image captured by the image capturing means as a target parking position in response to an instruction of the operator.

According to anther aspect of the present invention, a vehicle includes: image capturing means adapted for a vehicle and capturing an image of an outside of the vehicle; displaying means provided inside the vehicle and displaying an image captured by the image capturing means on a display screen; parking position display controlling means for displaying on the display screen a mark representing a provisional target parking position by superimposing the mark on the image captured by the image capturing means, the parking position display controlling means moving a display position of the mark in response to an instruction of an operator and displaying on the display screen a moving direction indicator indicating a moving direction of the mark; setting means for setting the display position of the mark on the image captured by the image capturing means as a target parking position in response to an instruction of the operator; and guiding means for guiding the vehicle to the target parking position set by the setting means.

According to still another aspect of the present invention, a computer program implements the processes for: capturing an image of the outside of a vehicle by an image capturing device; displaying the image captured by the image capturing device on a display device; superimposing a mark representing a provisional target parking position of the vehicle on the captured image and displaying the mark on the displaying device; moving a display position of the mark on a display screen of the display device in response to an operation by an operator; and displaying a moving direction indicator representing a moving direction of the mark on the display screen of the display device in response to an operation by the operator.

DETAILED DESCRIPTION

A vehicle guiding apparatus provided with a target parking position setting apparatus according to an embodiment of the present invention is described herein with reference to the attached drawing figures.

FIG. 1is a block view illustrating an entire structure of a vehicle, on which a target parking position setting apparatus according to the embodiment of the present invention is mounted.FIG. 2is a circuit block view for explaining a control system of the vehicle. As illustrated inFIGS. 1 and 2, the target parking position setting apparatus includes: a rear camera1(image capturing means); a display2; an operation portion3; a steering angle sensor4; a rear-right wheel speed sensor5; a rear-left wheel speed sensor6; a steering actuator7; a loud speaker8; a reverse shift position sensor9; and an ECU (electrical control unit)10(parking position display controlling means).

The rear camera1is configured with for example a CCD camera and so on and is fixedly mounted on a vehicle100. The rear camera1captures an image of a rear environment of the vehicle100.

The display2displays the image captured by the rear camera1on a display screen2athereof. Furthermore, the display2superimposes a target parking position, which is signal-processed by the ECU10, on the information of the image captured by the rear camera1so that the target parking position is displayed on the display screen2a.

The operation portion3includes a transparent touch panel, which is arranged to lie on the display screen2aof the display2and is provided with multiple touch keys. An operator operates the operation portion3, such as inputs a target parking position, selects a parking mode, and so on, and these operations are transmitted as commands to the ECU10.

The display2and the operation portion3structure a touch panel display20(displaying means). The operation portion3can be keys, such as a cross-hair cursor key or function key, which are separated from the display2.

The steering angle sensor4is a sensor which detects a rotation angle of a steering wheel4a.

The rear-right wheel speed sensor5is mounted on a rear-right vehicle wheel5aand detects a rotation speed of the rear-right vehicle wheel5a. The rear-left wheel speed sensor6is mounted on a rear-left vehicle wheel6aand detects a rotation speed of the rear-left vehicle wheel6a.

The steering angle sensor4, the rear-right wheel speed sensor5and the rear-left wheel speed sensor6are operatively associated with the ECU10and detect a traveled distance, a current position, and an estimated position of the vehicle100. The estimated position of the vehicle100is a position after the movement of the vehicle100from the current position.

The steering actuator7automatically controls a steering of the vehicle100. More particularly, the ECU10actuates the steering actuator7to automatically control a steering of the steering wheel4auntil the vehicle100reaches the target parking position.

The loud speaker8is a device, which emits sound or a voice. When the steering actuator7is controlled by the ECU to automate a steering of the steering wheel4a, the ECU10send a signal to the loud speaker8to warn the operator of an initiation of the automatic steering and to audibly guide during the automatic steering.

The reverse shift position sensor9is a sensor which detects a position of a shift lever (not shown). The reverse shift position sensor9detects a shift operation of the shift lever to a reverse position or a shift operation in a transmission (not shown) and sends a command signal to the ECU10.

The ECU10includes: an ROM (Read Only Memory)11; a CPU (Central Processing Unit)12; and a RAM (Random Access Memory)13.

The ECU10receives a reverse signal outputted from the reverse shift position sensor9and displays an image of a rear environment of the vehicle100, which is captured by the rear camera1, on the display2.

Further, once the ECU10receives the reverse signal outputted from the reverse shift position sensor9, the ECU10activates the display2to superimpose a target parking frame, which represents a target parking position of the vehicle100, on an image of the rear environment of the vehicle100captured by the rear camera1and to display on the display screen2aboth of the image of the rear environment and the target parking frame. The ECU10further enables to move or relocate the target parking frame in response to an operation of the operator. According to the embodiment, the ECU10colors an edge of the target parking frame, which is most closely located to or corresponds to a moving direction of the target parking frame (the mark representing the provisional target parking position and the target parking position), and displays the colored edge on the display screen2aof the display2. This therefore assists the operator to recognize the moving direction of the target parking frame and to set the target parking frame on the display screen2aof the display2(setting means). The ECU10farther sets the target parking frame, which has been relocated at a desired position, as a target parking position in response to an instruction by the operator.

Meanwhile, the ECU10measures a moving distance, and a current position of the vehicle100, based upon the information transmitted from the steering angle sensor4, the rear-right wheel speed sensor5, and the rear-left wheel speed sensor6.

Further, the ECU10calculates a parking route on the basis of the measured current position of the vehicle100and the target parking frame, which has been set on the display screen2aof the display2. The ECU10then controls the steering actuator7and the loud speaker8on the basis of the parking route so that the vehicle100is parked inside of the target parking frame.

The ROM11memorizes therein programs for controlling the CPU12. The ROM11further memorizes therein a conversion program between a world coordinate system and an image coordinate system. The world coordinate system is employed to measure a current position of the vehicle100, to set a target parking position, and to guide the vehicle100to the target parking position. The image coordinate system is employed to display on the display2the target parking position.

The CPU12implements the programs stored in the ROM11for various calculations and controls.

The RAM13functions as a work area of the CPU12. Further, the RAM13memorizes therein a steering angle detected by the steering angle sensor4and an information representing a speed of the vehicle100detected by the rear-right wheel speed sensor5and the rear-left wheel speed sensor6. Still further, the RAM13memorizes therein a parking mode flag, which represents a parallel parking and a back-in parking (parking rearward).

Described below is an operation implemented by the touch panel display20with reference to the attached drawing figures.

As will be described later, once a shift lever (not shown) is operated to a reverse position or range, the ECU10controls the rear camera1to be turned on. The ECU10further controls the display2to display, on the display screen2athereof, an image captured by the rear camera1and a set-up screen for setting a parking position for a parallel parking as illustrated inFIG. 3.

More specifically, the ECU10refers to a traveling route, and a current position of the vehicle100and computes an initial value representing a target parking position of the vehicle100. The ECU10then combines a target parking frame24, which is a mark representing the provisional target parking position and the target parking position of the vehicle100, into the image captured by the rear camera1and displays such combined information on the display screen2aof the display2. Further, the ECU10controls the touch panel display20and displays on the captured image: a target position confirmation key21at a right bottom area of the display screen2a; a right and left switching key22at a left bottom area of the display screen2a; a parking mode switching key23at a right upper area of the display screen2a. The target position confirmation key21is a touch key pressed to confirm a target parking position of the vehicle100. The right and left switching key22is a touch key for repeatedly switching a displayed position of the target parking frame24between a left upper portion of the display screen2aand a right upper portion thereof. The parking mode switching key23is a touch key for repeatedly switching a parking mode of the vehicle100between a back-in parking mode and a parallel parking mode.

The target parking frame24is an image which is processed by converting a target parking position on earth to the image captured by the rear camera1of the vehicle100.

The ECU10controls the display2to display touch keys, at areas of the touch panel display20, that do not lie on the image of the target parking frame24. Those touch keys are represented as follows; an up-pointing indication key31(up-pointing indicator); a right-pointing indication key32(right-pointing indicator); a down-pointing indication key33(down-pointing indicator); and a left-pointing indication key34(left-pointing indicator). Therefore, it is possible to smoothly operate these indication keys31,32,33and34while recognizing a shifting of the image of the target parking frame24on the touch panel display20. The up-pointing indication key31is operated for shifting or moving the target parking frame24in an upward direction. The right-pointing indication key32is operated for shifting or moving the target parking frame24in a rightward direction. The down-pointing indication key33is operated for shifting or moving the target parking frame24in a downward direction. The left-pointing indication key34is operated for shifting or moving the target parking frame24in a leftward direction.

In response to pressing the parking mode switching key23, the ECU10repeatedly controls a parking mode between the parallel parking mode and the back-in parking mode.

When the back-in parking mode is selected, as illustrated inFIG. 4, a clockwise-rotation indication key35(clockwise-rotation indicator) and a counterclockwise-rotation indication key36(counterclockwise-rotation indicator) are displayed on the touch panel display20in addition to the aforementioned indication keys31,32,33and34. The clockwise-rotation indication key35is operated to rotate or move the target parking frame24in a clockwise direction. The counterclockwise-rotation indication key36is operated to rotate or move the target parking frame24in a counterclockwise direction.

The orientations of the indication keys31,32,33and34are adjusted corresponding to the orientation of the target parking frame24.

In response to pressing the clockwise-rotation indication key35, the ECU10controls the target parking frame24to rotate clockwise about a basic point24G at a front of the target parking frame24. Likewise, in response to pressing the counterclockwise-rotation indication key36, the ECU10controls the target parking frame24to rotate counterclockwise about the basic point24G of the front of the target parking frame24.

According to the embodiment, the basic point24G, which serves as an axis for rotation of the target parking frame24, is placed at a center of a front edge of the target parking frame24. Alternatively, the basic point24G can be placed at a center of the frame, a center of the rear edge of the frame, or each corner of the frame.

In response to pressing the right and left switching key22, a displayed position of the target parking frame24is repeatedly switched between the left upper area of the display screen2aand the right upper area thereof.

When any of the indication keys31,3233and34are pressed, the ECU10controls the target parking frame24to move on the display screen2ain a direction associated with the operations of the indication keys31,3233and34. Further, the ECU10displays an edge of the target parking frame24, which is most closely located to or corresponds to a moving direction, with a reaction color being different from the color of the other edges of the frame. As a result, an operator recognizes with ease in which direction the target parking frame24is moving on the display screen2a, thus shortening a time period for confirming the target parking frame.

When any of the indication keys35and36are pressed, the ECU10controls the target parking frame24to turn or rotate on the display screen2aand displays the edge of the target parking frame24, which is most closely located to or corresponds to a rotating direction, with a reaction color.

An operator presses any of the indication keys31,32,33,34,35and36and moves the target parking frame24on the display screen2a. When the target parking frame24reaches a desired target parking position, the operator presses the target position confirmation key21. The ECU10confirms, as a target parking position, a position of the target parking frame24when activating the target position confirmation key21. The ECU10then controls the steering actuator7and the loud speaker8and initiates guiding the vehicle100to the target parking position.

After confirming the target parking position, the target position confirmation key21is changed to a cancel key for canceling the vehicle guiding.

As described above, according to the embodiment, an edge of the target parking frame24, which is most closely located to or corresponds to a moving direction, is displayed with an reaction color which is different from a color of the other edges of the frame. This makes it easier for an operator to recognize an operating direction on the display screen2a, and this shortens a period of time for confirming a target parking position.

Descried below is an operation of the vehicle guiding apparatus with the above-described structure with reference to flowcharts and several views.

FIG. 5is a flowchart for explaining a reverse shift operation detecting interrupt process implemented by the ECU10.

When the CPU12of the ECU10detects, based on the result detected by the reverse shift position sensor9, a position of a shift lever at a reverse shift position/range, the CPU12initiates the reverse shift operation detecting interrupt process illustrated inFIG. 5.

In step S1, the CPU12first sets a default vale “0” as the parking mode flag in the RAM13. The parking mode flag is referred to judge whether the current parking mode is a parallel parking or a back-in parking. When the current parking mode is a parallel parking, the parking mode flag is set at “0”, while, when the current parking mode is a back-in parking, the parking mode flag is set at “1”. The default value of the parking mode flag is “0” which represents a parallel parking.

The program proceeds to step S2in which the CPU12judges the parking mode flag memorized in the RAM13.

When pressing the parking mode switching key23by an operator, this parking mode flag is repeatedly switched between “0” and “1”. This switching operation of the parking mode flag is explained with reference to the flowchart illustrated inFIG. 6.

When the CPU12detects the pressing of the parking mode switching key23, the parking mode switching key detection interrupt process of the flowchart inFIG. 6is initiated. In step S10, the CPU12judges the parking mode flag.

When the value of the parking mode flag is “0” in step S10, an affirmative answer “yes” is obtained and the program proceeds to step S11. In step S11, the CPU12sets the parking mode flag at “1”. On the other hand, when the value of the parking mode flag is “1” in step S10, a negative answer “no” is obtained and the program proceeds to step S12. In step S12, the CPU12sets the parking mode flag at “0”.

When the process in step S11or S12is completed, the program returns to step S2of the reverse shift operation detecting interrupt process inFIG. 5. In step S2, the CPU12judges the value of the parking mode flag.

When the CPU12judges that the parking mode flag is “0” representing a parallel parking in step S2, an affirmative answer “yes” is obtained and the program proceeds to step S3. In step S3, the CPU12activates the touch panel display20to display the indication keys31,32,33and34and an image of a rear environment of the vehicle100captured by the rear camera1, as illustrated inFIG. 3.

On the other hand, when the CPU12judges that the parking mode flag is “1” representing a back-in parking in step S2, a negative answer “no” is obtained and the program proceeds to step S9. In step S9, the CPU12activates the touch panel display20to display the indication keys31,32,33,34,35and36and an image of a rear environment of the vehicle100captured by the rear camera1, as illustrated inFIG. 4.

Next, the program proceeds to step S4for implementing target parking frame set and display process so that the operator can attempt setting the target parking frame24. The target parking frame set and display process is explained by the flowchart illustrated inFIG. 7.

In step S41, the CPU12performs a program in which the ROM11memorizes an initial position (a provisional position), at which the target parking frame24should be displayed on the display screen2a, in response to the parking mode. The initial position of the target parking frame24is computed in accordance with a world-coordinate system and is memorized in the RAM13. The initial position of the target parking frame24is computed in accordance with a known computing method which refers to whole length, maximum width and wheel base of the vehicle100and a steering angle immediately prior to the start of the parking operation.

In step S42, the CPU12performs a coordinate conversion program. That is, the target parking frame24depicted in a world-coordinate orientation, which was calculated by the step S41and has been memorized in the RAM13, is converted to the target parking frame24in an image-coordinate orientation. The target parking frame24in an image-coordinate orientation is superimposed on the image captured by the camera1and is displayed on the touch panel display20.

For example, a point A (X, Y, Z) plotted in the world coordinate system is transformed into a point a (x, y) plotted in the image coordinate system, i.e., on the xy-plane, in accordance with the following Formula 1 and Formula 2.

In these formulas, P indicates a projection transformation matrix of 3×4 corresponding to the display2, C indicates an inner parameter of the rear camera1, R indicates a rotational movement and T indicates a parallel movement, all of which are stored in the ROM11.

As described above, the target parking frame24, which is calculated on the world coordinate system, is transformed to the target parking frame24on the image coordinate system in accordance with the above-described formulas. The target parking frame24in the image-coordinate orientation is superimposed on the image captured by the rear camera1. The program then proceeds to step S5inFIG. 5.

In step S5, the operator visually recognizes the target parking frame24displayed in step S4and judges the necessity of adjusting or modification of the displayed position of the target parking frame24. When the modification is needed, the program proceeds to step S8in which the operator operates any of the indication keys31-36. As a result, the target parking frame24is moved and/or rotated on the display screen2a. On the other hand, when the target parking frame24is displayed at an appropriate position, the program proceeds to step S6in which the operator operates the target position confirmation key21.

In steps S5and S6, the CPU12stands ready to the next operation until the operator performs the above-described operation of the key. In step S5, when the CPU12judges that the operator has pressed any of the keys, an affirmative answer “yes” is obtained and the program proceeds to step S8. In step S8, the CPU12moves and/rotates the target parking frame24and starts a reaction color display process by which an edge of the target parking frame24is displayed with an reaction color. In this case, the edge of the target parking frame24is most closely located to or corresponds to the moving/rotating direction.

According to this reaction color display process, as illustrated inFIG. 8, the CPU12judges which direction key or keys was pressed and relocates and sets the position of the target parking frame24in response to the direction of the indication key pressed (step S80). For example, when the down-pointing indication key33is pressed by the operator, an initial target parking frame24B is moved downwardly and is relocated as a the target parking frame24, as illustrated inFIG. 13. Likewise, when the counterclockwise rotation indication key36is pressed, the initial target parking frame24B is rotated counterclockwise about the rotation center24G, as illustrated inFIG. 14. When the clockwise rotation indication key35is pressed, the initial target parking frame24B is rotated clockwise about the rotation center24G, as illustrated inFIG. 15.

Following the above operation, an edge of the target parking frame24on the image coordinate system, which is most closely located to or corresponds to the moving/rotating direction, is then displayed with a color different from the color of the other edges thereof, as illustrated inFIGS. 13,14and15.

As is illustrated inFIG. 16, in step S81, the CPU12first sets an image coordinate system by setting an x-axis arranged horizontally relative to the bottom edge of the touch panel display20and a y-axis perpendicular to the x-axis. An origin (x=0, y=0) is located at the bottom intermediate portion of the touch panel display20in this xy-plane.

In step S82, the CPU12detects four points from the coordinate information on the target parking frame24in the xy-plane.

In step S83, the CPU12judges the value of the parking mode flag.

In step S83, when the CPU12judges that the parking mode flag represents a parallel parking, an affirmative answer “yes” is obtained and the program proceeds to step S84. In steps S84, S85and S86, the CPU12more specifically identifies four points in the target parking frame24in xy-plane.

In step S84, the CPU12identifies a point from among the four points, which is most closely located to the origin (x=0, y=0) in the xy-plane, as a point A (xa, ya). In step S85, the CPU12identifies a point B. The point B is plotted at a B (xb, yb) for example. A difference between the plot point xb and the plot point xa is greater than a difference between the plot point yb and the plot point ya, on the basis of an absolute value. In step S86, the CPU12identifies a point C (xc, yc) and a point D (xd, yd) from among the other two points of the target parking frame24. A distance of the point C (xc, yc) from the origin (x=0, y=0) is smaller than the distance of the point D (xd, yd) therefrom.

In step S87, the CPU12judges if the right-pointing indication key32has been pressed.

In step S87, when the CPU12judges that the right-pointing indication key32has been pressed, an affirmative answer “yes” is obtained. The program then proceeds to step S810in which the CPU12displays an edge A-C of the target parking frame24with a color different from the color of the other edges of the target parking frame24.

In step S87, when the CPU12does not judge that the right-pointing indication key32has been pressed, a negative answer “no” is obtained. The program then proceeds to step S88in which the CPU12judges whether the left-pointing indication key34has been pressed.

In step S88, when the CPU12judges that the left-pointing indication key34has been pressed, an affirmative answer “yes” is obtained. The program then proceeds to step S811in which the CPU12displays with a reaction color an edge B-D of the target parking frame24with a color different from the color of the other edges of the target parking frame24.

In step S88, when the CPU12does not judge that the left-pointing indication key34has been pressed, a negative answer “no” is obtained. The program then proceeds to step S89in which the CPU12judges whether the up-pointing indication key31has been pressed.

In step S89, when the CPU12judges that the up-pointing indication key31has been pressed, an affirmative answer “yes” is obtained. The program then proceeds to step S812in which the CPU12displays an edge C-D of the target parking frame24with a color different from the color of the other edges of the target parking frame24.

In step S89, when the CPU12does not judge that the up-pointing indication key31has been pressed, a negative answer “no” is obtained. The program then proceeds to step S813. In step S813, the CPU12recognizes that the down-pointing indication key33has been pressed and displays an edge A-B of the target parking frame24with a color different from the color of the other edges of the target parking frame24. For example, with reference toFIG. 13, when the down-pointing indication key33is pressed, an edge40(moving direction indicator) connecting the point A and the point B of the target parking frame24is displayed with a color different from the one of the other edges thereof.

Meanwhile, in step S83, when the CPU12judges that the parking mode is a back-in parking, a negative answer “no” is obtained and the program proceeds to step S814. In step S814, the CPU12performs a back-in parking reaction color display process.

The back-in parking reaction color display process is described in detail in the flowchart illustrated inFIG. 9. The CPU12first identifies the points of the target parking frame24in steps S8141,8142and8143.

In step S8141, the CPU12identifies a point A from among the four points, which is most closely located to the y-axis. In step S8142, the CPU12identifies a point B from among the other three points, which is most closely located to the origin (x=0, y=0). In step S8143, the CPU12identifies points C (xc, yx) and D (xd, yd). The distance of the point D from the y-axis is greater than the distance of the point C from the y-axis.

In step S8144, the CPU12judges whether the clockwise-rotation indication key35has been pressed.

In step S8144, when the CPU12does not judge that the clockwise-rotation indication key35has been pressed, a negative answer “no” is obtained. The program then proceeds to step S8145in which the CPU12judges whether the right-pointing indication key32has been pressed.

In step S8144, when the CPU12judges that the clockwise-rotation indication key35has been pressed, an affirmative answer “yes” is obtained. The program then proceeds to step S8149in which the CPU12displays an edge A-C of the target parking frame24with a color different from the one of the other edges thereof, as illustrated inFIG. 15. Otherwise, when the CPU12judges in step S8145that the right-pointing indication key32has been pressed, the program proceeds to step S8149. In step S8149, the CPU12displays the edge A-C of the target parking frame24with a color different from the one of the other edges thereof, as illustrated inFIG. 15.

In step S8145, when the CPU12does not judge that the right-pointing indication key32has been pressed, a negative answer “no” is obtained. The program then proceeds to step S8146in which the CPU12judges whether the counterclockwise-rotation indication key36has been pressed.

In step S8146, when the CPU12does not judge that the counterclockwise-rotation indication key36has been pressed, a negative answer “no” is obtained. The program then proceeds to step S8147in which the CPU12judges whether the left-pointing indication key34has been pressed.

In step S8146, when the CPU12judges that the counterclockwise-rotation indication key36has been pressed, an affirmative answer “yes” is obtained. The program then proceeds to step S81410in which the CPU12displays an edge B-D of the target parking frame24with a color different from the one of the other edges thereof, as illustrated inFIG. 14Otherwise, when the CPU12judges in step S8147that the the left-pointing indication key34has been pressed, the program proceeds to step S81410. In step S81410, the CPU12displays the edge B-D of the target parking frame24with a color different from the one of the other edges thereof, as illustrated inFIG. 14.

In step S8147, when the CPU12does not judge that the left-pointing indication key34has been pressed, a negative answer “no” is obtained. The program then proceeds to step S8148in which the CPU12judges whether the up-pointing indication key31has been pressed.

In step S8148, when the CPU12judges that the up-pointing indication key31has been pressed, an affirmative answer “yes” is obtained. The program then proceeds to step S81411in which the CPU12displays an edge C-D of the target parking frame24with a color different from the one of the other edges thereof.

In step S8148, when the CPU12does not judge that the up-pointing indication key31has been pressed, a negative answer “no” is obtained. The program then proceeds to step S81412in which the CPU12displays an edge A-B of the target parking frame24with a color different from the one of the other edges thereof.

As described above, the back-in parking reaction color display process in step S814is ended and the reaction color display process in step S8is also ended. The program then shifts to the next routine.

After distinguishably displaying or highlighting an edge of the target parking frame24corresponding to the moving/rotating direction in step S8, the program returns to step S5and repeats the above-described operation. Accordingly, the target parking frame in the image-coordinate system is moved on the touch panel display20.

In step S5, when the CPU12judges that an operation for modifying the displayed position of the target parking frame24has not been inputted, a negative answer “no” is obtained and the program proceeds to step S6. In step S6, the CPU12judges whether the target position confirmation key21has been pressed by the operator.

In step S6, when the CPU12judges that the target position confirmation key21has been pressed, an affirmative answer “yes” is obtained and a vehicle guiding process is started in step S7, as illustrated inFIG. 10.

During the vehicle guiding process, the vehicle guiding is started by the sounds or voice emitted from the loud speaker8and the display on the touch panel display20.

In step S71, the CPU12audibly warns the operator of the start of the vehicle guiding. In step S72, the CPU12computes the traveled distance of the vehicle100on the basis of the information of the steering angle sensor4; the rear-right wheel speed sensor5; and the rear-left wheel speed sensor6. The traveled distance of the vehicle100is defined in a xy-plane as illustrated inFIG. 12. The CPU12computes the traveled distance or amount of the vehicle100in accordance with the formulas 3, 4 and 5 memorized in the ROM11.

The “ds” indicates a differential traveled distance and is calculated on the basis of a rotation amount of each tire detected by the rear-right wheel speed sensor5and/or the rear-left wheel speed sensor6. The “R” indicates a turning radius of the vehicle100and is obtained by the value detected by the steering angle sensor4. The “α” indicates an accumulated traveled distance of the vehicle100from a position where the parking operation was started.

In step S73, the CPU12computes a target steering amount relative to the parking route. In step S74, the CPU12controls the steering actuator7on the basis of the target steering amount calculated in step S73. Therefore, the operator can park the vehicle100in the target parking frame24by adjusting a vehicle traveling speed as needed without operating the steering wheel4a.

In step S75, the CPU12judges whether the vehicle100has reached the target parking position. The processes from step S72to S75are repeated until the vehicle100reaches the target parking position at step S75.

As described above, according to the target parking position setting apparatus of the embodiment, when the operator sets a target parking position by using the touch panel display20, the touch panel display20displays therein a moving/rotating direction of the frame24representing the target parking position. Therefore, this apparatus assists the operator to understand the moving/rotating direction of the frame24with each and facilitates an operation for setting the target parking position.

Further, the edge40(the moving direction indicator), which corresponds to the moving or rotating direction of the target parking frame24, is displayed with a color different from the color of the other edges of the target parking frame24. The moving or rotating direction of the target parking frame24becomes distinguishable on the touch panel display20. However, the present invention is not limited to the above-description. For example, an edge of the target parking frame24, which corresponds to the moving or rotating direction, can be displayed with a thicker line than others or with double lines. Alternatively, the moving or rotating direction can be visibly depicted with some other moving/rotating direction indicators such as an arrow.

In the vehicle guiding apparatus according to the above embodiment, an operator needs to operate a brake for the purpose of parking the vehicle100. However, the brake operation can be automatically controlled.

Further, it is possible to display any of the keys31-36pressed for movement or rotation of the target parking frame24distinguishably with a color different from the one of the other keys. In this case, these keys31-36act as a moving/rotation direction indicator.

According to the above embodiment, the vehicle100is automatically steered in favor of the steering actuator7. However, the target parking position can be displayed without the use of the steering actuator7.

Still further, as disclosed in JP2005-067565A, the target parking position setting apparatus can be provided with a target parking position memorizing means which memorizes a target parking position at which the vehicle100is often parked, such as a house garage and so on. The target parking position memorizing means employs one of the target parking positions memorized and sets as a target parking position as needed.

Still further, as disclosed in JP2005-067565A, the target parking position setting apparatus can determine the parking mode in a different way. For example, the target parking position setting apparatus can judge the parking mode on the basis of a locus of angle deviations of the steering angle sensor4per predetermined distance or time. When the angle deviation is equal to or less than a specific threshold value, the target parking position setting apparatus can judge that the parking mode is a parallel parking,

Still further, it is possible to perform the above-described processes by the ECU10in which a program for performing the above-described operations of the ECU10, especially the reaction color display process, is stored. For example, the ECU10can be supplied with the program which is stored in a predetermined medium or can be supplied with the program via a communication.

In the above-embodiments, the parking position display controlling means includes the ECU10, the up-pointing indication key31, the right-pointing indication key32, the down-pointing indication key33, the left-pointing indication key34, the clockwise-rotation indication key35, and the counterclockwise-rotation indication key36. The guiding means includes the ECU10, the touch panel display20, the loud speaker8and the steering actuator7.