Patent Publication Number: US-2021179086-A1

Title: Parking assisting device, parking assisting method and storage medium storing program for the parking assisting device

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application claims the foreign priority benefit under 35 § 119 of Japanese Patent Application No. 2019-225906 filed on Dec. 13, 2019, the disclosure of which is incorporated herein by reference. 
     TECHNICAL FIELD OF THE INVENTION 
     The present invention relates to a parking assisting device, a parking assisting method and a storage medium storing a program for the parking assisting device. 
     BACKGROUND OF THE INVENTION 
     There have been more and more vehicles with an automatic parking system that. is equipped with cameras and sonars to show a surrounding area of a vehicle on a display and detect an obstacle in the surrounding area to stop the vehicle and is intended to automatically park the vehicle at a designated parking position. JP2010-114618A discloses a vehicle surrounding monitoring system to display a blind area in the surrounding area of the vehicle that a driver cannot see. 
     This vehicle surrounding monitoring system is intended to produce a blind area image from images taken by a side camera of a surrounding area of the vehicle that is blind to the driver, the blind area image being an image that could be seen from a viewing point of the driver. Next, the vehicle surrounding monitoring system shows on a display a translucent vehicle image of the vehicle that could be seen from the viewing point of the driver on which a translucent tire image of a tire is superimposed. In this superimposed image, the tire can be seen turning in conjunction with an operation of a steering wheel. The driver can instantly recognize a space on each side of the vehicle by having a look at this superimposed image. 
     SUMMARY OF THE INVENTION 
     There is a top perspective view image (three-dimensional view image) for a driver to recognize a state in the surrounding area of the vehicle, the top perspective view image being an image of the vehicle seen from a viewing point located obliquely upward of the vehicle. However, JP2010-114618A does not describe an image of a surrounding area of the vehicle that is blind to the driver, the image being not seen from the top perspective view image. An objective of the present invention is to display the blind area that is blind to the driver in the top perspective view image. 
     The parking assisting device of the present invention comprising a processor that comprises a recognizing section recognizing an outer world outside a vehicle a vehicle operation control section controlling an operation of the vehicle an automatic parking control section performing a parking operation to park the vehicle at a target parking position that is determined with a predetermined measure; and a display control section producing an 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, wherein the display control section displays a vehicle body image of the vehicle and the image of the surrounding area of the vehicle on which the vehicle body image is superimposed, the vehicle body image shows a portion of the vehicle made translucent, which makes a blind area to a driver in the surrounding area of the vehicle and the portion of the vehicle made translucent is changed according to a direction in which the vehicle is running. 
     According to the present invention, the blind area to the driver can be indicated in the top perspective view image. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a block diagram to schematically show a system configuration of a parking assisting system of an embodiment of the present invention. 
         FIG. 2  shows a top plan view of a vehicle equipped with the parking assisting system of the embodiment. 
         FIG. 3  shows a configuration of a dashboard of the vehicle equipped with the parking assisting system of the embodiment. 
         FIG. 4  shows a flowchart of an automatic parking operation of the embodiment. 
         FIG. 5  is an automatic parking function screen image of the embodiment. 
         FIG. 6  is an automatic parking function screen image of the embodiment showing parking vehicle box spaces. 
         FIG. 7  is an automatic parking function screen image of the embodiment showing a selected parking vehicle box space that is emphatically indicated. 
         FIG. 8  is an automatic parking function screen image of the embodiment including an image of a vehicle running frontward. 
         FIG. 9  is an automatic parking function screen image of the embodiment including an image of a vehicle running rearward. 
         FIG. 10  is an automatic parking function screen image of the embodiment showing a vehicle having just been parked in the selected parking vehicle box space. 
         FIG. 11  is an automatic parking function screen image of the embodiment, the automatic parking function screen image being just after showing translucently a portion of a driver&#39;s vehicle is ended. 
         FIG. 12  is a rearward top perspective view image of a modified example of the embodiment, the rearward top perspective view image showing the driver&#39;s vehicle, a larger portion of which is more transparent. 
     
    
    
     DETAILED DESCRIPTION OF THE EMBODIMENT 
     Hereinafter, a parking assisting system of an embodiment of the present invention is described. The parking assisting system is intended to automatically park a driver&#39;s vehicle (that may be also referred to as “vehicle”) in a marked parking space a driver has indicated by controlling a brake system, a driving system, a transmission system and an EPS (Electric Power Steering) system. 
     During a time period from when an automatic parking is instructed to when the parking is completed, the parking assisting system takes images of a surrounding area of a vehicle, synthesizes the taken images into a top perspective view image (also referred to as “three-dimensional view image” or “image of the vehicle surrounding area”) of the vehicle and its surrounding area that are seen from a viewing point located obliquely upward of the vehicle and displays the top perspective view image. The top perspective view image includes an image of the driver&#39;s vehicle (also referred to as “driver&#39;s vehicle) for a driver to easily recognize a position of the driver&#39;s vehicle in the images of the surrounding area of the driver&#39;s vehicle. The top perspective view image shows a driver&#39;s vehicle that is partially seen translucent and further shows a portion of a road surface and an indicative object that would be blind to the driver. 
     The parking assisting system displays a top perspective view image (referred to as “frontward top perspective view image”) of a vehicle and its surrounding area that is taken from a viewing point rearward and upward of the vehicle, when the vehicle is running frontward. Since a front portion (bonnet side) of the driver&#39;s vehicle (engine hood side) is made translucent in this top perspective view image, a front area frontward of the vehicle that is blind to the driver and the driver&#39;s vehicle is passing can be seen. As a result, the front area that is blind to the driver is visible, which gives reassurance to the driver. 
     In addition, the parking assisting system displays a top perspective view image (also referred to as “rearward top perspective view image) of the vehicle and its surrounding area that are seen from a viewing point frontward and upward of the vehicle, when the vehicle is running rearward. Since a rear portion of the driver&#39;s vehicle (trunk side) is made translucent in this top perspective view image, a rear area rearward of the driver&#39;s vehicle that is blind to the driver and the driver&#39;s vehicle is passing can be seen. 
     Furthermore, the parking assisting system takes images of the surrounding area of the driver&#39;s vehicle with cameras, synthesizes the taken images into a top plan view image of the driver&#39;s vehicle and its surrounding area (referred to as “image of the surrounding area along the whole outer periphery of the driver&#39;s vehicle” or “downward view image”) that are seen from a viewing point just upward of the driver&#39;s vehicle and displays the top plan view image. The driver can recognize the state of the surrounding area, looking at the top plan view image. 
     &lt;Configuration of Parking Assisting System&gt; 
       FIG. 1  is a block diagram schematically showing a configuration of a parking assisting system  10  of an embodiment of the present invention.  FIG. 2  is a top plan view of a vehicle  200  equipped with the parking assisting system  10  of the embodiment.  FIG. 3  shows a configuration of a dashboard  290  of the vehicle  200  for the embodiment. The configuration of the parking assisting system  10  is described with reference to  FIG. 1  to  FIG. 3 . 
     As shown in  FIG. 1 , the parking assisting system  10  is configured to include an automatic parking control unit  100 , a camera group  210 , a sonar group  220 , an inertia sensor  241 , a wheel speed sensor  242 , an input device group  250 , an output device group  260 , a brake system  270 , a driving system  275 , a transmission system  280  and an EPS system  285 . The camera group  210 , the sonar group  220 , the inertia sensor  241 , the wheel speed sensor  242 , the input device group  250 , the output device group  260 , the brake system  270 , the driving system  275 , the transmission system  280  and the EPS system  285  may be wire-connected directly with an automatic parking control unit  100  or through CAN (Controller Area network) with it. 
     &lt;Configuration of Parking Assisting System: Various Sensors&gt; 
     The camera group  210  consists of plural cameras  211  to  214  that are attached to the vehicle  200 , as shown in  FIG. 2 . To be specific, the camera  211  is attached to a front side of the vehicle  200  and takes an image of a front area frontward of the vehicle  200 . The camera  213  is attached to a rear side of the vehicle  200  and takes an image of a rear area rearward of the vehicle  200 . 
     The camera  212  is attached to a tip portion of a right side mirror of the vehicle  200  and takes an image of an area on the right side of the vehicle  200 . The camera  214  is attached to a tip portion of a left side mirror of the vehicle  200  and takes an image of an area on the left side of the vehicle  200 . The cameras  212 ,  214  may be attached to other portions than the tip portions of the side mirrors and are attached preferably at such positions that the side mirrors are not seen as relatively large images in images taken by the cameras  212 ,  214 . The images taken by the cameras  211  to  214  of the surrounding area of the vehicle  200  are outputted to the automatic parking control unit  100 . These images show the road surface, other vehicle and a pedestrian (whose images are included). 
     The sonar group  220  consists of sonars  221  to  232  that are attached to the vehicle  200 , as shown in  FIG. 2 . To be specific, four sonars  221  to  224  are attached to the front side of the vehicle  200  at nearly equal intervals. The four sonars  221  to  224  detect an obstacle present frontward of the vehicle  200 . Four sonars  227  to  230  are attached to the rear side of the vehicle  200  at nearly equal intervals. The four sonars  227  to  230  detect an obstacle present real ward of the vehicle  200 . 
     In addition, a sonar  225  is attached to a front portion of a right side of the vehicle  200  and detects an obstacle in an area right-frontward of the vehicle  200  and in an area on the right side of the vehicle  200 . A sonar  226  is attached to a rear portion of a right side of the vehicle  200  and detects an obstacle in an area right-rearward of the vehicle  200  and in an area on the right side of the vehicle  200 . 
     In addition, a sonar  232  is attached to a front portion of a left side of the vehicle  200  and detects an obstacle in an area in an area left-frontward of the vehicle  200  and in an area on the left side of the vehicle  200 . A sonar  231  is attached to a rear portion of the left side of the vehicle  200  and detects an obstacle in an area left-rearward of the vehicle  200  and in an area on the left side of the vehicle  200 . 
     The sonars  225 ,  226 ,  231 ,  232  that are attached to the right and left sides of the vehicle  200  detect such an obstacle that is located a relatively short distance away from the vehicle  200  and could interfere with the vehicle  200 . Information on the obstacle detected by the sonars  221 ˜ 232  is outputted to the automatic parking control unit  100 . 
     The numbers and the positions of the aforementioned cameras and the sonars are not limited to those described above, the numbers may be increased or decreased, and the positions may be changed. However, the numbers and the positions of the aforementioned cameras and the aforementioned sonars are selected preferably in such a way that the state of the surrounding area along the whole outer periphery of the vehicle  200  can be detected. 
     Alternatively or additionally, a radar or a LIDAR (Light Detection and Ranging) may be attached to the vehicle  200 . The radar is configured to obtain information on a distribution of indicative objects including whether there is an indicative object, a distance to the indicative object and an orientation of the indicative object by emitting a radio wave and receiving the radio wave reflecting back from the indicative object. The LIDAR detects, for example, whether there is an indicative object and a distance to the indicative object by measuring a time from when a light is emitted to when a scattered light reflecting from an indicative object in comparison with the emitted light, is detected. The parking assisting system  10  may be configured to detect an indicative object with both the radar and the LIDAR. 
     The inertia sensor  241  is a sensor to detect an acceleration of the vehicle  200 . The wheel speed sensor  242  is a sensor to detect a rotation speed of each wheel of the vehicle  200 . 
     &lt;Configuration of Parking Assisting System: Input-Output Device&gt; 
     The output device group  260  (See  FIG. 1 ) is mounted on the dashboard  290  (See  FIG. 3 ) and is configured to show passengers in a vehicle compartment various pieces of information. A display device  263  is provided at a position facing a driver seat and includes several panel meters, for example, a speed-meter, a tachometer, an odometer, information on a shift position, information on whether each of illumination devices is turned on or not, and the like. A display device  284  at the right side of the dashboard  290  displays images taken by the camera  212  (See  FIG. 2 ) of an area rearward of the right side mirror and on the right side of the vehicle  200  and a lower zone on the right side of the vehicle  200 . A display device  261  at the left side of the dashboard  290  displays images taken by the camera  214  (See  FIG. 2 ) of an area rearward of the left side mirror and on the left side of the vehicle  200  and a lower zone on the left side of the vehicle  200 . 
     A display device  262  that is elongated in a vehicle width direction is a multi-information panel and is configured to show map information on an area around the vehicle  200  and a position of the vehicle  200  in the map, and traffic information (including information on a traffic light) on a road along which the vehicle  200  is currently running and a road along which the vehicle  200  is to run, and the like. In addition, the display device  262  displays a top perspective view image and a top plan view image (See  FIG. 5 ˜ FIG. 11  to be described later). 
     The output device group  260  includes a speaker for outputting sound in addition to the display devices  261 ˜ 264 . 
     The input device group  250  includes switches attached to the dashboard  290  and the steering wheel  291  (See  FIG. 3 ). The display device  262  may be a touch-panel display and may be included in the input device group  250  as well. An automatic parking switch  251  is an input device attached to the steering wheel  291 . Once a driver depresses the automatic parking switch  251 , the automatic parking control unit  100  starts an automatic parking operation (See  FIG. 4  to be described later). 
     &lt;Configuration of Parking Assisting System: Driving System&gt; 
       FIG. 1  is viewed again. The brake system  270  is a system to brake the vehicle  200 . The brake system  270  includes a brake device to brake the vehicle  200  and a brake control unit to control the brake device. 
     The driving system  275  is a system to drive the vehicle  200  to run. For instance, if the vehicle  200  is a hybrid vehicle, the driving system  275  includes a hybrid control unit in addition to an engine and a motor-generator which work as driving sources. If the vehicle  200  is a gasoline fueled automobile, its driving source is only an engine. If the vehicle  200  is an electric vehicle that may be a fuel cell vehicle, its driving source is only a motor. 
     The transmission system  280  is a system to perform a shift of the vehicle  200 . The transmission system  280  includes a transmission to perform the shift of the vehicle  200 , a transmission control unit to control the transmission and a shift lever engaging with the transmission. 
     The EPS system  285  is an electric power-steering system to assist a driver to steer the vehicle  200 . The EPS system  285  includes a steering axis to which a steering wheel  291  is attached, a driving motor to drive the steering axis to rotate and an EPS control unit to control the driving moor. The EPS system  285  is configured to assist a driver in an operation of the driver turning the steering wheel  291  to steer the vehicle  200  with the driving motor to drive the steering axis to rotate 
     &lt;Configuration of Parking Assisting System: Automatic Parking Control Unit&gt; 
     The automatic parking control unit  100  (Parking Assisting Device) comprises an ECU (Electronic Control Unit) that operates based on a control program and performs functions of a recognizing section  110 , a vehicle operation control section  120 , an automatic parking control section  130  and a display control section  140 . The control program (also referred to as “program”) is stored in the automatic parking control unit  100 . 
     The recognizing section  110  recognizes the surrounding area of the vehicle  200  (outer world) based on the images taken by the camera group  210  and the information on obstacles detected by the sonar group  220 . For instance, the recognizing section  110  recognizes (detects) a marked parking space  331  (See  FIG. 5  to be described later). The recognizing section  110  recognizes (detects) a parking position (parking vehicle box space  332  in  FIG. 6  to be described later) at which the vehicle  200  can be parked 
     The vehicle operation control section  120  is configured to control the brake system  270 , the driving system  275 , the transmission system  280  and the EPS system  285  to steer, accelerate and decelerate the vehicle  200 . The vehicle operation control section  120  controls the brake system  270 , the driving system  275 , the transmission system  280  and the EPS system  285  in such a way that the vehicle  200  runs along a target translation route outputted by the automatic parking control section  130 . 
     The automatic parking control section  130  performs the automatic parking operation (See  FIG. 4  to be described later) and controls the total parking assisting system  10 . To be specific, when the automatic parking switch  251  being depressed is detected, the automatic parking control section  130  instructs the display control section  140  to display automatic parking screen images  300 ˜ 306  (See  FIG. 5 ˜ FIG. 11  to be described later). Next, the automatic parking control section  130  instructs the recognizing section  110  to output to the display control section  140  a position of the parking vehicle box space  332  (See  FIG. 6  to be described later). The display control section  140  displays the parking vehicle box space  332  outputted by the recognizing section  110 . 
     When a driver selects a parking vehicle box space after the vehicle  200  is stopped by a brake pedal being operated (pressed down by foot), the automatic parking control section  130  calculates the target translation route for the vehicle  200  to run from the current stop position to the selected parking vehicle box space (target parking position) while getting around an obstacle. The information on the obstacle is obtained from the sonar group  220 . The automatic parking control section  130  outputs the target translation route to the vehicle operation control section  120 . The vehicle  200  is controlled by the vehicle operation control section  120  to move to the selected parking vehicle box space and stop there. Subsequently, the automatic parking control section  130  instructs the display control section  140  to end displaying the automatic parking function screen image. 
     The display control section  140  synthesizes the images taken by the camera group  210  into a top perspective view image and outputs the top perspective view image to the display device  262 . The top perspective view image may be either a top perspective view image (See “frontward top perspective view image  311 ” in  FIG. 5  to be described later) of the vehicle  200  and its surrounding area that are seen from a viewing point rearward and upward of the vehicle  200  or a top perspective view image (See “rearward top perspective view image  312 ” in  FIG. 5  to be described later) of the vehicle  200  and its surrounding area that are seen from a viewing point frontward and upward of the vehicle  200 . The display control section  140  synthesizes the images taken by the camera group  210  into a top plan view image  313  (See  FIG. 5 ˜ FIG. 11  to be described later) of the vehicle  200  and its surrounding area that are seen from a viewing point just upward of the vehicle  200  and outputs the top plan view image to the display device  262 . The display device  262  displays both the top perspective view image and the top plan view image side-by-side. 
     When the vehicle  200  is running frontward, the display control section  140  produces the frontward top perspective view of the vehicle  200  and its surrounding area that are seen from a viewing point rearward and upward of the vehicle  200  and outputs the frontward top perspective view to the display device  262 . 
     In this case, the frontward top perspective view image that the display control section  140  produces has the front portion of the vehicle  200  that is made translucent so that the front area that is blind to the driver is visible (See  FIG. 8  to be described later). 
     When the vehicle  200  is running rearward, the display control section  140  produces the rearward top perspective view of the vehicle  200  and its surrounding area that are seen from a viewing point frontward and upward of the vehicle  200  and outputs the rearward top perspective view to the display device  262 . 
     In this case, the rearward top perspective view image that the display control section  140  produces has the rear portion of the vehicle  200  that is made translucent so that the rear area that is blind to the driver is visible (See  FIG. 9  to be described later). 
     The front portion or the rear portion of the vehicle  200  is not necessarily kept translucent by the display control section  140  over a period of the whole automatic parking operation. A timing when the front portion or the rear portion of the vehicle  200  is made translucent by the display control section  140  is explained later. 
     &lt;Automatic Parking Operation&gt; 
     How to operate the parking assisting system  10  is explained before how the parking assisting system works is explained. When a driver switches on the automatic parking switch  251  (See  FIG. 3 ), the parking assisting system  10  is enabled and the automatic parking function screen image  300  (See  FIG. 5  to be described later) is displayed on the display device  262 . The parking assisting system  10  recognizes marked parking spaces, looks for and finds parking vehicle box spaces at which the vehicle  200  can be parked, and displays the automatic parking function screen image  301  (See  FIG. 6  to be described later). 
     The driver stops the vehicle  200  near a parking vehicle box space. Then, the driver touches the parking vehicle box space indicated on the screen image  301  on the display device  262  (Touch Panel Display) to select a parking vehicle box space fur the vehicle  200  to be parked. Then, the parking assisting system  10  outputs through the speaker a sound message that says “Automatic driving for parking is starting. Keep your hands off the steering wheel and put your foot off the brake pedal.” 
     When the driver hears the sound message, the driver stops operating the brake pedal (putting the foot off the brake pedal). The parking assisting system  10  drives the vehicle  200  to run to the selected parking vehicle box space, stops the vehicle  200  there and ends displaying the automatic parking function screen image. 
       FIG. 4  is a flowchart of an automatic parking operation of the embodiment. The description below on this flowchart starts with the driver looking for a parking vehicle box space in a parking area where vehicles are parked in parallel while the driver is driving the vehicle  200  to run frontward. 
     In Step S 11 , the automatic parking control section  130  has the operation proceed to Step S 12  if the automatic parking switch  251  (referred to as “Automatic Parking SW” in  FIG. 4 ) is depressed (Yes in Step S 11 ), and has the operation goes back to Step S 11  unless the automatic parking switch  251  is depressed (No in Step S 11 ). 
     In Step S 12 , the automatic parking control section  130  instructs the display control section  140  to display the automatic parking screen image. The display control section  140  produces the frontward top perspective view image and the top plan view image from the images taken by the camera group  210  and display them on the display device  262 . 
       FIG. 5  is a figure describing the automatic parking function screen image  300  of the embodiment. The frontward top perspective view image  311  and the top plan view image  313  are shown in the automatic parking function screen image  300 . Since the vehicle  200  is running frontward, the frontward top perspective view image  311  is displayed. When the vehicle  200  is running rearward, the rearward top perspective view image  312  (See  FIG. 9  to be described later) is displayed. 
     The surrounding area of the vehicle  200  imaged by the camera group  210  including the marked parking spaces  331  is shown in each of the frontward top perspective view image  311  and the top plan view image  313 . In addition, an image of the vehicle  200  that is a driver&#39;s vehicle is displayed, being superimposed on each of the frontward top perspective view image  311  and the top plan view image  313 . The driver&#39;s vehicle  321  that is partially translucent is described with reference to  FIG. 8  and  FIG. 9  to be described later. 
     In Step S 13  shown in  FIG. 4 , the automatic parking control section  130  instructs the recognizing section  110  to display the parking vehicle box spaces  332 . The recognizing section  110  recognizes the marked parking spaces  331  and looks for and detects parking vehicle box spaces  332  at which the vehicle can be parked. The recognizing section  110  outputs the position of the detected parking vehicle box spaces  332  to the display control section  140 . The display control section  140  shows the detected parking vehicle spaces  332  in each of the frontward top perspective view image  311  and the top plan view image  313 . 
       FIG. 6  is a figure describing the automatic parking function screen image  301  of the embodiment showing parking vehicle box spaces  332 . The display control section  140  outputs to the display device  262  the frontward top perspective view image  311  and the top plan view image  313 , on each of which enclosing dotted lines representing the parking vehicle box space  332  are superimposed. 
     In Step S 14  shown in  FIG. 4 , the automatic parking control section  130  has the operation proceed to Step S 15  if the brake is operated (the brake pedal is pressed down by foot, Yes in Step S 14 ) and has the operation return to Step S 13  if the brake is not operated (No in Step S 14 ). When the operation proceeds to Step S 15 , the vehicle  200  is at a stop. 
     The automatic parking control section  130  obtains information on the state of the brake from the brake system  270 . 
     In Step S 15 , the automatic parking control section  130  has the operation proceed to Step S 16  if a parking position (parking vehicle box space) is selected (Yes in Step S 15 ) and has the operation return to Step S 13  if the parking position is not selected (No in Step S 15 ). The driver can select the parking position by touching a parking vehicle box space the driver prefers from among the parking vehicle box spaces shown on the display device  262  that is a touch panel display. 
     When the parking position is selected, the automatic parking control section  130  instructs the display control section  140  to show the selected parking vehicle box space emphatically. Once instructed, the display control section  140  shows the selected parking vehicle box space emphatically. 
       FIG. 7  is a figure describing an automatic parking function screen image  302  of the embodiment showing the selected parking vehicle box space  333  that is emphatically shown. The display control section  140  makes the selected parking vehicle box space  333  an emphatically indicated area and outputs to the display device  262  the frontward top perspective view image  311  and the top plan view image  313  on each of which the selected parking vehicle box space emphatically shown is superimposed. 
     In Step S 16  shown in  FIG. 4 , the automatic parking control section  130  outputs a message for starting automatic parking. For instance, a sound message of “Automatic parking is starting. Keep your hands off the steering wheel and put your foot off the brake pedal.” is outputted from the speaker. The automatic parking control section  130  may instruct the display control section  140  to show a text message of the same content on the display device  262 . 
     In Step S 17 , the automatic parking control section  130  has the operation return to Step S 17  if the brake is being operated (the brake pedal is being pressed by foot, Yes in Step S 17 ) and has the operation proceed to Step S 18  if the brake is not operated (the brake is not pressed by foot, No in Step S 17 ). When the driver puts his or her foot off the brake pedal, the operation goes ahead to Step S 18 . 
     In Step S 18 , the automatic parking control section  130  calculates a target translation route for the vehicle  200  to run from where the vehicle  200  is at a stop to the selected parking vehicle box space  333  (See  FIG. 7 ) while getting around an obstacle. Information on the obstacle is obtained from the sonar group  220 . The automatic parking control section  130  outputs the target translation route to the vehicle operation control section  120 . 
     When receiving the target translation route, the vehicle operation control section  120  controls the brake system  270 , the driving system  275 , the transmission system  280  and the EPS system  285  to have the vehicle  200  run along the target translation route. 
     Hereinafter, the target translation route calculated in Step S 18  is explained based on an assumption that the target translation route is a route along which the vehicle  200  runs frontward with the steering wheel  291  being turned clockwise, stops temporarily at a turning back position, and runs rearward with the steering wheel being turned counterclockwise into the selected parking vehicle box space  333  (See  FIG. 7 ). 
       FIG. 8  is a figure describing the automatic parking function screen image  303  of the embodiment showing the vehicle  200  running frontward for the automatic parking. While the vehicle  200  is running frontward during the automatic parking, the display control section  140  produces the frontward top perspective view image  311  and outputs the frontward top perspective view image  311  to the display device  262 . Since the selected parking vehicle box space  333  is recognized, the frontward top perspective view image  311  and the top plan view image  313  do not show other parking vehicle box spaces  332  (See  FIG. 8 ). The top plan view image  313  shows the selected parking vehicle box space  333  that is indicated emphatically. However, the selected parking vehicle box space  333  is located rearward of the vehicle  200 , which is not included in the frontward top perspective view image  311 . 
     In the frontward top perspective view in  FIG. 8 , the vehicle  200  that is a driver&#39;s vehicle  321  overlaps partially with marked parking spaces  331 , which can be seen through the front portion of the vehicle  200  that is made translucent (These marked parking spaces  331  are defined by dotted lines in  FIG. 8 ). The front portion of the driver&#39;s vehicle  321  is shown in the frontward top perspective view image  311  in a manner that the frontward portion of the front portion (upper portion in  FIG. 8 ) is more transparent than the rearward portion of the front portion (lower portion in  FIG. 8 ). Therefore, visibility through the front portion of the vehicle  200  is better through the frontward portion than through the rearward portion (the rearward portion is more densely hatched than the frontward portion in  FIG. 8 ). 
       FIG. 9  is a figure describing the automatic parking function screen image  304  of the embodiment showing the vehicle  200  running rearward for the automatic parking. While the vehicle  200  is running rearward during the automatic parking, the display control section  140  produces the rearward top perspective view image  312  and outputs the rearward top perspective view image  312  to the display device  262 . Since the selected parking vehicle box space  333  is recognized, the rearward top perspective view image  312  and the top plan view image  313  do not show other parking vehicle box spaces  332  (See  FIG. 9 ). Both the rearward top perspective view image  312  and the top plan view image  313  show the selected parking vehicle box space  333  that is indicated emphatically. 
     In the rearward top perspective view image  312  in  FIG. 9 , though the vehicle  200  that is the drivers vehicle  321  overlaps partially with the marked parking space  331 , the marked parking space  331  and the selected parking vehicle box space  333  are seen through the rear portion of the vehicle  200  that is transparent (the overlapped marked parking space  331  is defined by dotted lines in  FIG. 9 ). The rear portion of the driver&#39;s vehicle  321  is shown in the rearward top perspective view image  312  in a manner that the rearward portion of the rear portion (upper portion in  FIG. 9 ) is more transparent than the frontward portion of the rear portion (lower portion in  FIG. 9 ). Therefore, visibility through the rear portion of the vehicle  200  is better through the rearward portion than through the frontward portion (the frontward portion is more densely hatched than the rearward portion in  FIG. 8 ). 
       FIG. 10  is a figure describing the automatic parking function screen image  305  of the embodiment showing the vehicle  200  having just been parked at the selected parking vehicle box space  333 . Since the vehicle  200  stops after running rearward, the rearward top perspective view image  312  has been produced and continues to be displayed on the display device  262 . The automatic parking at the selected parking vehicle box space  333  is completed and the selected parking vehicle box space is not shown. In this rearward top perspective view image  312 , though the vehicle that is the driver&#39;s vehicle  321  overlaps partially with a marked parking space  331 , the marked parking space  331  is seen through the rear portion of the vehicle  200  that is made transparent (the overlapped portion of the marked parking space  331  is indicated by a dotted line in  FIG. 10 ). 
     In Step S 19  shown in  FIG. 4 , the automatic parking control section  130  instructs the display control section  140  to end displaying the driver&#39;s vehicle  321  translucently. Once instructed, the display control section  140  ends displaying the vehicle  200  that is the driver&#39;s vehicle  321  translucently.  FIG. 11  is a figure describing the automatic parking function screen image  306  of the embodiment just after showing the driver&#39;s vehicle  321  translucently is ended. In this rearward top perspective view image  312 , the driver&#39;s vehicle  321  is not translucently shown and the marked parking space  331  that overlaps partially with the vehicle  200  cannot be seen. 
     In Step S 20  shown in  FIG. 4 , the automatic parking control section  130  instructs the display control section  140  to end displaying the automatic parking function screen image  306  when a predetermined time elapses after showing the driver&#39;s vehicle  321  translucently is ended in Step S 19 . 
     &lt;Features of Parking Assisting System&gt; 
     The parking assisting system  10  synthesizes the images take by the camera group  210  into the frontward top perspective view image  311  and displays the frontward top perspective view image  311  on the display device  262 , when the vehicle  200  is running frontward for the automatic parking. On the other hand, the parking assisting system  10  synthesizes the images taken by the camera group  210  into the rearward top perspective view image  312  and displays the rearward top perspective view image  312  on the display device  262 , when the vehicle  200  is running rearward&#39;fur the automatic parking. 
     The frontward top perspective view image  311  shows the driver&#39;s vehicle whose front portion is seen translucent (See  FIG. 8 ). On the other hand, the rearward top perspective view image  312  shows the driver&#39;s vehicle  321  whose rear portion is seen translucent (See  FIG. 9 ). Depending on a direction in which the driver&#39;s vehicle is running, the parking assisting system  10  is able to show translucently either the front portion or the rear portion of the driver&#39;s vehicle  321 . As a result, the parking assisting system  10  is able to show the driver the state of the surrounding area of the driver&#39;s vehicle  321  which the driver&#39;s vehicle  321  is passing and is blind to the driver and reassure the driver during the automatic parking operation. 
     MODIFIED EXAMPLE 
     The present invention should not be limited to the aforementioned embodiment. The automatic parking control unit  100  may comprise plural ECUs instead of a single ECU in the aforementioned embodiment. 
     In addition, the driver&#39;s vehicle in the top perspective view image (three-dimensional view image) is displayed translucently in the aforementioned embodiment. The top perspective view image showing the driver&#39;s vehicle translucently may be displayed not only during the automatic parking operation but also when an instruction is given to display the vehicle surrounding area image like when MVC (Multi View Camera) is enabled. 
     In the aforementioned embodiment, showing translucently the driver&#39;s vehicle is ended after the automatic parking is completed (See Step S 18  in  FIG. 4 ). However, the driver&#39;s vehicle may continue to be shown translucently. 
     In addition, the driver&#39;s vehicle is shown translucently in the embodiment aforementioned when the automatic parking function screen image  300  is displayed on the automatic parking switch  251  being depressed (See Step S 11 ˜Step S 12 ,  FIG. 5  and  FIG. 6 ). On the other hand, the driver&#39;s vehicle may be shown opaquely until the parking position is selected (corresponding to  FIG. 5  and  FIG. 6 ) and may be shown translucently after the parking position is selected in Step S 15  (corresponding to  FIG. 7 ˜ FIG. 10 ). 
     In the aforementioned embodiment, the automatic parking is started by performing a procedure of switching on the automatic parking switch (See Step S 11 ), the brake operation (See Step S 14 ), selecting the parking position and stopping the brake operation (See Step s 17 ) in this order. However, other procedure may be taken for starting the automatic parking. 
     In the aforementioned embodiment, the portion of the driver&#39;s vehicle  321  that is translucently shown, which is the front portion in the frontward top perspective view image  311  or the rear portion in the rearward top perspective view image  312 , becomes more transparent from its lower portion toward its upper portion in each of the frontward top perspective view image  311  and the rearward top perspective view image  312  (Darkness of the hatching changes in the same way among  FIG. 5 ˜ FIG. 10  (gradation)). On the other hand, there may be a difference in how the driver&#39;s vehicle is translucently shown between the frontward top perspective view image  311  and the rearward top perspective view image  312 . Since the blind area for the driver is larger on the rear side of the driver&#39;s vehicle  321 , the portion of the rear portion of the driver&#39;s vehicle  321  where transparency is relatively high is enlarged in the rearward top perspective view image  312 . 
       FIG. 12  is a figure describing a rearward top perspective view image  312 A including a rearward perspective view image of the driver&#39;s vehicle  321 A that is seen having a larger area whose transparency is high. Compared with the driver&#39;s vehicle  321  in rearward top perspective view image  312  in  FIG. 10 , the rearward perspective view image of the driver&#39;s vehicle  321 A has a larger area whose transparency is high. As a result, the blind area to the driver is displayed clearer and the driver is able to recognize the state in an area on the rear side of the vehicle  200 . 
     Looking at the rearward top perspective views of the driver&#39;s vehicles  321 ,  321 A, the transparency of their rear portions becomes stepwise higher from their lower portions toward their upper portions. There may be only a couple of transparency levels, a transparent portion and a translucent portion in each of the driver&#39;s vehicles  321 ,  321 A. There may be a difference in the size of the translucent portion between the frontward top perspective view image of the driver&#39;s vehicle (in the front portion) and the rearward top perspective view image of the driver&#39;s vehicle (in the rear portion).