| 摘要 |
PROBLEM TO BE SOLVED: To prevent occurrence of impossible detection or erroneous detection in a parking assistance device for detecting a detection target around a parking space using a range-finding sensor or a camera.SOLUTION: A parking assistance device 1 includes: a range finding sensor 2 detecting a distance to an object lateral of a vehicle; and a camera 3 imaging a range at least including a lateral region of the vehicle. The range finding sensor 2 is specified to make only a single reflected wave valid. An ECU 10 of the parking assistance device 1 controls the range finding sensor 2 to sequentially detect distances and to store the distances in a memory 11 when the vehicle passes through a lateral side of a parked vehicle as a detection target. If number of the stored detected distances exceeds a predetermined number and the detected distances are equal in value, a linear edge is extracted from an image picked up by the camera 3. If the linear edge is present near the detected distance, then it is determined that a stepped portion is present in front of the vehicle, and a detection range of the range finding sensor 2 is changed to a range farther than the detected distance. It is thereby possible to detect the distance to the parked vehicle present in rear of the stepped portion. |
