| 摘要 |
PROBLEM TO BE SOLVED: To provide a parking space detection device which can detect a parking space with high precision even when an obstacle structuring a side surface of the parking space has a non-linear shape.SOLUTION: A contour point (a reflection point) of an obstacle adjacent to a parking space is detected by using a range finder during parking operation (S12-S14). A side surface assumed range of the obstacle is set on the basis of a position of the parking space which is detected first (S15), and the side surface assumed range is divided into a first range on a front side and a second range on a back side (S17). A correction candidate of a corner position is calculated from the reflection point in the first range (S20). A point sequence of the reflection points in the second range is subjected to straight line approximation. When precision of an approximation straight line is high, the correction candidate of the corner position is calculated on the basis of the approximation straight line, and the parking space is corrected at an angle of the approximation straight line (S21). When the precision of the approximation straight line is low, the correction candidate of the corner position is calculated on the basis of an outermost reflection point (S21). The corner position is corrected to one closer to the parking space out of the two correction candidates (S22). |
