| 摘要 |
The present invention reliably detects, from as far away as possible, a space in which parking is possible in the direction of progression of an automobile. An image including the road surface at the left and right sides of the vehicle (10) (automobile) is captured by a side imaging unit (12) attached to the vehicle (10), a side parking space line detection unit (23) detects parking space lines (wi) at the left and right sides of the vehicle (10), and a unit (24) for calculating parking space line characteristics calculates the characteristics of the parking space lines (wi). On the basis of the calculated characteristics of the parking space lines (wi), a unit (26) for setting parameters for the detection of parking space lines in the direction of progression sets parameters for detecting parking space lines (wi) in the direction of progression of the vehicle (10), and a unit (28) for detecting a region in which parking is possible in the direction of progression detects a region in which parking of the vehicle (10) is possible from within an image including the road surface in the direction of progression of the vehicle (10) imaged by a progression-direction imaging unit (15). |
