| 摘要 |
PROBLEM TO BE SOLVED: To suppress increase in the capacity of a memory 20 to be used in a parking support device 1.SOLUTION: From the time when a self-owned vehicle 40 arrives in the vicinity of a parking frame 51 till the time when the self-owned vehicle 40 passes through the parking frame 51, a microcomputer 30 performs coordinate transformation from an edge point in a captured image to an edge point on bird's-eye coordinates for every capturing by a CCD camera 10, performs coordinate transformation in such a manner that coordinates of the coordinate-transformed edge point are correspondent to positional information for every capturing based on the positional information for every capturing by the CCD camera 10 each time the coordinate transformation is performed, and votes the coordinate-transformed edge point on the bird's-eye coordinates in a common Hough space for every capturing by the CCD camera 10. Each time voting is performed, a history of voting is stored in the memory 20. When a transmission 44 is set to a reverse range, the microcomputer 30 detects a straight line indicating the parking frame 51 based on the voting history for every voting stored in the memory 20. |
