| 摘要 |
<p>The present invention improves the precision of driving assistance for parking. From an image taken by a camera (1), a drive controller (10) detects lines located on the surface of the road. From an overhead image obtained by subjecting the taken image to an overhead transformation, the drive controller (10) determines whether or not vertical-object lines representing vertical objects are present. To lines corresponding to lines that were determined to be vertical-object lines, the drive controller (10) adds noise information indicating that said lines are not parking-space candidates. On the basis of the abovementioned lines located on the surface of the road and the aforementioned noise information, the drive controller (10) extracts a parking space, and on the basis of the extracted parking space, the drive controller (10) controls the driving force and braking force produced by the vehicle.</p> |
