| 摘要 |
PROBLEM TO BE SOLVED: To improve robustness to actual environment in a parking space detection device for estimating a reflection point from a parked vehicle and detecting a parking space based on the reflected point.SOLUTION: A distance measuring sensor 20 detects a distance to parked vehicles 71, 72 successively with the movement of own vehicle 6. A sensor position 221 of a distance measuring sensor 20 when detecting the distance with the distance measuring sensor 20 based on a detected value of a vehicle speed sensor or a steering angle sensor is calculated. A reflection point 8 of an exploration wave from the parked vehicles 71, 72 is estimated based on the history of the detected distance by the distance measuring sensor 20 and the history of the sensor position 221. An area 40 in a circular arc which has the sensor position 221 as a center, the detection distance in the sensor position 221 as a radius and a directivity of the distance measuring sensor 20 as a center angle is set to a barrier absent area. It is determined whether the reflection point 8 enters in the barrier absent area 40 or not. A reflection point 82 belonging to the barrier absent area 40 is made invalid. |
