| 摘要 |
PROBLEM TO BE SOLVED: To reduce the driving load on a driver, and to reduce the necessity of detecting the displacement of a vehicle to the backward drive starting position of the vehicle in the technology of detecting a parking frame line from an image of a vehicle rear side picked up by an on-vehicle camera.SOLUTION: A backward parking assist control device extracts windows 31, 32 in the parking frame searching range from the picked-up image, and detects the parking frame line in a range of the extracted windows. When the windows 31, 32 are extracted, the windows 31, 32 are extracted under the limitation to the vicinity of a rear end of a vehicle 1' when the vehicle is assumed to be backwardly driven by the reference distance L with the present steering angle of the vehicle 1. |
