| 摘要 |
PROBLEM TO BE SOLVED: To provide a device and a method for supporting driving in parking, which detects an attitude of one's own vehicle to parking frame lines in a simple arithmetic processing and a device constitution.SOLUTION: This driving support device in parking is provided for detecting the attitude of the one's own vehicle to the right and left parking frame lines L1 and L2 of a parking space 30 using a wide angle pickup image at the rear of a vehicle imaged by an imaging device 1 mounted on the vehicle 100, and includes a parking frame line detecting means for extracting two linear images corresponding to the right and left parking frame lines L1 and L2 from the pickup image, and a vehicle body parallelism detecting means for detecting vehicle body parallelism to the right and left parking frame lines L1 and L2 based on a correlation between inclinations θ1 and θ2 by calculating the inclinations θ1 and θ2 of the two linear images to the horizontal direction or the vertical direction of the pickup image. |
