| 摘要 |
A radar device (11) transmits electromagnetic waves so as to scan a predetermined angular range in the horizontal direction around a subject vehicle at predetermined time intervals, and when reflected waves of the electromagnetic waves reflected from an object are received, a reflection point where the electromagnetic waves are reflected from the object is detected based on the result of receiving the reflected waves, the existence of a parking space is determined based on pre-stored subject vehicle body dimensional data and a sequence of reflection points and, furthermore, the feasibility of parking in the parking space (Sp) is determined In this process, since the feasibility of parking is determined based on a road width (Wx) and a width (Wy) of the parking space (Sp) calculated based on the sequence of reflection points, it is possible to carry out a determination of the feasibility of parking in the parking space (Sp) with better precision.
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