| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a parking assisting apparatus capable of accurately specifying a form of a parking space, a parking assisting method, and a computer program. Ž<P>SOLUTION: When a parking assist is made, the parking space for parking is specified based on a detection result of lateral sonars 5A, 5B (S1), and a parking route for parking in the specified parking space is calculated (S2). Then, after the vehicle body enters the parking space, an inclination θ of the vehicle with respect to the parking space is detected (S9). When a value of the detected value θ satisfies detection conditions set for corner sensors 6A-6D and front sonars 7A, 7B, the form of the parking space is corrected using a range finding value of a range finding sensor satisfying the detection conditions (S13), and the parking route for parking in the parking space after correction is recalculated (S14). Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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