| 摘要 |
PROBLEM TO BE SOLVED: To park a vehicle in a parking frame even if the whole of the parking frame is not displayed on a display picture. SOLUTION: An image obtained by photographing a rear side of the vehicle by a camera mounted on the vehicle is converted to a bird's eye image looking down a ground surface from a vertical direction (S102), and a parking frame line at a side of a parking position is recognized from the bird's eye image (S116). Positions of left and right distal ends of the vehicle after a predetermined reference time are estimated (S118-S120) and it is determined whether or not the vehicle projects from the parking frame line based on the parking frame line at the side of the parking position and the positions of the left and right distal ends of the vehicle after the reference time (S122). When it is determined that the vehicle projects from the parking frame line, that matter is informed to a user from an informing means. COPYRIGHT: (C)2007,JPO&INPIT
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