| 摘要 |
PROBLEM TO BE SOLVED: To automatically move to a parking position even in a parking lot without an obstacle, by picking up a picture of a peripheral environment behind a vehicle, processing this picture to recognize a a parking region and a rear part condition thereof, determining a stop position based on this recognition, controlling drive force of the vehicle, and moving it to the stop position. SOLUTION: In the rearward of a vehicle, for instance, in a trunk lid, a camera 52 is set up, to pick up a picture of a peripheral environment in a range behind the vehicle. In a picture processor 1, this picture is processed, a parking region and its rear part condition are recognized. A vehicle controller 2 is constituted by a microcomputer and its peripheral part, based on the parking region and its rear part condition obtained by the picture processor 1, a parking position and stop position are determined, a throttle actuator 3 and a brake actuator 4 are drive controlled. In the case of drawing a frame as a parking region, this parking frame is detected, and in the case of providing a sprag in a rear part of the parking region, for instance, detection is performed by a moving stereo method. |
