| 摘要 |
PURPOSE:To detect an accurate parking space position from distance data obtained by a CCD area sensor loaded on a vehicle. CONSTITUTION:A range finding ECU 12 calculates a distance up to an object based upon image data obtained by the CCD area sensor 10 and supplies the calculated result to an automobile parking controlling ECU 14 as the distance data of each azimuth. The ECU 14 transforms the distance data to rectangular coordinates setting up the sensor 10 as its origin, calculates a parking space front boundary by applying least square twice and then calculates an intersecting point on which a straight line connecting clinical distance data increasing a distance between the parking space front boundary and the distance data to the origin intersects with the boundary. Then a position most close to the origin out of the intersecting point and distance data adjacent to the interseting point is set up as the position of a parking space inlet. |
