To provide a parking space detection device, a parking space detection method and a control program for improving detection accuracy in a parking space.SOLUTION: By a parking space detection device 10, a selection part 13 selects respective straight line components being within a prescribed difference range in a difference of the length with (the reference length) calculated by a reference length calculation part 12 as a candidate straight line among a plurality of straight line components of a second group. The reference length calculation part 12 calculates (a prediction value of the length in an image space) of a vehicle width direction line corresponding to a lag quantity between an expected pitch angle and an actual pitch angle as (the reference length) on the basis of a main angle on an angle formed by respective straight line component pairs in the plurality of straight line components of a first group.SELECTED DRAWING: Figure 1
駐車スペース検出装置、駐車スペース検出方法、及び制御プログラム
2022-01-26
Patent
Elektronische Ressource
Japanisch