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

    【課題】駐車スペースの検出精度を向上する、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を提供する。【解決手段】駐車スペース検出装置10にて選択部13は、第2グループの複数の直線成分のうちで、基準長算出部12で算出された「基準長」との長さの差分が所定の差分範囲内である各直線成分を、候補直線として選択する。基準長算出部12は、第1グループの複数の直線成分における各直線成分ペアのなす角度に関する主要角度に基づいて、期待ピッチ角度と実ピッチ角度とのズレ量に応じた、車幅方向ラインの「画像空間内長さの予想値」を、「基準長」として算出する。【選択図】図1


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    Title :

    PARKING SPACE DETECTION DEVICE, PARKING SPACE DETECTION METHOD AND CONTROL PROGRAM


    Additional title:

    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


    Contributors:

    Publication date :

    2019-10-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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