To provide a parking support system capable of improving the selection precision of a parking frame in double parking or parallel parking and presenting a parking frame optimum to a driver.
The parking supporting system is characterized in that the following steps are performed under the control of a parking support controller 10. A step of detecting white lines around a vehicle based on an image around the vehicle imaged by in-vehicle cameras 1 to 4 attached to the vehicle. A step of calculating the size of the parking frame stipulated by the white lines which are detected and selected. A step of deciding whether the parking frame is one which permits double parking or one which permits parallel parking based on a comparison result between the size of the parking frame and a threshold set according to the size of the vehicle. A step of deciding whether the white lines are present within the parking frame excluding the parking frame within which the white lines are present and selecting the parking frame, when a plurality of parking frames whose parking types are decided are present.
| JPS63191987A | 1988-08-09 | |||
| JP2002029350A | 2002-01-29 | |||
| JP2004009791A | 2004-01-15 | |||
| JPH10269497A | 1998-10-09 | |||
| JP2007131169A | 2007-05-31 | |||
| JP2009101989A | 2009-05-14 |
| WO2008087707A1 | 2008-07-24 |
Iwa Saki Kokuni
Masakazu Ito
Shunichi Takahashi
Toshio Takamatsu