PARKING ASSISTANCE DEVICE, COMPONENT FOR PARKING ASSISTANCE DEVICE, PARKING ASSISTANCE METHOD, COMPUTER READABLE MEDIUM FOR RECORDING PARKING ASSISTANCE PROGRAM, METHOD AND COMPUTER READABLE MEDIUM FOR RECORDING PROGRAM FOR CALCULATING VEHICLE TRAVEL PARAMETER, DEVICE FOR CALCULATING VEHICLE TRAVEL PARAMETER, AND COMPONENT FOR DEVICE FOR CALCULATING VEHICLE TRAVEL PARAMETER

摘要

An image of a mark M is taken by a camera (1) with positioning a vehicle at a location in the vicinity of a parking space, an image processing unit (2) extracts a characteristic point from the image of the mark M and recognizes two-dimensional coordinates on the image, a positional parameter calculation unit (3) calculates positional parameters including six parameters of the camera (1) with reference to the mark M, and a relative position identification unit (4) identifies a relative positional relation between the vehicle and the parking space. A parking locus calculation unit (5) calculates a parking locus for leading the vehicle to the parking space based on the relative positional relation between the vehicle and the parking space identified by the relative position identification unit (4), and a guide apparatus (6) outputs drive operation guide information for causing the vehicle to travel along the calculated parking locus to a driver of the vehicle.