PARKING SUPPORT DEVICE, PARKING SUPPORT METHOD, AND PARKING SUPPORT PROGRAM

To dissolve discomfort of an occupant due to a contact with a car stop in parking.SOLUTION: A parking support device includes an extraction part, and a prediction part. The extraction part extracts a feature point of an object including a car stop from a photographic video of an on-vehicle camera. The prediction part tracks movement of the feature point accompanying parking operation of a vehicle, and predicts the position of the car stop on the basis of movement of the feature point other than the car stop when the feature point of the car stop disappears from the photographic image.SELECTED DRAWING: Figure 3 【課題】駐車時における車止めへの接触による乗員の不快感の解消を図ること。【解決手段】実施形態に係る駐車支援装置は、抽出部と、予測部とを備える。抽出部は、車載カメラの撮影映像から車止めを含む物体の特徴点を抽出する。予測部は、車両の駐車動作に伴う上記特徴点の動きを追跡し、上記撮影映像から車止めの特徴点が消失した場合に、車止め以外の特徴点の動きに基づいて車止めの位置を予測する。【選択図】図３