Patent ID: 7706944

Claim:
A parking assist device for assisting a vehicle to travel to a parking target position comprising: a vehicle movement detector which detects movement of the vehicle; a storage device which stores the movement detected by the vehicle movement detector as a vehicle moving trajectory stored at the storage device; a temporary parking target position estimator which estimates a temporary parking target position based on variations of the vehicle moving trajectory; and a parking stall line searching area setting device which sets a parking stall line searching area within which the parking stall line is searched on the basis of the temporary parking target position which is estimated; a parking stall line detecting device which detects the parking stall line within the parking stall line searching area by an image recognition from an image captured by an imaging device; and a parking target position setting device which sets the parking target position on the basis of the parking stall line; wherein the parking stall line searching area setting device sets the parking stall line searching area so as to include a right parking stall line searching area in which a right parking stall line is detected, and a left parking stall line searching area in which a left parking stall line is detected; the left parking stall line searching area and the right parking stall line searching area are set so as to be wider than a size of the parking stall line and so as not to include three parking stall lines or more.