1. A method for recognizing a parking space line marking executed by a processor within a controller installed in a vehicle, comprising: a corner capturing process configured to capture an angled corner in an image including the parking space line marking; a cross capturing process configured to capture a cross point by combining adjacent corners among the captured corners according to types and directions of captured corners; a space capturing process configured to capture a space which is an end periphery of the parking space line marking by combining the captured cross points according to vector directions of the captured cross points; a type selecting process configured to select a type of the parking space line marking from the captured space; and a final selection process configured to select a final space based on the selected type, wherein in the corner capturing process, a boundary between a parking space line of the parking space line marking and a road is expressed as a vector depending on a change in brightness, a type of the corner captured is discriminated according to an angle of an arc which is a portion of a circumference of a circle having a center and a radius less than a width of the parking space line marking, and wherein a position of the center of the circle is determined based on a vertex of the boundary, and the arc is a portion of the circle that corresponds to either the road or the parking space line marking.