PROBLEM TO BE SOLVED: To provide an approaching-object detecting device for a vehicle, which determines the presence or absence of an object approaching the vehicle, by use of an optical flow vector calculated on the basis of a plurality of images, the device being able to prevent incorrect determination of presence or absence of an approaching object, resulting from a significant decrease of the size of an object shown at the left or right end of an image photographed by the photographing device, which is caused by aberration due to a wide angle of view in the horizontal direction of the imaging device.SOLUTION: It is determined that an object approaching a vehicle is present when the number of vectors increases, the vectors having a component in the direction of a virtual center line, which is closer to a perpendicular line passing through the point at which the front of the vehicle in a direct advancing direction is projected on images, as the interval between times at which these two reference images are photographed for obtaining an optical flow vector becomes longer.SELECTED DRAWING: Figure 3

    【課題】複数の画像に基づいて算出されたオプティカルフローベクトルを用いて車両に接近する物体の有無を判定する車両の接近物体検出装置であって、撮像装置の水平方向の画角が広いために発生する収差によってその撮像装置によって撮影された画像の左方又は右方の端部に写る対象物の大きさが非常に小さくなることに起因して接近物体の有無が正しく判定できなくなることを回避できる接近物体検出装置を提供すること。【解決手段】オプティカルフローベクトルを取得するために参照する2枚の画像が撮影された時間間隔が長いほど車両の直進方向正面が前記画像に投影された点を通る垂直な線である仮想中心線に向かう成分を有するベクトルの数が増加するとき、車両に接近する物体が存在していると判定する。【選択図】図3


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    Title :

    APPROACHING-OBJECT DETECTING DEVICE FOR VEHICLE


    Additional title:

    車両の接近物体検出装置


    Contributors:

    Publication date :

    2016-04-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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