A histogram is calculated based on a road surface image of a portion around a vehicle, a running-allowed region in which the vehicle can run is detected based on the histogram, an obstacle region is extracted based on the running-allowed region, and a position of an obstacle in the obstacle region is detected, to further enhance the accuracy of detecting an obstacle around the vehicle as compared with conventional art.
OBSTACLE DETECTION APPARATUS, AUTOMATIC BRAKING APPARATUS USING OBSTACLE DETECTION APPARATUS, OBSTACLE DETECTION METHOD, AND AUTOMATIC BRAKING METHOD USING OBSTACLE DETECTION METHOD
2020-12-17
Patent
Electronic Resource
English
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