| 摘要 |
PROBLEM TO BE SOLVED: To accurately find the time required upto collision with respect to an object, even when an observed face of the object is not perpendicular to an optical axis of an imaging means. SOLUTION: In this detector, components V1, V2 in a Y-direction orthogonal to an optical axis of a speed of an image, and components V3, V4 in an X- direction orthogonal to an optical axis of a sensor and the Y-direction are found to find based thereon a spatial change rateβ(V1-V2)/H of the Y- directional components V1, V2, and a spatial change rateα=(V3-V4)/W of the X-directional components V3, V4, the sum (aα+(1-a)β) of the X-directional spatial change rateαmultiplied by (a) and the Y-directional spatial change rateβmultiplied by (1-a) is found, and an inverse number of the sum (aα+(1-a)β) is found as a required timeτupto collision with respect to an object.
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