| 摘要 |
PROBLEM TO BE SOLVED: To surely specify a lane in which an approaching vehicle is traveling.SOLUTION: When a head lamp detection part 70 detects a head lamp of other vehicle, from an original image I(t) including a rear side road surface of a vehicle 10 imaged by a rear camera 50 (imaging part), a luminance distribution calculation part 73a calculates average luminances B(t), B(t) of inside of detection ranges W1, W2 (windows) of predetermined size, set by a window setting part 72 in an overview image in which the original image I(t) is overview converted, and an other vehicle travel lane determination part 64 determines whether, other vehicle travels on a lane adjacent to a lane in which the vehicle 10 travels, or, on a lane adjacent to the lane which is adjacent to the lane in which the vehicle travels, based on the average luminances B(t)(B(t)).SELECTED DRAWING: Figure 3 |
