| 摘要 |
The invention provides a solid object detector, a driving support device and a solid object detection method; according to difference of two photography pictures taken in different times, the solid object positioned in a far position relative to a vehicle can be detected as early as possible; the solid object detector comprises the following structures: a projection image generation portion (11) cutting a plurality of images of different areas of the photography picture of a rear camera, and projection images provided with projection surfaces are respectively formed in different directions according to each cut image; a solid object detection portion (13) used for detecting solid objects around the vehicle according to the difference of two photography pictures with different taken time and aiming for each of the projection images formed in different directions. Aiming at a parked vehicle, taken in the projection image, positioned behind the vehicle, an approaching direction can be staggered with the projection surface in an oblique manner, so accurate difference can be calculated according to the two photography pictures with different taken time. |
