| 摘要 |
PROBLEM TO BE SOLVED: To surely detect a forward movement or reverse movement of a vehicle in such a low-speed state as not more than five km/h, where a wheel speed sensor and an acceleration sensor are lowered in reliability. SOLUTION: Fixed objects 111, 112 are extracted based on shapes of objects in vehicle surrounding images 100-103 photographed by an imaging sensor, and then the forward movement or reverse movement of the vehicle is determined based on a positional change in the extracted fixed objects 111, 112 in the images 101-103 at an elapsed time ofΔt. COPYRIGHT: (C)2008,JPO&INPIT
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