| 摘要 |
PROBLEM TO BE SOLVED: To estimate an accurate inter-vehicle distance on the basis of an image obtained via a camera in a vehicle mounted with a radar and the camera. SOLUTION: If a radar-based inter-vehicle distance DL falls below a prescribed value L1, the lower end of the rear bumper of the preceding vehicle in a camera image is detected as a horizontal edge HE, whose y-coordinate YE and infinite point y-coordinate Y0 are stored in conjunction with the inter- vehicle distance DL at the moment (= output inter-vehicle distance Dout). If the radar-based inter-vehicle distance DL falls below a prescribed value L2, the preceding output inter-vehicle distance Dout and the latest horizontal edge y-coordinate YE and infinite point y-coordinate Y0 are used to compute an estimate inter-vehicle distance DC. A pitch angle detection window is set on each side of the horizontal edge HE, and on the basis of the vertical slippage between horizontal density averages, a pitch angle change is computed to correct the infinite point y-coordinate Y0.
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