| 摘要 |
PROBLEM TO BE SOLVED: To provide a collision margin time calculating device capable of precisely calculating collision margin time and provide a collision avoidance system.SOLUTION: A collision margin time calculating device (5) comprises: an image acquisition unit (9); a target recognition unit (11) that recognizes a target; a size S acquisition unit (13) that acquires a size S of the target; a time-series data generation unit (15) that generates time-series data on the size S; a filtering unit (17) that uses a low-pass filter to filter the time-series data; a magnification percentage calculating unit (19) that uses the filtered time-series data to calculate a magnification percentage; and a collision margin time calculating unit (21) that calculates collision margin time on the basis of the magnification percentage. In the case of using a half-body dictionary to generate the time-series data on the recognized target, the device expands a region of a frequency to be attenuated by the filtering to a lower frequency side rather than in the case of using a whole-body dictionary.SELECTED DRAWING: Figure 1 |
