| 摘要 |
PROBLEM TO BE SOLVED: To provide an approaching-object detecting device for a vehicle, which determines the presence or absence of an object approaching the vehicle, by use of an optical flow vector calculated on the basis of a plurality of images, the device being able to prevent incorrect determination of presence or absence of an approaching object, resulting from a significant decrease of the size of an object shown at the left or right end of an image photographed by the photographing device, which is caused by aberration due to a wide angle of view in the horizontal direction of the imaging device.SOLUTION: It is determined that an object approaching a vehicle is present when the number of vectors increases, the vectors having a component in the direction of a virtual center line, which is closer to a perpendicular line passing through the point at which the front of the vehicle in a direct advancing direction is projected on images, as the interval between times at which these two reference images are photographed for obtaining an optical flow vector becomes longer.SELECTED DRAWING: Figure 3 |
