| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle distance measurement device capable of detecting a distance to an obstacle with a monocular camera even when the obstacle is present at a distance very close to the vehicle.SOLUTION: The vehicle distance measurement device comprises: light-dark boundary line change point creation means 111 for creating a light-dark boundary line change point E at which the inclination of a light-dark boundary line CL constituting a boundary between an irradiation area Zr and a non-irradiation area Zb changes by irradiation of the surface of an obstacle B with a headlight 14; image-capturing direction calculation means 113 for calculating, on the basis of an image 15A captured by a monocular camera 15 that captures an image of the obstacle B present around a vehicle C, a change point image-capturing direction &phgr; of the light-dark boundary line change point E relative to the monocular camera 15; and vehicle-obstacle distance calculation means 114 for calculating a distance Dy from the vehicle C to the obstacle B on the basis of the position of the monocular camera 15, the position of the headlight, the change point image-capturing direction &phgr;, and a change point projection direction &thetas; in which the light-dark boundary line change point E is projected by the headlight 14.SELECTED DRAWING: Figure 4 |
