APPROACHING OBJECT DETECTOR AND APPROACHING OBJECT DETECTION METHOD

摘要

PROBLEM TO BE SOLVED: To provide an approaching object detector capable of detecting an approaching object with a light processing load irrespective of a positional relation between an own vehicle and the approaching object and whether or not the own vehicle moves.

SOLUTION: An approaching object detector includes: a feature point extraction unit (432) for extracting feature points from two images obtained by imaging the surroundings of a vehicle (10) by an imaging unit (2) at different time; an observation movement vector calculation unit (435) for calculating an observation movement vector, on the images, of the same object between the two images from a feature point of the object; a minimum apparent movement vector calculation unit (434) for calculating the minimum value of an apparent movement vector of an object corresponding to each feature point caused by the movement of the imaging unit (2); a movement vector correction unit (436) for calculating a correction movement vector by subtracting the minimum value of the apparent movement vector from the observation movement vector for each feature point; and a determination unit (437) for determining whether an object corresponding to the correction movement vector is a moving object approaching the vehicle (10).

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