| 摘要 |
PROBLEM TO BE SOLVED: To relatively accurately calculate a distance between vehicles.SOLUTION: A subject vehicle traveling ahead is picturized with a camera 10, and it is determined which vehicle group, such as a mini vehicle, a standard size vehicle, and a large size vehicle, a subject vehicle image belongs to. A first distance from an own vehicle to the subject vehicle is calculated by a circuit 14 using typical vehicle width of the determined vehicle group. A vanishing point is detected from a picked-up image by a vanishing point detection circuit 28, and a second distance from the own vehicle to the subject vehicle is calculated by a circuit 29 using the vanishing point. The shorter the distance to a vanishing point, smaller the weighting factor of the second distance is set. The distance to the subject vehicle is determined by a processing decision circuit 15 from the first distance and the second distance. |
