| 摘要 |
<p>PROBLEM TO BE SOLVED: To hardly make a false determination on a target in target detection using a radar and a single-lens camera.SOLUTION: For a radar target detected upon the basis of detection information by a millimeter wave radar, a radar area Rr including a detection point Pr of the radar target is specified on an XY plane based upon a vehicle width direction of a vehicle as an X axis and a vehicle length direction of the vehicle as a Y axis. For an image target detected upon the basis of a picked-up image by a single-lens camera, An image area Ri including a detection point Pi of the image target is specified on the XY plane. Then it is determined that the radar target and image target are the same target on condition that an overlap part is present between the radar area Rr and image area Ri. Further, a range of the image area Ri in the direction of the X axis is an image azimuth rangeθi-Eθi≤θ≤θi+Eθi of a constant angle including a horizontal azimuth positionθi of the image target detected upon the basis of the picked-up image.</p> |
