| 摘要 |
<p>PROBLEM TO BE SOLVED: To properly change a pinching detection threshold according to a surrounding environment such as a road surface condition, thereby improving accuracy of detecting a pinched object.SOLUTION: Acceleration detection means 10 calculates acceleration of a motor 3 on the basis of a signal of an encoder 4. Threshold determining means 11 sets a threshold on the basis of an amount of change in vertical direction per unit time, which has been input from an image processing device 9. Pinching detection means 12 detects that an object has been pinched, upon determination that the acceleration of the motor 3 has exceeded the threshold during forward drive of the motor 3. The image processing device 9 determines a shift amount so that mean squared errors of both two vehicle front frame images captured by a camera 8 are minimum, while shifting one image data in lateral and vertical directions, and determines the lateral shift amount as an amount of vertical change of a vehicle per unit time. The amount of change can be determined by phase-only correlation.</p> |
