| 摘要 |
PROBLEM TO BE SOLVED: To provide a pedestrian detection device which requires a reduced amount of computation for detecting a pedestrian.SOLUTION: A unit area having an area size corresponding to a distance to a detection target is set at a position corresponding to a position indicated by target information at a position on the screen of an edge image on the basis of the target information of a target detected by a radar sensor (S140). The unit area is divided into a plurality of cells (8 vertically and 4 horizontally) (S150). An amount of HOG feature is calculated for each of four cells (target cells) located at a second stage from above among the cells (S160). A determination value H (=Sb/Sa) indicating a ratio is calculated (S170), where Sa indicates the total amount of feature in two cells (target cells) located inside among the four target cells and Sb indicates the total value for the two cells (comparison cells) located outside. When the determination value H is smaller than a threshold TH, the target is determined to be a pedestrian; when H is equal to or larger than the threshold TH, the target is determined to be a non-pedestrian (S180 to S200). |
