| 摘要 |
This image analysis device images a vehicle anterior region by means of a camera, analyzes, by means of a control unit, the captured image data generated by the camera, and learns the focus of expansion position, but the control unit controls the learning operation in the manner that follows on the basis of the output of a vehicle wheel speed sensor and an acceleration sensor as an inertial sensor. Namely, until the vehicle speed identified from the output of the vehicle wheel speed sensor has exceeded a baseline speed, the control unit causes the learning operation of the focus of expansion position to remain off without starting. On the other hand, when the vehicle speed has exceeded the baseline speed, it is determined whether or not the error between the vehicle speed determined from the integral value of acceleration on the basis of the output of the acceleration sensor until the relevant point in time, and the vehicle speed identified from the output of the vehicle wheel speed sensor is less than a threshold, and when it is determined that the error is less than the threshold, the learning operation of the focus of expansion position is started. |
