COLLISION TIME PERIOD CALCULATING DEVICE, METHOD OF CALCULATING COLLISION TIME PERIOD AND PROGRAM

摘要

The arrival time period until an approaching vehicle arrives at a surface that includes the optical center of an imaging device equipped in a vehicle is calculated by using an optical flow of the approaching vehicle as it is approaching the vehicle. Then, the collision estimation time period until an approaching vehicle collides with the vehicle is calculated on the basis of the arrival time period. The collision estimation time period can be calculated without being significantly affected by the error occurring between the magnitude of a vector indicative of the movement locus of the approaching vehicle and the magnitude of the optical flow even if the approaching vehicle is distant from the vehicle. As such, by calculating in advance the collision estimation time period until the vehicle collides with an approaching vehicle, it is possible to issue a warning at a timing suitable for a driver to avoid a collision.