| 摘要 |
PROBLEM TO BE SOLVED: To provide an obstacle detection device and a vehicle with the device mounted thereon for quickly obtaining the detection result of the obstacle while using one camera. SOLUTION: One camera (40) is set so as to focus on a short-distance subject and so as not to focus on a long-distance subject, and a distance image calculation unit (64) determines that edge portions (83, 84, 86, 87, 88) exist at short-distance or exist at long-distance farther than the short-distance, respectively, and generates a distance image (80) indicating a distance between the camera and the subject on the basis of the ratio of intermediate luminance value between lower limit luminance value and upper limit luminance value at the edge portions equivalent to the outline of the subject. An obstacle determination unit (68) determines that there exists an obstacle in an area (93) where the short-distance edge portions are included at a ratio equal to or larger than a predetermined ratio on the basis of the distance image. COPYRIGHT: (C)2011,JPO&INPIT |
