EXTERNAL WORLD RECOGNITION DEVICE OF AUTOMOBILE

摘要

PROBLEM TO BE SOLVED: To provide an external world recognition device of an automobile which improves detection performance to an obstacle near an own vehicle in an obstacle detecting system for vehicle using a plurality of sensors, such as a ranging sensor and an onboard camera.

SOLUTION: The external world recognition device measures an optical flow of the obstacle to the obstacle which is near the own vehicle and outside a detection range of the ranging sensor 202, based on image information including the obstacle photographed with the camera 203 which is carried in the vehicle 201 and computes speed (takes as a second speed) of the obstacle from a measured flow vector. The external recognition device computes the speed (takes as a first speed) of the obstacle based on the detected information of the ranging sensor 202 when the obstacle enters into the detection range of the ranging sensor 202, and determines that the same object is detected if the speed difference of the first speed V1 and the second speed V2 is in a prescribed range.

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