| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle surroundings monitoring device, accurately determining whether there is an obstacle which is likely to collide with a vehicle regardless of the size of object, with high accuracy even when the center of the object is moved, or even when the luminance within the object is significantly changed. SOLUTION: The device includes: an object extraction means 200 which extracts an object from a captured image by edge extraction; a detection means 201 which detects vertical and lateral ends of the object detected by the extraction means 200; a calculation means 206 which calculates moving directions of the vertical and lateral ends of the object by comparing the vertical and lateral ends of the object detected by the detection means 201 with the vertical and lateral ends of the object in a retained previous frame; and an access determination means 211 which determines, when each of the moving directions of the vertical and lateral ends of the object calculated by the calculation means 206 is vertically or laterally shifted, the object as an obstacle candidate which is likely to collide with the own vehicle. COPYRIGHT: (C)2010,JPO&INPIT
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