| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a vehicle detecting system capable of precisely detecting the lateral positions of a vehicle such as a preceding vehicle from a taken image by relatively simple processing. <P>SOLUTION: The vehicle detecting system 1 includes an image taking means 2 for taking an image of the surroundings of one's own vehicle A, a vehicle detecting means 11 for detecting a vehicle Vah from the taken image T, and a lateral-position detecting means 12 for detecting lateral positions RP and LP in the taken image T of the vehicle Vah. The lateral-position detecting means 12 vertically divides a region R set in a portion of the taken image T in which an image of the vehicle Vah is included or is presumed to be included, calculates the average p(n, i)ave of the brightnesses p of pixels belonging to a pixel column vertically extending in a plurality of formed divided regions Rn and having a width corresponding to one pixel or a predetermined number of pixels, calculates, for every divided region Rn and for every pixel column, differencesΔp(n, i) in average brightness between pixel columns adjacent in a lateral direction, and detects the lateral positions RP and LP of the vehicle Vah based on the absolute values of the differencesΔp(n, i). <P>COPYRIGHT: (C)2009,JPO&INPIT</p> |
