Vehicle state sensing system and vehicle state sensing method

摘要

An on-vehicle camera captures an image of an outside visual scene that is outside of a vehicle and outputs image data of the captured image. A wheel speed sensor outputs a measurement signal, which corresponds to a moving speed of the vehicle. An ECU determines a state of the vehicle based on the measurement signal of the wheel speed sensor and an optical flow of a predetermined point of the captured image, which is captured during traveling of the vehicle. The optical flow of the predetermined point is obtained based on the image data of the captured image.