| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a "perimeter monitoring device" efficiently detecting a parallel running vehicle. <P>SOLUTION: When one's own vehicle 100 travels at a speed v, an image pattern of a road sign on a road surface included in an image e1 photographed by a right camera 3 includes large vibration in the back-and-forth direction of the own vehicle 100 generated by a speed difference between the own vehicle 100 and the road surface as compared to an image pattern of a two-wheeled vehicle 300 included in an image c1 obtained by photographing the parallel running vehicle by the right camera 3. The vibration appears as bluntness of a luminance change waveform e2 in the back-and-forth direction of the own vehicle 100. By extracting an edge having a larger absolute value of inclination in the back-and-forth direction of the own vehicle than a threshold value Th(v) set such that the threshold value Th(v) becomes smaller as the own vehicle speed v becomes larger, included in the image photographed by the right camera 3 (c3, e3), the edge of the image pattern obtained by photographing the parallel running vehicle can be properly distinguished from the image pattern edge obtained by photographing an in-road fixed object such as road marking and can be detected. <P>COPYRIGHT: (C)2008,JPO&INPIT |
