| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an on-board device for detecting a peripheral object capable of detecting the position of another vehicle properly based on an image photographed by a camera. <P>SOLUTION: The latitude, the longitude and an coordinate in the altitude direction of the position of one's own vehicle at each point of time are held as a traveling history. An angle Ω formed in the vertical direction with respect to the horizontal direction Hc by the direction Ta of another vehicle viewed from a rear camera 1 is determined based on the position of an image pattern of another vehicle and a pitch angle of one's own vehicle in an image photographed by the rear camera 1 (a1, a2). A position relation between the rear camera 1 and the ground surface 401 of each spot in the rear of one's own vehicle at the present point of time is determined from an altitude change of a rear road of one's own vehicle shown by the traveling history (a3). An intersection point between a line drawn from the position of the rear camera 1 toward the rear of one's own vehicle in the direction forming the angle Ω with respect to the horizontal direction and the ground surface 401 is determined as a point TL (a4), and the determined point TL is used as a relative position of another vehicle in the front-to-back direction of one's own vehicle. <P>COPYRIGHT: (C)2008,JPO&INPIT |
