| 摘要 |
The present invention includes a stereo camera (3) for picking up a couple of images of outside a vehicle and a far-infrared sensor (4) for detecting the temperature of an object outside the vehicle at least in a detection field overlapping a view field of the stereo camera (3) in the vehicle-width direction. A stereo-image processing unit (6) recognizes three-dimensional objects based on the couple of images and extracts a prospective pedestrian from the recognized three-dimensional objects. A pedestrian-determination unit (7) determines whether or not the prospective pedestrian is a real pedestrian based on a temperature-detection value detected in the same direction the prospective pedestrian exists, where the temperature-detection value is obtained through the far-infrared sensor (4) . <IMAGE> |
