| 摘要 |
<P>PROBLEM TO BE SOLVED: To enhance recognition precision of an obstacle ahead of its own vehicle by avoiding incorrect recognition of non-obstacle based on difference of detection magnification between the radar side and the camera side resulting from detection time gap between the radar and camera as much as possible. <P>SOLUTION: In the method for recognizing an obstacle, if the horizontal and vertical magnifications are substantially equal when the remainder sum of the horizontal and vertical image histograms of a captured image in front of its own vehicle 1 and the reference image histogram of each magnification becomes minimum through image processing of photography result from a single lens camera 3 of its own vehicle 1, as shown on Fig. 1, error between a radar side detection magnification based on the search result of a laser radar 2 of its own vehicle 1 and the camera side detection magnification of minimum value is allowed within a predetermined range, and a decision is made that the radar side detection magnification is equal to the camera side detection magnification. A road surface obstacle where the radar side detection magnification becomes equal to the camera side detection magnification is recognized as an obstacle by recognition processing of sensor fusion of the laser radar 2 and the single lens camera 3. <P>COPYRIGHT: (C)2008,JPO&INPIT |
