| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an obstacle detecting device for highly precisely and reliably detecting an obstacle with a small amount of calculation, based on the images of the circumference of the vehicle and a distance to the obstacle existing in the circumference of the vehicle. <P>SOLUTION: The device includes: a distance measuring means 3 for measuring the distance to the obstacle existing in the orthogonal direction of a vehicle movement direction; an image input means 2 for acquiring the circumferential image including the obstacle; a one's own vehicle position specifying means 4 for successively specifying the one's own vehicle position to be shifted with the movement; a first plane setting means 5 for setting the surface of the obstacle along the vehicle movement direction as a first plane, based on the distance and the one's own vehicle position; a plane end estimating means 6 for estimating the plane end of the first plane in the vehicle movement direction; an image recognition area setting means 7 for setting an area including the plane end as an image recognition area; an image recognizing means 8 for performing recognition by image concerning the shape feature of the obstacle in the image recognition area; and a stereoscopic shape recognizing means 9 for stereoscopically recognizing the obstacle, based on the first plane and the recognition result of the image recognizing means. <P>COPYRIGHT: (C)2007,JPO&INPIT |
