| 摘要 |
<P>PROBLEM TO BE SOLVED: To accurately detect change in vehicle behavior such as pitching and yawing of an own vehicle without being affected by change in behavior of an approaching mobile object. <P>SOLUTION: A control device 103 extracts a plurality of characteristic points within an image taken by a camera 101, and calculates the moving speed and moving direction on the image of each of the extracted characteristic points. A time (TTC) up to arrival of the own vehicle at each characteristic point is calculated based on the calculated moving speed and moving direction on the image of each characteristic point, a distant characteristic point is specified based on the calculated TTC, and the movement of the distant characteristic point is monitored to detect a vehicle behavior such as pitching and/or yawing of the own vehicle. <P>COPYRIGHT: (C)2007,JPO&INPIT |
