| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an obstacle detecting device and a method that make it possible to recognize a vehicle traveling ahead with good precision. <P>SOLUTION: In the obstacle detecting method, the edge detection of an image captured by a front camera is performed and an edge corresponding to a white line is removed to obtain an obstacle edge. An area having a specified width is equally divided by a specified number according to an obstacle position detected by a radar based upon a detection result of the radar and a histogram H(t) is calculated from the numbers of obstacle edges of respective areas. The H(t) is compared with a histogram H(t-Δt) of a last time step and histogram values satisfying temporal continuity are extracted to generate an extraction histogram H'(t), which is compared with an extraction histogram H'(t-Δt) of the last time step, thereby deciding an obstacle from an area satisfying temporal continuity. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
