COLLISION TIME ESTIMATION DEVICE FOR VEHICLES AND COLLISION TIME ESTIMATION METHOD FOR VEHICLES

摘要

PROBLEM TO BE SOLVED: To make calculation of collision time easy; and to obtain robust output for position detection errors.

SOLUTION: A photograph means 2 photographs images of the periphery of a vehicle. An edge extracting means 3 extracts edge images among the images photographed by the photograph means 2. An edge width normalization means 4 normalizes widths of edges of the edge images extracted by the edge extracting means 3. A voting means 5 increases counting values corresponding to the location detecting edge images and initializes the counting values corresponding to the locations detecting non-edge images regarding the edge images normalized by the edge width normalization means 4. A moving speed detecting means 6 calculates a moving direction and moving speed of the edge image extracted by the edge extracting means 3 on the basis of a slope of the counting value. A collision time calculating means 7 calculates collision time of a target object by making use of the location and moving speed of the edge image calculated by the moving speed detecting means 6.

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