| 摘要 |
Imaging means picks up an image of the area around a vehicle, edge extraction means extracts an edge image from the image picked up by the imaging means, edge width standardization means standardizes an edge width of the edge image extracted by the edge extraction means, counting means increments a count value corresponding to a position where the edge image standardized by the edge width standardization means is detected, and also initializes a count value corresponding to a position where the standardized edge image is not detected, moving speed detection means calculates a moving direction and moving speed of the edge image extracted by the edge extraction means based on the inclination of the count values, and collision time calculation means calculates the time of collision with an object by utilizing the position and the moving speed of the edge image calculated by the moving speed detection means.
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