| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicular driving support device whereby an oncoming vehicle can be accurately detected at the time of turning of an own vehicle in a simple structure without depending on an infrastructure system. SOLUTION: The oncoming vehicle is detected based on an image taken by a CCD camera 3 when the own vehicle 1 turns right in an intersection. After right turning of the own vehicle 1 in the intersection reaches a predetermined turning state, a three-dimensional object having a velocity component Vnz with respect to the own vehicle longitudinal direction of equal to or more than a first threshold along the direction approaching to the own vehicle 1 and a velocity component Vnx with respect to the own vehicle width direction of equal to ore more than a second threshold along the right turning direction is extracted, and the oncoming vehicle is detected among the extracted three-dimensional objects. Thus, suitable oncoming vehicle detection can be achieved even when the oncoming vehicle apparently moves from a left obliquely front direction to a right obliquely rear direction of the own vehicle 1 on the images. COPYRIGHT: (C)2005,JPO&NCIPI
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