| 摘要 |
A vehicle surroundings monitoring apparatus 2 has cameras having optical axes respectively, provided with imaging lens systems 5,6 each having a fish-eye lens 5a, 6a, image processing units 7, 8 and a calculating unit 9. The image processing units 7, 8 detect moving objects, such as vehicles traveling alongside a host vehicle provided with the vehicle surroundings monitoring apparatus, and oncoming vehicles, on the basis of optical flow between two images taken by the cameras at different times, respectively, and set a representative point representing the detected moving object on the surface of a road. The calculating unit calculates the position of the moving object relative to the host vehicle on the basis of displacement angles alpha and beta of the representative point A with respect to the optical axis on an assumption that the representative point A is on a plane including a surface with which the host vehicle is in contact. <IMAGE> |
