| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To perform high-precision vehicle surroundings monitoring by using vehicle surroundings information based on images, and vehicle surroundings information by the use of a radar efficiently. <P>SOLUTION: A vehicle surroundings monitoring apparatus 5 fuses (images) solid objects detected by processing pairs of stereo images photographed by a stereoscopic camera 3 by a stereo processing portion 15, and (millimeter wave) solid objects detected by processing transmitted/received data from a millimeter wave transceiver portion 4 by a range-finding processing portion 16; and establishes individual fusion solid objects composed of single image solid objects, single millimeter wave solid objects, or a combination of the image solid objects and the millimeter wave solid objects. In addition, the apparatus 5 judges a degree of reliability of the fusion solid objects based on a detecting situation of the image solid objects, and a degree of reliability of the fusion solid objects based on a detecting situation of the millimeter wave solid objects; and selects a preceding vehicle from the fusion solid objects whose at least one degree of reliability out of these degrees is a predetermined value or more. <P>COPYRIGHT: (C)2004,JPO</p> |
