| 摘要 |
PROBLEM TO BE SOLVED: To provide an obstacle warning device for properly recognizing whether or not a present object is the same as a past object and preventing display of an object disturbing accurate object recognition of a driver. SOLUTION: An image processing unit calculates leftmost edge coordinates and rightmost edge coordinates in a real space at each time as a feature quantity of an object (S31). Then the leftmost and rightmost position coordinates are calculated from edge coordinates from the calculated edge coordinates of the object between a time t=N-1 to a time t=1 (S32). Finally whether or not the past object is overlapped with the present object is discriminated from the left and right coordinates of the object at a time t=0 and the leftmost and rightmost calculated coordinates (S33). When the object recorded in the past is overlapped with the present object, the object is not used for an intruded object (S34), and when the both are not overlapped, the object is adopted for the intruded object (S35). COPYRIGHT: (C)2004,JPO
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