| 摘要 |
PROBLEM TO BE SOLVED: To provide an outside acknowledging device for a vehicle capable of suppressing the burden on the arithmetic processing, robust for a change in the air pressure of each tire or occupant variation without widening the throttling region (lowering the S/N ratio), and capable of managing well with a sudden pitch variation. SOLUTION: The outside acknowledging device for vehicle is equipped with an obstacle sensing region correcting means 105 to correct the processing region of an obstacle candidate sensing means 102 in accordance with the output of a vehicle pitch angle presuming means 104, wherein the arrangement further includes a future pitch angle predicting means 106, an imaging region storing means 107 to store the imaging region of the obstacle candidate in the case the given prediction is such that a change of the pitch angle will occur, a vehicle pitch angle sensing means 108 to sense the pitch angle of the vehicle through the correlational relationship with the image imaged by an imaging means 101 a certain time after the stored point of time, a vehicle pitch angle error calculating means 109 to calculate the error of the pitch angle of the vehicle from the difference between the output of the vehicle pitch angle sensing means 108 and the output of the vehicle pitch angle presuming means 104, and a secondary correction amount calculating means 110 to calculate the secondary correction amount of the pitch angle on the basis of the output of the vehicle pitch angle error calculating means 109 and reflect the result on the obstacle sensing region correcting means 105. COPYRIGHT: (C)2003,JPO
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