| 摘要 |
PROBLEM TO BE SOLVED: To provide an outside-vehicle monitoring apparatus by which a three- dimensional object existing at the front is recognized quickly and precisely on the basis of image information and laser radar information without performing an inessential processing operation. SOLUTION: A distance-data integration part 5c integrates laser distance data and image distance data, and a three-dimensional-object detection and processing part 5d detects a specific point in less than 40 m and 40 m or more, it detects a corner point in the three-dimensional object or a corner-shaped three-dimensional object as the three-dimensional object on the basis of a previous detection result of the three- dimensional object, it performs a grouping processing operation, and it recognizes and processes the three-dimensional object. When the specific point in less than 40 m is detected, a distant three-dimensional object situated between three-dimensional objects which are nearly at an equal distance from an own vehicle is detected as the specific point. When the specific point in 40 m or more is detected, distance data by a prescribed image which is more distant than two distance data existing between two data is detected as the specific point when the two distance data detected by a laser radar are a value within an interval of 2 m and when the difference between distance values is within 0.5 m.
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