| 摘要 |
PROBLEM TO BE SOLVED: To provide an outside-of-vehicle monitoring apparatus, in which the distance measured value by a laser radar and a distance measured value by an image are output quickly as data on a three-dimensional object at the front by integrating the measured values optimally and quickly, without having to conduct complicated computing operations. SOLUTION: A distance-data integration part 5c integrates laser distance data and image distance data as follows. When the laser distance data is effective and when the laser distance data refers to a distant place, final distance data is used as the laser distance data. When the laser distance data refers to an intermediate distance, when the image distance data is effective, and when the difference between the image distance data and the laser distance data is within a prescribed value, the final distance data is used as the mean value of the laser distance data and the image distance data. In cases other than the above, the laser distance data is used. When the laser distance data refers to a short distance, the final distance data is used as the image distance data. When the laser distance data refers to a very short distance, the final distance data is used as the laser distance data. When the laser distance data is not valid, the final distance data is used as the image distance data. |
