| 摘要 |
PROBLEM TO BE SOLVED: To properly recognize an object without being affected by pitching or rolling in an on-vehicle object recognizing device using a stereocamera. SOLUTION: This device is provided with on-vehicle stereocameras 3 and 3' for photographing a traveling road surface, a measuring means for dividing pictures obtained by the stereocameras 3 and 3' into windows and measuring the distance to an object for each window, an estimated distance storing means for storing an estimated distance to the road surface preliminarily decided for each window, a detecting means for detecting the pitching and rolling angles of the vehicle, and a correcting means for correcting the estimated distance on the basis of the pitching angle and rolling angle detected by the detecting means. Thus, the object nearer than the road surface can be recognized on the basis of the corrected estimated distance. |
