| 摘要 |
PROBLEM TO BE SOLVED: To accurately detect a moving direction of its own without constructing a large-scale system. SOLUTION: At the time T1, input picture data is treated as collating picture data (Fig. (b)), and two-dimensional discrete Fourier transformation(DFT) is performed to obtain collating Fourier picture data. At the time T2, the input picture data is treated as registered picture data (Fig. (c)), and the DFT is performed to obtain registered Fourier picture data. Then, the collating Fourier picture data and the registered Fourier picture data are synthesized to carry out amplitude control processing. In addition, the DFT is performed on the syntetic Fourier picture data. A direction from a center P0 of a correlation component area (Fig. (e)) to a position Pa1 of a correlation peak is defined as the moving direction of a vehicle, and a distance from the center P0 to the position Pa1 is also defined as the moving distance of the vehicle. Under this definition, the moving direction and moving distance of the vehicle are determined. |
