| 摘要 |
PROBLEM TO BE SOLVED: To detect the distance to an object, e.g. an automobile, accurately in order to prevent crash even under disadvantageous condition where the inner pattern of an image can not be detected because the object is shaded by bright backlight. SOLUTION: A pair of image data ID1, ID2 representative of the pattern of an image in the field of view are generated in a pair of image sensors, 21, 22 in an image sensor means 20. A plurality of fields of view are set side by side in the field of view of the image sensor by extracting a pair of window parts WD1, WD2 from the pair of image data for a field of view means 30. An apparent distance corresponding to the parallax of a pair of images in the field of view is then calculated for each field of view from the pair of window parts by a distance measuring means 40. Subsequently, a plurality of probable distance candidates are selected from the frequency distribution of apparent distance by a distance determining means 50. A range EA where an object 1 having outline substantially enveloping the distance candidates is then selected and the distance of the object 1 is determined from the enveloped distance candidates an outputted. |
