| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle peripheral three-dimensional object recognizing device which is capable of recognizing a three-dimensional object in a wide range in the periphery of a vehicle. SOLUTION: Three-dimensional distance distribution across the whole image is calculated from a pair of stereo images picked up by a stereo optical system 3 (3L and 3R) by a stereo image processing part 11, and a three-dimensional object recognizing part 12 recognizes the three-dimensional object from distance distribution information to calculate a relative position with the vehicle. In addition a steering angle sensor 4 and a rear wheel revolving speed sensor 5 detect the moving amount of the vehicle. A three-dimensional object positional information recognizing part 13 updates three-dimensional object positional information in the periphery of the vehicle stored in a storing part 14 last time based on relative positional information and the moving amount of the vehicle to calculate new three-dimensional object positional information in the periphery of the vehicle and outputs it to a contact judging and outputting part 20. The part 20 judges the possibility of the contact of the three- dimensional object and the vehicle from the external shape of its own vehicle stored in advance based on the three-dimensional object positional information in the periphery of the vehicle and outputs the result to a display part 7 (7FL, 7FR, 7IL, 7IR, 7S). |
