| 摘要 |
PROBLEM TO BE SOLVED: To obtain a drive support apparatus which supports the drive according to situation and which prevents a traffic accident such as collision or the like by displaying a corresponding circumferential situation displaying together with a road map and user's own vehicle running position. SOLUTION: A CCD camera 2 outputs a circumferential image mainly in the front or the rear of user's own vehicle, and an image processing part 4 outputs, to an obstacle detection CPU 5, a feature image discriminated from an input image when the feature image agrees with a pattern image which is stored in advance. In addition, a scan-type radar 3 detects an object around the vehicle, and it outputs, to the CPU 5, a distance, a direction or the like from the vehicle. The CPU 5 processes an output from the processing part 4 and that from the radar 3 simultaneously, computes the position of a circumferential object and that of a running traffic lane with good accuracy by means of a coordinate system which uses the vehicle as a reference, and it outputs them to a navigation CPU 6. The CPU 6 positions the running position of the vehicle, changes the contraction scale of a displayed map according to the circumferential situation which is detected 5, and it converts a pattern image indicating the circumferential situation into a position corresponding to the contraction scale of map data so as to be displayed 11 together with the mark of the vehicle and a road map. |
