| 摘要 |
PROBLEM TO BE SOLVED: To make it possible to recognize a preceding vehicle by detecting the height of tail light by the distribution of featured points in the vertical direction of a picture and checking whether a vehicle can be recognized or not based upon vehicle width detected by the distribution of horizontal featured points and an estimated distance. SOLUTION: A telecamera 6b arranged on the upper part of the center of a fron window in a vehicle room photographs a two-dimensional (2D) picture including a traveling road surface and an A/D converter 6c converts the analog video signal into a digital signal and stores the digital signal in an image memory 5a. A CPU 1 synthetically photographs a white line on the end part of its own lane, an inter- vehicle distance between its own vehicle and the preceding vehicle, etc., displays the updated contents of these synthesized results and transfers these information to a host CPU 8 through a communication controller 7. The picture is scanned in the vertical direction, featured points of which brightness is changed are extracted, the height of tail light is detected based upon the distribution, and whether the vehicle can be recognized based upon the 2D picture or not is discriminated based upon the vehicle width detected based upon the distribution of horizontal featured points and an estimated distance from the preceding vehicle. |
