| 摘要 |
PURPOSE: To prevent any tracking error to a comparatively large relative motion, especially to a horizontal notion of a preceding car by predicting a track of the preceding car through a track predicting means, and extracting a potent suitable point corresponding to the contour of a car image among respective suitable points. CONSTITUTION: A preceding car is photographed by a camera means 1, and the whole picture elect of a car image obtained is differentially processed by a differentiator processing means 2. In addition, an edgiest gram of the car image is derived by a density projecting means 5. In succession, extraction of a suitable point corresponding to the contour of the car image is carried out by a minimum variance estimating means 10 consisting of a Kalman filter, and detection of a corresponding point corresponding to the contour of the car image is performed by a corresponding detection means 6. Then, with a comparison between data of the corresponding point detected and other data observed, whether tracking is performable or not is judged, and when it is YES, the processing is repeated again, but when NO is the case, it is so judged that the tracking has occurred, whereby an error process is carried out. |
