OBSTACLE DETECTOR OF VEHICLE

摘要

PURPOSE: To accurately detect the real obstacle for a vehicle to run and to exactly perform necessary operations such as an alarm or an evading, etc., by making a detector compose of each specified decision means, a clustering means and a means detecting the real obstacle for the vehicle to run. CONSTITUTION: The output of a CCD camera 10 is delivered to an image processing hardware 30, the extraction of straight line components is performed by an edge detection and a Hough transformation, and the result is stored in a memory 34 for communication via a bus 32. An image processing CPU 36 extracts a course section line candidate from the straight line components and stores the candidate in the memory 34 for communication. An image evaluation CPU 38 reads the stored value for every prescribed time and determines the course section line. The objects within the course and the objects outside the course are gathered together in different clusters and a real obstacle for the vehicle to run is detected. A radar evaluation CPU 42 reads the stored value of the output of a radar unit 12 stored in the memory 34 for communication for every prescribed time and the location of the obstacle is detected on a coordinate.