| 摘要 |
PURPOSE: To detect a moving object based upon moving vectors (OPFs) obtained from pictures and to judge whether or not the moving object is an approaching object. CONSTITUTION: Pictures obtained from a camera 10 at respectively different times are supplied to an ECU 12. Respective OPFs are calculated from the obtained pictures and whether or not an OPF group is radially set around a certain point is judged. The judgement is dependent on the matching of constants (a) to (d) satisfying the relation of Vxi=a+b.xi, Vyi=c+d.yi among the position (xi,Yi) and component (Vxi, Vyi) of OPF groups in a small area consisting of plural OPF groups close to each other. A small area where constant (a) to (d) match each other is clustered and judged as the same moving object and approach or not can be judged by the values of the constants (b), (d). |
