| 摘要 |
<p>PURPOSE:To detect obstacles jumping out to the side in both a long distance and a short distance by outputting parallax between a right and a left camera based on the output of the right and left long distance cameras, detecting the obstacles through matching the parallax, and thereby detecting an object differently moving from an optical flow due to the movement of a vehicle with the previous picture compared based on the output of a central camera for a short distance and a wide range. CONSTITUTION:A long distance range is taken by a left camera 2 and a right camera 3, their signals are transmitted to a matching means 11 through an A/D converter 10, and they are finally transmitted to an obstacle detection means 13 through a distance computing means 12. The output of the central camera 4 for a short distance and a wide range is transmitted to a previous picture comparing means 16 through the converter 10, and the output thereof is transmitted to the obstacle detection means 13. The previous picture comparing means 16 detects any object which exhibits movement different from a picture flow (optical flow) due to the movement of a vehicle, as an obstacle. The output of the obstacle detection means 13 is transmitted to a display means 14 and a brake means 15.</p> |
