| 摘要 |
PURPOSE:To provide the device for recognizing moving object capable of surely recognizing the moving object around a vehicle from an optical flow obtained even when a car of his own does not travel straight on a travelling road. CONSTITUTION:The pictures from a CCD camera 10 are successively stored in frame memories 12, 14, and 16, then supplied to an optical flow detection device 18 to calculate the optical flow. The calculated otical flow is classified into consecutive plural groups. On the other hand, the moving direction of the car of his own is estimated based on the detection signal from a car speed sensor 28 and a yaw rate sensor 30. Basedn on the moving direction data, the optical flow is corrected. A device 24 recognizing an approaching car extracts the moving object from the corrected optical flow group to calculate the relative speed. |
