| 摘要 |
PURPOSE:To detect even a vehicle kept in a stationary state by obtaining the centroid position of an edge image and the moving direction of a vehicle from the preceding and present centroid positions, projecting the edge image in the obtained moving direction of the vehicle, and detecting the vehicle based on the peak threshold value of the projection value. CONSTITUTION:A centroid measuring means 6 obtains the centroid position of an edge image based on the edge information received from a frame memory means 5. A moving direction calculating means 7 obtains the moving direction of the centroid and calculates the moving direction theta from the preceding centroid coordinates (Xn-1) and (Yn-1) and the present centroid coordinates (Xn, Yn). A direction projecting means 8 uses the moving direction theta obtained by the means 7 to project the edge image received from the means 5 in the direction theta. Then a deciding means 9 decides the presence of a vehicle when the projec tion value exceeding the threshold value is detected. As a result, even a vehicle kept in a stationary state can be detected. |
