초록 ▼

PROBLEM TO BE SOLVED: To detect an object approaching to a vehicle by acquiring optical flow vectors on the basis of images picked up by an on-vehicle camera and performing a simple calculation on the basis of the flow vectors even when the vehicle is turning.SOLUTION: When a vehicle is not turning,

PROBLEM TO BE SOLVED: To detect an object approaching to a vehicle by acquiring optical flow vectors on the basis of images picked up by an on-vehicle camera and performing a simple calculation on the basis of the flow vectors even when the vehicle is turning.SOLUTION: When a vehicle is not turning, an object-approaching-to-vehicle detection device can detect that an imaged object corresponding to flow vectors corresponding to points appearing in a second quadrant and a forth quadrant in a horizontal flow distribution map where horizontal components of each flow vector are plotted is an approaching object. When the vehicle is turning, the device can determine that flow vectors corresponding to points appearing in the second and forth quadrants are related to an approaching object in a horizontal flow distribution map which is acquired by shifting the lateral axis of the horizontal flow distribution map according to a turning speed.SELECTED DRAWING: Figure 6

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