Patent ID: 6327536
Filing Date: 2001-12-04
Classification: B60Q,B60R,B60T,G08G

Abstract:
A vehicle environment monitoring system for an automotive vehicle, which detects an object existing in an environment of said automotive vehicle from an image obtained by imaging means mounted on said automotive vehicle, the vehicle environment monitoring system comprising:relative position-detecting means for detecting a relative position of said object to said automotive vehicle from said image obtained by said imaging means to obtain position data;movement vector-calculating means for calculating positions of said object in a real space based on a plurality of time series items of said position data detected on said object by said relative position-detecting means, and calculating a movement vector of said object based on said positions in said real space; anddetermining means for determining whether or not said object has a high possibility of collision against said automotive vehicle based on said movement vector;said movement vector-calculating means including approximate straight line-calculating means for calculating an approximate straight line approximating a locus of relative movement of said object, and position data-correcting means for correcting said time series items of said position data by using said approximate straight line, said movement vector-calculating means calculating said movement vector based on the corrected time series items of said position data.