Patent ID: 7209833
Filing Date: 2007-04-24
Classification: B60T,G01S,G06T,G08G

Abstract:
1. A collision possibility determination device for a vehicle, comprising: image capturing means that captures an image of view ahead of the vehicle; object detecting means that determines whether an object exists in a travel direction of the vehicle from the image captured by the image capturing means; main pixel position specifying means that specifies a main pixel position of an image of the object, the main pixel position representing a position of the object in the image of view; pixel position setting means that sets a travel direction pixel position in the image of view based on the travel direction of the vehicle; storage means that stores the main pixel position; travel vector calculating means that calculates a travel vector of the object from a history of the main pixel position of the object stored by the storage means; and collision possibility determining means that determines a possibility of a collision between the vehicle and the object based on an orientation of the travel vector and the travel direction pixel position; wherein