OBSTACLE DETECTION DEVICE, AUTOMATIC BRAKING DEVICE USING OBSTACLE DETECTION DEVICE, OBSTACLE DETECTION METHOD, AND AUTOMATIC BRAKING METHOD USING OBSTACLE DETECTION METHOD

摘要

A histogram is calculated on the basis of an image of a road surface around a vehicle (1) (S105); on the basis of this histogram, travelable areas that can be traveled by the vehicle (1) are detected (S106); on the basis of these travelable areas, obstacle areas (20) are extracted (S107); and the positions of the obstacles within the obstacle areas (20) are detected (S112), thereby further improving the accuracy of detecting obstacles around the vehicle (1), as compared to prior art.