DISTANCE CALCULATION DEVICE, COLLISION DETECTION SYSTEM, DISTANCE CALCULATION METHOD, COLLISION DETECTION METHOD, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To accurately determine whether or not there is possibility that an own vehicle collides with an obstacle.SOLUTION: On the basis of a distance between a frame indicating the position of an obstacle reflected on an image and the vanishing point of an optical flow about the obstacle, a distance between an own vehicle and the obstacle in a direction which is orthogonal to the relative moving direction of the obstacle to the own vehicle is calculated (steps S108, S110, S112, S113). Then, the distance between the own vehicle and the obstacle is compared with the distance between a photographing device and the side face of the own vehicle to determine whether or not the own vehicle collides with the obstacle (step S114).