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 based on the road surface image around the vehicle (1) (S105), a travelable area in which the vehicle (1) can travel is detected based on this histogram (S106), and an obstacle is found based on this travelable area. By extracting the object area (20) (S107) and detecting the position of the obstacle in the obstacle area (20) (S112), the accuracy of obstacle detection around the vehicle (1) is compared with that of the conventional one. To further improve.