抄録
Recently various driving support systems have been developed to improve safety. It is necessary to design systems based on information that human driver perceives in order not to give a sense of fear on the passenger. Therefore, we focus on optical flow, which is one of the human visual information. Humans are said to perceive the direction of self-motion from optical flow, and are also utilizing it during driving. In this paper, we derive the FOE (focus of expansion) that is the direction of self-motion, and propose a control method based on FOE. The effectiveness of the proposed method is verified by vehicle experiments.
