| 摘要 |
PROBLEM TO BE SOLVED: To provide an obstacle recognition device for vehicles capable of self-diagnosing the lowering of detection capability of devices and erroneous detection easily and surely without providing any additional inspection device. SOLUTION: Whether it is the case (a) approaching a front vehicle or (b) leaving from the front vehicle is judged in steps 301 and 305, and whether the conditions for executing main processing is fulfilled or not are judged in steps 303 and 307 separately for the cases (a) and (b). In the case execution conditions of processing is totally fulfilled, the instantaneous value of limit distance is gained in step 309. In step 311, whether the measured value of limit distance obtained in this manner is obtained for specific times (n) is judged. In the case obtained, averaging process is performed in step 313 to obtain the exact limit distance excluding the effects of error. In step 315, a fail judgment process is done for judging whether the detection capability for distance of the device is actually lowered or not. |
