| 摘要 |
<p>PURPOSE: To detect a support structure on a curved path without any error by deciding an object to be detected as the support structure on the curved path when the distance to the object to be detected is larger than a minimum detectable distance and the detection time is shorter than a maximum continuous ly detectable time. CONSTITUTION: A CPU5 computes the detection distance (d) of the object to be detected from the output signal of a radar measuring instrument 1 and then a radius (p) of curvature from the output signal of a vehicle speed sensor 2 and the output of a lateral acceleration sensor 3. Further, the minimum detectable distance Rs is calculated. The minimum detectable distance Rs and detection distance (d) which are thus found are compared with each other, d>=Rs is regarded as one condition of a decision on the support structure on the curved path, and the vehicle speed V of this vehicle is read in from the vehicle speed sensor 2. The maximum continuously detectable time T is found from the radius (p) of curvature, bear width 2θ, and vehicle speed V. When the time Td wherein the object to be detected is actually and continuously detected is short than the maximum continuously detectable time T, the support structure of the curved path is decided in combination with the condition d>=Rs.</p> |
