OBSTACLE RECOGNITION DEVICE FOR VEHICLE

摘要

PROBLEM TO BE SOLVED: To remove the influence of noise on a relative speed vector and to identify a body which is present around a vehicle as an obstacle to the vehicle with high precision when it is decided that the body is the obstacle to the vehicle by finding the relative speed vector from the shift in the position of the body. SOLUTION: An obstacle candidate position detecting means detects the position of an obstacle candidate body which is possibly and obstacle to the vehicle in cycles T1 and computes the position of the obstacle candidate body in cycles T2 shorter than the cycles T1 from a 1st relative speed vector found from the detected value and the position of the obstacle candidate body when the obstacle candidate position detecting means newly detect the obstacle candidate body. Consequently, an apparent sampling frequency is increased when the position of the obstacle candidate body is found and noise components of high frequency of a 2nd relative speed vector found from the computed value are reduced, so that a body which is an obstacle to the vehicle can be identified with high precision.