| 摘要 |
A device which can surely detect only obstacles on the surface of the scheduled traveling road of a traveling object. The device computes the three-dimensional coordinate position data of the traveling road on the coordinate system of the traveling object, based on the three-dimensional coordinate position data of the traveling road and the present three-dimensional coordinate position data of the traveling object detected by means of a position detecting means, collates the three-dimensional coordinate position data on the coordinate system of the traveling object with the currently generated three-dimensional picture on the coordinate system of the traveling object, and segments the part corresponding to the surface of the traveling road from the currently generated three-dimensional picture. Then, the device detects the presence/absence of an obstacle on the segmented corresponding part of the surface of the traveling road. |
