| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a vehicle obstacle detector and a vehicle control system, which correctly determine a moving aspect even if an obstacle as an object to be detected moves at a low speed. <P>SOLUTION: A relative position of the obstacle is detected by considering the vehicle as a reference at a predetermined interval, based on a distance between the vehicle and the obstacle detected by a laser/radar apparatus, and on an orientation of the obstacle relative to the vehicle. The quantity of a movement of the vehicle is calculated based on a vehicle speed detected by a vehicle speed sensor, a steering angle detected by a steering sensor, and a yaw rate detected by a yaw rate sensor. An absolute position of the obstacle is calculated by adding the quantity of the movement to the relative position. The degree of a fluctuation Pd is calculated through an estimation function for returning a value having the magnitude corresponding to a distribution of the fluctuation in the absolute position of the obstacle. The moving aspect of the obstacle is determined based on the degree of the fluctuation Pd. <P>COPYRIGHT: (C)2008,JPO&INPIT</p> |
