| 摘要 |
PROBLEM TO BE SOLVED: To eliminate reflection from a vehicle other than a vehicle in a front side, a road side matter and the like to conduct highly precise recognition, by integrating vehicle recognition by an image sensor, when the vehicle is recognized using a laser radar. SOLUTION: A vehicle point proposal group is coordinate-transformed into a camera coordinate system of a CCD camera, by a CPU 3, using as the vehicle point proposal group a reflection point group existing within a spreading range of a substantial vehicle width in a position of a substantial equal distance, based on positions of respective reflection points specified by a laser radar module 1, so as to be collated with an extracted rectangular area extracted by a camera module 2, and the vehicle point proposal group is judged as the vehicle in the front side when the vehicle point proposal group after coordinate- transformed is substantially consistent with the rectangular area, by the computer 3.
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