| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide an object detection sensor capable of detecting a detection object with good accuracy even when monitoring a warning region in which a vehicle may exist.SOLUTION: Distance measurement data which shows a distance to a measurement point in each direction in a warning region is created by scanning from one end to the other end in the warning region at every measurement cycle, measurement points in which the distance has changed by the same object to be measured regarding the present distance measurement data compared to the past distance measurement data are grouped as a change region, and line segment data is detected from the measurement point which can be similar as the line segment out of the measurement points grouped as the change region. Then, a first vehicle shape degree is calculated by evaluating vehicle shape likeness for each piece of line segment data, a second vehicle shape degree is calculated by evaluating the vehicle shape likeness for each combination of two pieces of segment data, a third vehicle shape degree by using the first vehicle shape degree and the second vehicle shape degree, and it is determined whether or not the change region is a detection object on the basis of the third vehicle shape degree.</p> |
