| 摘要 |
<p>In the present invention, a pair judged to have a history connection spanning a plurality of cycles that is stationary (e.g., having a relative speed within ±5 km/h of a host vehicle speed) is selected as a stationary pair, and a pair satisfying a representative condition (here, being present at a position nearest to the host vehicle) is selected as a representative pair from among unprocessed stationary pairs (S220). The number of stationary pairs (same-object pairs) satisfying a same-target condition and existing in a same-recognition range set in advance to select a stationary pair caused by the same object as the representative pair is calculated as a depth determination value (S230). When the depth determination value is equal to or less than a low-order threshold value, the representative pair is determined to be caused by a low-order target (S240, S250), and when the depth determination value is greater than the low-order threshold value, the representative pair is determined to be caused by a non-low-order target, and the height of the target is estimated by null pattern identification processing (S240, S260).</p> |
