| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an object shape recognition device for vehicle for increasing the accuracy of the shape recognition of an object having a complicate shape even when an ultrasonic sensor which is low in directivity is used. <P>SOLUTION: An object shape estimation part 8 of an object shape recognition device 1 for vehicle is configured to set a distance point showing the position of an object to at least either a detection point on an object line in the neighborhood of the front side critical line or a detection point on the object line in the neighborhood of the rear side critical line of a self-vehicle on a fan-shaped horizontal surface crossing an irradiation range with detection distances by ultrasonic sensors 2 and 3, and to, on the basis of the detection distances on time when the distance from the self-vehicle is detected by the ultrasonic sensors 2 and 3 and on time before and after the pertinent time by a predetermined time among the detection distances repeatedly detected according as the self-vehicle moves, set the distance point to the front side detection point when the detection distance on each time approaches the self-vehicle, and to set the distance point to the rear side detection point when the detection distance on each time recedes from the self-vehicle, and to recognize the shape obtained by connecting the set distance points as the shape of the object. <P>COPYRIGHT: (C)2013,JPO&INPIT |
