| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a vehicular road shape recognition method and device capable of frequently calculating a more accurate road shape, and a recording medium. <P>SOLUTION: The vehicular road shape recognition method includes: determining the recognition classification as to whether an object is a moving object or a stationary object on the basis of relative speed of the object and self-vehicle speed; extracting object unit data effective to recognize a road shape on the basis of a determination result of the recognition classification; deleting, when there is a stationary object on a travel road of a self-vehicle between the self-vehicle and a preceding vehicle or on a travel road of a preceding vehicle between the preceding vehicle and a vehicle before the preceding vehicle, data corresponding to the stationary object on the travel road from the extracted object unit data; then forming data on a road side object group for both directions which are from left angle direction to right angle direction and from right angle direction to left angle direction, respectively, by grouping data pieces where the distance monotonously increases as a connection condition; and recognizing a road edge on the basis of the formed data on the road side object group. <P>COPYRIGHT: (C)2013,JPO&INPIT |
