| 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; forming data on a road side object group on the basis of the object unit data; and recognizing the road edge on the basis of the formed data on a road side object group. The series of processing are repeatedly executed at a predetermined cycle. After the extraction processing, data addition processing is performed for adding the object unit data obtained by the extraction processing in a previous cycle to the object unit data obtained by the extraction processing in a present cycle. In the recognition processing, the road edge is recognized based on the object unit data obtained by the data addition processing. <P>COPYRIGHT: (C)2013,JPO&INPIT |
