| 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; extracting a horizontal position of a stationary object with the shortest distance, in the vehicle width direction, to the self-vehicle side from among the extracted object unit data and determining a stationary object, which is positioned within a range apart from the horizontal position of the stationary object closest to the self-vehicle in the vehicle width direction by a predetermined distance and has the shortest direct distance from the self-vehicle, as an original point; then forming data on a road side object group by connecting data pieces where the distance monotonously increases as a connection condition from the original point and grouping them; and recognizing a road edge on the basis of the formed data on the road side object group. <P>COPYRIGHT: (C)2013,JPO&INPIT |
