| 摘要 |
<P>PROBLEM TO BE SOLVED: To specify a desired relative distance even when there are a plurality of relative distances to be a peak candidate of distance distribution inside a division area, to correctly recognize a solid object, and to reduce processing loads. <P>SOLUTION: A vehicle outside monitoring device acquires position information on a solid object present inside a detection area, divides the detection area into a plurality of first division areas in a horizontal direction (S450), derives a first representative distance equivalent to the peak of the distance distribution in each of the first division areas on the basis of the position information, groups the first division areas on the basis of the first representative distance to generate one or more first division area groups, divides the first division area group into a plurality of second division areas in a vertical direction (S452), groups the second division area for which the relative distance is close to the first representative distance to generate a second division area group, and limits an object range for deriving the first representative distance in the first division area group in which the second division area group is generated to a vertical range equivalent to the second division area group. <P>COPYRIGHT: (C)2013,JPO&INPIT |
