| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a road shape estimation apparatus which is capable of accurately estimating a road shape. <P>SOLUTION: A road shape estimation apparatus is provided which is mounted in a vehicle and estimates a shape of a road on which the vehicle travels. The road shape estimation apparatus includes an object detection section which detects positions at which stationary objects are present around the vehicle as a plurality of detection points, a traveling lane recognition section which recognizes a traveling lane indicating the road shape on the basis of the detection points, an empty zone detection section which detects a position where the traveling lane is intercepted as an empty zone on the basis of intervals of the detection points, and a shape estimation section in which, when the blank band is detected, while excluding a recognition result of the traveling lane farther than the empty zone, the shape of the road on which the vehicle travels is estimated on the basis of a traveling lane recognized in the area from the vehicle to the empty zone. <P>COPYRIGHT: (C)2012,JPO&INPIT |
