| 摘要 |
PROBLEM TO BE SOLVED: To perform highly precise state recognition with a crossing vehicle as a target.SOLUTION: A position coordinate (x, y) of a reflection point of a radar wave is acquired (S110). One segment and two segments are fitted relative to the reflection point (S120). Next, out of one segment and two segments, a smaller sum of squares thereof is selected (S130). Also, an observation value, a front end position in the vehicle longitudinal direction and a rear end position in the vehicle longitudinal direction are calculated (S140), and it is determined whether or not the calculated vehicle rear end position is located in an end area of a scanning range (S150). If the rear end position in the vehicle longitudinal direction is determined to be located at the end area (S150 NO), state recognition using the front end position in the vehicle longitudinal direction is performed (S170). For the front end position in the vehicle longitudinal direction, state recognition can be also performed with high precision because highly precise grasp can be performed even if the crossing vehicle is located at an end of a scanning range. |
