| 摘要 |
<p>In order to detect, with a high degree of precision, information pertaining to the shape of a curve in the road along which a vehicle is travelling, representative points corresponding to the shape of the road along which the vehicle is travelling are calculated on the basis of the position information for stationary targets detected by a radar device, and left- and right-side corresponding lines corresponding to the left- and right-side edges of the road being travelled are calculated on the basis of the position information for the representative points. Thereafter, the corresponding line having the furthest end located on the side closer to the vehicle is set as the reference corresponding line, and information pertaining to the shape of a curve in the road being travelled is detected on the basis of the position information for the representative points within a region to be processed, which is a region extending in the direction in which the vehicle is progressing between the left- and right-side corresponding lines at a position further than the furthest end of the reference corresponding line.</p> |
