| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To properly identify the shape of an obstacle and a relative position between a moving body the obstacle using a simple composition, while dispensing with the acquisition of external information. <P>SOLUTION: An obstacle detection device 1 specifies that the obstacle is a planar shaped body and the plane of a vehicle and the obstacle are positioned relatively obliquely; when it is determined that the azimuth orientation is not zero and that the absolute value of the amount of distance change is not more than a first predetermined value and the amount of azimuth change is not more than a second predetermined value; and the obstacle detection device specifies that the obstacle is non-planar shaped body and the azimuth orientation of the obstacle is not zero, when it is determined that the absolute value of the amount of distance change is less than the first predetermined value, or that the absolute value of the amount of azimuth change is more than the second predetermined value. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
