| 摘要 |
PROBLEM TO BE SOLVED: To reduce mistaken detection and to enhance the detection ratio. SOLUTION: The signal intensity of the signal received by a radar device is detected (110), and the probability of presence and the probability of non-presence according to the signal intensity are calculated (112). If the calculated probability of presence is considerably larger than the probability of non-presence, "presence" is determined as a detection state; if the probability of non-presence is considerably larger than the probability of presence, "non-presence" is determined; and if the difference between the probability of presence and the probability of non-presence is not so large, "unknown" is determined (114). When the detection state is determined as "presence" or "non-presence" (116), it is determined whether or not any obstacle is present based on the determined detection state (118). When the detection state is determined "unknown" (116), it is determined that an obstacle is present if the obstacle is detected from an picked-up image based on the result of detection by an image pickup device. COPYRIGHT: (C)2009,JPO&INPIT
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