| 摘要 |
PROBLEM TO BE SOLVED: To properly control a vehicle state in accordance with a recognition result of a plurality of traffic signals and stop signs existing in the traveling direction of the vehicle. SOLUTION: A location determining part 23 determines a detection target existing at a closest position in front of one's own vehicle on the basis of a road structure recognized by a road structure recognizing part 21 and a detection target (at least traffic signal or stop sign) detected by the vehicle external recognizing part 22. The location determining part 23 determines that the largest detection target on image data among a plurality of detection targets is a detection target existing at the closest position in front of the one's own vehicle when a road shape ahead in the traveling direction of the one's own vehicle is a straight-ahead shape, and determines that a detection target existing at relatively opposite side in a circulation direction on the image data among a plurality of detection targets is a detection target existing at the closest position in front of the one's own vehicle when the road shape ahead in the traveling direction of the one's own vehicle is a curved shape. COPYRIGHT: (C)2008,JPO&INPIT
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