| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a road shape recognition device capable of performing always highly-accurate road shape recognition even if a road side object is detected erroneously. <P>SOLUTION: A stationary object map for showing a relative position between each stationary object recognized by a front radar and own vehicle is generated, and the stationary objects shown in the stationary object map are grouped (S310-S320). Either of an evaluation map used for the left side and an evaluation map used for the right side is selected based on whether the stationary object group is on the right side or on the left side of the road relative to each stationary object group, and an addition value (evaluation value) of the stationary object group set based on the distance from one's own vehicle to the stationary object group and one's own vehicle speed is added to the selected evaluation map (S330-S380). Also, a subtraction value (evaluation value) is subtracted from the evaluation map in a non-addition part of the evaluation map (S390-S400). The road shape is recognized based on the evaluation map generated in this manner. <P>COPYRIGHT: (C)2007,JPO&INPIT</p> |
