| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To discriminate whether a detection object is a stationary object or a moving object, at earlier time point. <P>SOLUTION: An outside recognition device for a vehicle calculates two kinds of relative speeds, namely, a first relative speed in which the initial value of the object is set to by assuming that the object is traveling at the same speed as the speed of one's own vehicle, zero, and a second relative speed in which the initial value of the object is set equal to the speed of its own vehicle by assuming that it is a stationary object (steps S4 and S6), when detecting the object (step S2), and discriminates movement attributes of the detection object, based on the second relative speed which converges from its own vehicle speed to a true value (step S7). It determines that the object is a stationary object when the second relative speed is in an attribute identification area which regardes the second relative speed is equivalent to its own vehicle speed. If the detection object is a stationary object, the determination result becomes the true value since the second relative speed maintains its own vehicle speed, and if the detection object is not a stationary object, it determines that it is not a stationary object at a time point when the second relative speed is out of the attribute identification area which regardes that the second relative speed is equivalent to its own vehicle speed. <P>COPYRIGHT: (C)2005,JPO&NCIPI</p> |
