| 摘要 |
PROBLEM TO BE SOLVED: To discriminate and recognize stably a plurality of objects with a simple constitution even when the plurality of objects are close each other. SOLUTION: A reflection point is detected by a laser radar (S1), and the own car speed is detected (S2), and the moving vector of an object existing in front of the own car is derived (S3), and the position and the speed of the object in front of the own car are derived from the detected reflection point (S4). The next-time center position of the object is predicted based on the previous-time position and relative speed of the object (S5), and a rectangular object range whose center is the predicted center is set and then a retrieval range is also set (S6). If the set retrieval range is one and the reflection point exists in a scheduled range in the retrieval range (NO in S7 and YES in S8), the distances in the X-axis and Y-axis directions from the predicted center of the object range to the reflection point are derived, and if either of the distances is smaller than a set value set beforehand (YES in S9), the reflection point is removed from the retrieval range (S10). COPYRIGHT: (C)2005,JPO&NCIPI
|
