| 摘要 |
PROBLEM TO BE SOLVED: To provide an obstacle recognition device for recognizing a leading vehicle in a more reliable manner when a vehicle is running on a curved road. SOLUTION: When the leading vehicle can be continuously recognized, the number of an object beam being a starting point of pre-segmentation processing is found from the center position (X0, Z0) of the leading vehicle. When the leading vehicle cannot be continuously recognized, the number of the object beam is found based on a reference distance Z0 set correspondently to a curve radius R and vehicle speed. This makes it possible to reliably prepare pre-segment data corresponding to the leading vehicle even if preparable pre-segment data have an upper bound from limitations owing to storage capacity, processing time, etc. COPYRIGHT: (C)2004,JPO&NCIPI |
