| 摘要 |
PROBLEM TO BE SOLVED: To preclude a relative speed from being calculated erroneously, and to preclude an obstacle from being judged erroneously, even when a step difference is generated in detection positions of bodies existing in the vicinity of left and right ends in a radar view field. SOLUTION: This vehicular outside recognition device provided with a scanning type range finding means for detecting the bodies in a periphery of own vehicle to output a position of the own vehicle relative to the each detected body, and a relative speed calculating means for calculating the speed of the own vehicle relative to the each detected body, based on an output from the scanning type range finding means, is provided with a range-finding condition grasping means for grasping a range finding condition of the each body based on the output from the scanning type range finding means, and a relative speed computation changing means for changing computation for the relative speed calculating means in response to an output from the range-finding condition grasping means. COPYRIGHT: (C)2004,JPO
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