| 摘要 |
<P>PROBLEM TO BE SOLVED: To appropriately classify a three-dimensional object in the front under various conditions irrelevant to the presence/absence of white line and the affirmative negative of a detection on a road and to highly precisely control the traveling by estimating changes in the future traveling environment under a wide condition range. <P>SOLUTION: This car external monitor 5 is inputted with respective signals of images, car-speeds, steering wheel angles, and yaw rates from a stereo camera 4, detects front information of three-dimensional data, side wall data, and white line data in front of an own vehicle based on the stereo camera 4, and estimates an advance route (own car advancing route) of the own vehicle 1 from the front information and the driving state of the own vehicle 1. This device sets the white line position in the own car advancing route, sets the positions of the three-dimensional object and the side wall on the set white line, selects the preceding vehicle in front of the own vehicle 1, and outputs the classification result to a traveling control unit 3. <P>COPYRIGHT: (C)2004,JPO |
