| 摘要 |
PROBLEM TO BE SOLVED: To precisely discriminate the type of an object on a road where a vehicle travels and at the periphery, especially, a reflection object installed along a lane. SOLUTION: Detection points whose distances from a self-vehicle differ among a plurality of detection points detected by a scanning laser radar are made to be the objects of grouping. The point strings of the detection points whose distances with the adjacent detection points are not more than a prescribed value are grouped. When the point string of the grouped detection points is not less than prescribed length, or when it is hourly continuously detected, the object shown by the grouped point string is recognized as one gathered object. A plurality of center poles which are continuously arranged in a depth direction to which the self-vehicle 100 travels can be recognized as the block of the center poles. |
