| 摘要 |
PROBLEM TO BE SOLVED: To provide an obstacle judging device for judging an obstacle existing in front of a vehicle efficiently. SOLUTION: It is judged whether the positional relation between the vehicle and a road situation surrounding it is 'clear', 'ambiguous' or 'unclear' from a front road picture obtained by a front road picture obtaining means. Further, it is judged whether a relation between a course through which its own vehicle is running and a front road edge is 'clear' or 'unclear'. Based on the judging results of the positional relation between the vehicle and the road situation surrounding it and the relation between the course through which its own vehicle is running and a front road edge, a method for judging the obstacle such as judging the obstacle only by the front road picture or judging it by using map information in addition to the front road picture is selected.
|
