| 摘要 |
PROBLEM TO BE SOLVED: To exactly discriminate the relative positions of an object and a present vehicle travel line. SOLUTION: Concerning the object recognizing device provided with a radar for specifying the position of the object and an image pickup device for picking up the image of the object, the position of the present vehicle travel line is detected on the basis of the image provided by the image pickup device. Further, a processing area is set onto the image provided by the image pickup device on the basis of the specified position of the object and the predetermined size of the object to be recognized, an edge is extracted from the processing area on the basis of the luminance value of pixels contained in the processing area, and the outer form of the object is recognized on the basis of the extracted edge. On the basis of the information of the recognized outer form of the object and the detected position of the present vehicle travel line, the relative position of this object corresponding to the present vehicle travel line is discriminated. Since the position and size of the object can be exactly recognized, the relative position of the object to the present vehicle travel line can be exactly judged. |
