| 摘要 |
PROBLEM TO BE SOLVED: To analyze and recognize primary components of an environment where a vehicle runs with a smaller amount of operation load. SOLUTION: A CCD camera 1 picks up an image of a vehicle in a running direction, and an environment recognition apparatus 9 analyzes primary components of the picked-up image thereby recognizing the image. An adaptive cruise control apparatus 10 is set by the driver's manipulation and controls the vehicle to run at a constant speed. When it is detected from the environment recognition apparatus 9 that another vehicle interrupts or a running road is increasingly congested, the control apparatus changes a control property from the constant speed control to a vehicle distance control. In analyzing primary components of the image, the environment recognition apparatus 9 uses a conventional information space when a pick-up space is detected not to change large from a detection result of an environment change detection apparatus 20, or reconstructs an information space when the pick-up space changes large. Accordingly an amount of operations for obtaining the information space is reduced greatly, an operation speed is improved, a change in the environment where the vehicle runs can be detected promptly, and an adaptive cruise control function operates effectively. |
