| 摘要 |
PROBLEM TO BE SOLVED: To exactly identify the obstacle or a mirror by providing an obstacle discriminating means or the like for discriminating whether the obstacle is a mirror or not based on the moving amount of a vehicle, the distance measured result and the distance operated result. SOLUTION: Range finding sensors 1 and 4 for front and rear sides measure distances to obstacles in front of and at the back of the vehicle, CCD cameras 2 and 5 pick up the image of scenary in front of and at the back of the vehicle, and image processors 3 and 6 process images in front of and at the back of the vehicle. A wheel speed sensor 7 detects the moving amount of the vehicle. A controller 8 recognizes the environment around the vehicle based on the found range of the range finding sensors 1 and 4 and the image processing results of the image processors 3 and 6 and operates a parking route based on the surrounding environment. Besides, based on the image processing result, the distance to the obstacle is operated and based on the moving amount of the vehicle, the distance measured result and the distance operated result, the obstacle discriminating means discriminates whether the obstacle is a mirror or not. Thus, the obstacle of mirror can be exactly identified in the parking lot surrounded with mirrors. |
