| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide an obstacle-recognizing device which can recognize an obstacle other than a preceding vehicle by accurately distinguishing the obstacle by utilizing its ability of recognizing obstacles in the height direction by on the assumption that it is an obstacle recognizing device of such a type that three-dimensionally recognizes obstacles. SOLUTION: The obstacle recognizing device performs road-side object eliminating processing after the device judges a preceding vehicle based mainly on that the object exists in the same lane as that of its own vehicle. When the center height of an object is higher than 4.0 m ('yes' in S120) or nearly 0 m ('yes' in S130), the device recognizes that the object is not a preceding vehicle (S210). However, when its own vehicle runs on the ending part of an ascent, the device has a possibility of erroneously recognizing a signboard or a mark which is set up at a higher position and rightfully recognized as a road-side object by the device as a preceding vehicle, because such a case that the signboard or mark exists on the road in front of its own vehicle. Therefore, when an object exists at least once in an area, which is not accessible by an ordinary vehicle during a prescribed period of time from two seconds before to the present time, the device judges that the object is not a preceding vehicle (S140-S190).</p> |
