| 摘要 |
<p>PURPOSE:To recognize the movement of a vehicle even in the case of the absence of characteristic objects in the vicinity of the vehicle by calculating a reference line fixed to a road the case of display and moving and displaying it in act. cordance with the movement of the vehicle. CONSTITUTION:A distance detector 11 consists of plural laser radars provided around the vehicle body of the vehicle and detects distances of objects including the shape of the road surface in the periphery of the vehicle based on reflected waves of beams emitted from them. The extent of movement of the vehicle detected in a vehicle movement detector 14 based on signals of rotational frequency sensors 13R and 13L for right and left rear wheels of the vehicle is outputted to a reference line plotter 15, and the present reference line is calculated in accordance with the distance of movement and the angle of rotation as the extent of movement of the vehicle based on the position and the direction of the preceding reference line stored in a storage device 16. This reference line is superposed on peripheral circumstantial map data synthesized by a map synthesizer 21, and they are outputted as one picture signal by a display picture generation device 17, and the peripheral circumstantial map with the reference line is displayed as a picture on a display device 18.</p> |
