| 摘要 |
<p>PURPOSE:To simplify the processing for deciding whether a recognized obstacle is identical to one recognized in the past. CONSTITUTION:A one-dimensional distance data representative of an obstacle, detected through a scanning range finder, in the form of a set of points is received (101), and a set having the longitudinal length of vehicle of 6m or less is recognized (103), as a segment (line segment) on an orthogonal coordinates among a set of integrative proximity points. When a segment does not correspond to an obstacle recognized previously and stored as an object Bi. (111:YES), a new object Bj is prepared (112, 113) for that segment within a range where the total number of the objects Bi, Bj comes within a predetermined range, and a decision is made (121) whether the segment recognized later is identical to a segment recognized as the object Bi. Since the obstacle is recognized as a line segment and many objects Bi are not prepared for a long roadside object, the processing can be simplified.</p> |
