| 摘要 |
PURPOSE:To improve the reliability of a travelling environment recognition whether or not a vehicle is under travelling on an express-highway by deciding as under the travelling on an elevated express-highway when a prescribed travelling condition is satisfied. CONSTITUTION:A lateral distance detection means samples a lateral distance between a vehicle and a lateral object during a vehicle travelling and a distribution operation means operates the distribution of lateral distance data based on the prescribed numbers of the obtained lateral distance data. A distribution decision means decides whether or not the distribution being obtained by the operation is a prescribed value or smaller. In this case, when the prescribed value is set in order to obtain a statistical significance and the distribution obtained by calculation is the prescribed value or smaller, it can be considered that the vehicle is under the travelling environment, namely the elevated express- highway such as the Metropolitan Expressway, of which obtained lateral distance data are almost centralized into one point. Consequently, the elevated express-highway decision means decides that the vehicle is under the travelling on the elevated express-highway, when a discrimination condition is satisfied. |
