To accurately recognize a road shape regardless of presence of a delineator on a road side even if a road curvature at the current traveling position differs from a front road curvature, and steering fluctuates.
A road shape recognition device is provided with a stationary object extraction part 32 for comparing the Doppler velocity of an object and the velocity of own vehicle so as to identify whether or not the object is a stationary object, and an effective stationary object extraction part 36 for extracting an effective stationary object suitable for estimation of the road shape from among objects identified as stationary object by the stationary object extraction part 32, and estimates the road shape by applying the position of the object extracted by the effective stationary object extraction part 36 to a road shape estimate equation.
COPYRIGHT: (C)2007,JPO&INPIT
System justice
Koichi Kai
| JP2004271513A | ||||
| JP2005010891A | ||||
| JP2005172590A | ||||
| JP2001319299A | ||||
| JP8045000A |
Hamada Hatsune