Object type discrimination device and object type discrimination method

摘要

PROBLEM TO BE SOLVED: To adequately discriminate whether a body present in front of a vehicle is an obstacle to a travel of the vehicle irrelevantly to the shape of the body. SOLUTION: A scanning laser radar 3 detects an obstacle in front of one's own vehicle as an array of detection points and a grouping process part 4 groups the point array and supplies position information on the point array to a discrimination part 8. Further, a camera 6 picks up an image in front of its vehicle and an image processing part 7 processes the image to generate an edge image and supplies the edge image to the discrimination part 8. The discrimination part 8 compares the position information on the point array supplied from the grouping process part 4 with the edge image supplied from the image processing part 7 to judge the height position of a body present in front of the one's own vehicle, thereby discriminating whether the body is an obstacle to the travel of the one's own vehicle.