METHOD AND DEVICE FOR ROAD UNEVENNESS RECOGNITION FOR VEHICLE AND RECORDING MEDIUM

摘要

PROBLEM TO BE SOLVED: To provide a technology which can excellently recognize a road une venness at the moment even when a obstacle on readside is recognized. SOLUTION: The side position when a delineator passes by this automobile, i.e., the mean value of Xcross as X coordinates of intersections with an X axis is calculated and stored (S4000). Then predicted Xcross of a target which is currently recognized is found. For example, a circle which passes the center of the stopping target and has a relative speed vector as a tangential vector is found, and the intersection of the circle and X axis is regarded as predicted Xcross. When the absolute value of the deviation of the predicted Xcross of the target from the mean value Xcross-ave is less than a prescribed value, it is judged (S5000) that the both correspond to each other and the predicted Xcross of the body which is currently recognized and the mean value Xcross-ave are connected to recognize a road end (S8000).