Patent ID: 9430946
Filing Date: 2016-08-30
CPC Classification: G06K,G08G

Claim Text:
1. An obstacle determination device that determines whether a solid object present in a travelling direction of a subject vehicle is an obstacle that the vehicle should avoid, the obstacle determination device comprising: a recognition unit that recognizes a solid object present in the travelling direction of the subject vehicle; a separation line detection unit that detects a separation line on a road indicating a boundary of a traveling lane of the subject vehicle; and an obstacle determination unit that determines whether the solid object is an obstacle by comparing a height of the solid object recognized by the recognition unit to a reference height, wherein the reference height is set, based on a relative positional relation between the separation line detected by the separation line detection unit and the solid object recognized by the recognition unit, such that the reference height is lower when the separation line is present between the solid object and the subject vehicle, as compared to when the separation line is not present between the solid object and the subject vehicle.