Patent ID: 6553282
Filing Date: 2003-04-22
Classification: B60K,B60W,G08G

Abstract:
A method of applying a transmission wave to a predetermined angular range in a width-wise direction of a vehicle, and recognizing a shape of a road extending ahead of the vehicle on the basis of a reflected wave which results from reflection of the transmission wave, the method comprising the steps of:detecting a position of an object and a relative speed of the object on the basis of the reflected wave; determining whether the object is moving or stationary on the basis of the detected relative speed of the object and a speed of the vehicle; for at least one of right-hand and left-hand sides of the vehicle, calculating and memorizing a vehicle width-wise direction position where a stationary object effective for road-shape recognition passes through the related side of the vehicle on the basis of the detected position of the object and a result of determining whether the object is moving or stationary; and recognizing a line connecting the memorized vehicle width wise direction position and the detected position of the currently handled object corresponding to the effective stationary object as a road edge.