Patent Document ID: 20010026238
Application ID: 09803929
Patent Status: 0

Claim One:
1. A method of recognizing an obstacle to a vehicle, comprising the steps of: detecting height-wise positions of objects on the basis of distances to the objects from the vehicle, angles of the objects in a width-wise direction of the vehicle, and angles of the objects in a height-wise direction of the vehicle; determining a plurality of objects, which satisfy conditions predetermined depending on physical characteristics of delineators, to be objects composing a delineator group; when the detected height-wise position of an object in the delineator group which is nearest to the vehicle corresponds to a predetermined value or less, determining the delineator group to be a delineator group on a road surface; and determining whether or not each object in the on-road-surface delineator group is a non-delineator in response to conditions of the detected height-wise positions of the objects in the on-road-surface delineator group.