Patent Document ID: 20070010937
Application ID: 11478515
Patent Status: 0

Claim One:
1. A road shape recognition apparatus in a vehicle having radar means for transmitting and receiving a radar wave to detect an object that reflects the radar wave, the apparatus comprising: still object map generation means for repeatedly generating a still object map indicating a relative position of a still object with respect to the vehicle by extracting the still object based on information indicative of a position and a speed of an object detected by the radar means; evaluation value setup means for, each time the still object map is generated, providing each unit region, which results from segmentalizing the still object map, with an evaluation value being positive for a unit region containing a still object and being negative for a unit region not containing a still object; evaluation map creation means for accumulating an evaluation value provided to each unit region in the still object map, which is repeatedly generated, to create an evaluation map such that a unit region indicating high possibility of presence of the still object contains a large evaluation value; and road shape recognition means for recognizing a road shape based on an evaluation map created by the evaluation map creation means.