Abstract: An object recognition device includes a sensor (2) that detects a preceding vehicle (V) and a stationary object (O) on a road, a first locus calculating unit (11) that calculates a relative movement locus (Tv) of the preceding vehicle (V) to a vehicle (1) on the basis of a history of a detected position of the preceding vehicle (V), a second locus calculating unit (12) that calculates a relative movement locus (To) of the stationary object (O) to the vehicle (1) on the basis of a history of a detected position of the stationary object (O), and an object recognizing unit (14) that recognizes the stationary object (O) as an object not serving as an obstacle in traveling when the movement loci (Tv, To) intersect each other.

Abstract: An object determination apparatus includes: a sensing device that is mounted in a host vehicle, and that sends detection wave and receives the detection wave reflected from an object, and that detects the object; a detection unit that detects the state of reflection intensity of the detection wave received by the sensing device which changes with the distance to the object; and a determination unit that determines that the object is a vehicle other than the host vehicle when a peak of the reflection intensity exceeds a predetermined threshold value. Peaks of the reflection intensity change in accordance the distance to the object, but the peaks regarding vehicles tend to be higher than the peaks regarding on-road structures. Hence, by comparing a peak of the reflection intensity with the predetermined threshold value, it can be determined whether the detected object is a vehicle other than the host vehicle.

Abstract: An object recognition device includes a sensor (2) that detects a preceding vehicle (V) and a stationary object (O) on a road, a first locus calculating unit (11) that calculates a relative movement locus (Tv) of the preceding vehicle (V) to a vehicle (1) on the basis of a history of a detected position of the preceding vehicle (V), a second locus calculating unit (12) that calculates a relative movement locus (To) of the stationary object (O) to the vehicle (1) on the basis of a history of a detected position of the stationary object (O), and an object recognizing unit (14) that recognizes the stationary object (O) as an object not serving as an obstacle in traveling when the movement loci (Tv, To) intersect each other.

Abstract: An object determination apparatus includes: a sensing device that is mounted in a host vehicle, and that sends detection wave and receives the detection wave reflected from an object, and that detects the object; a detection unit that detects the state of reflection intensity of the detection wave received by the sensing device which changes with the distance to the object; and a determination unit that determines that the object is a vehicle other than the host vehicle when a peak of the reflection intensity exceeds a predetermined threshold value. Peaks of the reflection intensity change in accordance the distance to the object, but the peaks regarding vehicles tend to be higher than the peaks regarding on-road structures. Hence, by comparing a peak of the reflection intensity with the predetermined threshold value, it can be determined whether the detected object is a vehicle other than the host vehicle.