PURPOSE: To obviate deflection in the forward direction due to correcting of steering through obstacle detection by taking a variation in a steering angle as frequency, and when the frequency belongs to a specified band, eliminating an output signal of the band.
CONSTITUTION: This obstacle detector is provided with a steering angle detecting means 1 detecting a steering angle of a car and a forward direction estimating means 2 estimating a forward direction of the car respectively, and a pulse laser beam is emitted toward the front of the car by the steering angle detecting means 1, scanning in the horizontal direction, and the reflected wave of an obstacle is received. When an output signal detected by the steering angle detector 1 is inputted into a forward direction estimating means 2, if the frequency belongs to the specified band, it is regarded as attending on the corrected steerage, not steerage for altering the car's forward direction, and thus the frequency is eliminated by a frequency eliminating means 3. With this constitution, at the time of correcting the steerage, any estimation of the forward direction by the forward direction estimating means 2 is controlled and thereby this estimated forward direction is prevented from deflecting to both left and right sides.
KAMIMURA HIROKI
NIIBE TADAYUKI
DOI AYUMI
OKUDA KENICHI
YAMAMOTO YASUNORI
ADACHI TOMOHIKO
MASUDA YOSHITSUGU
