JP2004220233A - Object recognition device and recognition method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an object recognition device and recognition method capable of continuously and precisely recognizing the same preceding vehicle with a simple structure. <P>SOLUTION: A reflecting point is detected by a laser radar (S1), and a vehicle speed is detected (S2). The moving vector of an object present in front of the vehicle is derived (S3), the position and speed of the object are also derived (S4), the next position of the object is predicted on the basis of the previous position and relative speed of the object (S5), and a retrieval range where the shape projected to a road surface is a square around its prediction position is set (S6). When the advance of the object to a curved road is determined (YES in S7), the retrieval range is deviated in the moving vector direction (S8), and whether the object is a preceding vehicle traveling in front of the vehicle or a guardrail on the basis of the reflection point detected next within the deviated retrieval range is recognized (S9). <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an object recognizing device and a recognizing method for recognizing a preceding vehicle traveling ahead of a host vehicle.
[0002]
[Prior art]
In recent years, vehicles equipped with a more advanced and more comfortable driving support system, such as a follow-up driving function and a steering assist function on a highway, have been proposed. One of them is a recognition system that uses a scanning laser radar to recognize a vehicle ahead of the host vehicle. There is a device.
[0003]
Conventional recognition devices using this type of scan laser radar can detect the distance to the reflection point by measuring the time from irradiating the laser light to observing the reflected light, and by providing a scanning mechanism A horizontal field of view of more than 10 mm is secured, and the reflection points from the reflectors (reflectors) provided at both ends of the rear end surface of the vehicle are observed.
[0004]
However, in this case, there is not a constant reflection from the same part of the vehicle body, and the reflection position changes every moment depending on the direction, shape, positional relationship, etc. of the vehicle, and the distribution is not uniform, so the scanning type A technique has also been proposed in which an object in front of the host vehicle is detected by a radar device, a position of the object existing at the time of this detection is predicted, and a search range centered on the predicted position is set. reference).
[0005]
[Patent Document 1]
JP-A-11-167699 (paragraphs [0009] to [0010])
[0006]
[Problems to be solved by the invention]
However, in these conventional methods, the reflection from the roadside object is included in the reflection from the preceding vehicle and processed, resulting in an error in the distance measurement value of the preceding vehicle, and as a result, the preceding vehicle can be accurately recognized. There is a problem that can not be.
[0007]
More specifically, as shown in FIG. 5, when both the preceding vehicle Cs and the own vehicle Cj are traveling on a straight road, the search range A is set to the preceding vehicle Cs and the guardrail G, which is a roadside object, respectively. At the time of setting, a rectangular search range A projected on a road surface centered on each predicted position is set without being mixed for each of a plurality of points of the preceding vehicle Cs and the guardrail G.
[0008]
On the other hand, as shown in FIG. 6, when the preceding vehicle Cs enters a curved road, the center line is parallel to the traveling direction of the own vehicle Cj as a search range A centered on the predicted position of the preceding vehicle Cs. Since the rectangular search range A is set, the set search range A may include the reflection point data of the guardrail G in addition to the reflection point data of the preceding vehicle Cs. The object including the object is recognized as the preceding vehicle Cs, which causes a disadvantage that the recognition accuracy is reduced. 5 and 6 represent a reflection point.
[0009]
Therefore, when performing vehicle recognition using a laser radar, the results of processing images obtained by the imaging means are combined to eliminate reflections from vehicles other than the preceding vehicle and roadside objects, thereby improving the recognition accuracy of the preceding vehicle. Although it is considered to be able to improve the cost, there is a problem that the cost is increased by the necessity of the imaging means.
[0010]
On the other hand, it is conceivable to reduce the search range set for each object. However, in this case, since there is no interference for each object, for example, it is suitable for continuously recognizing a preceding vehicle traveling straight ahead, If the object moves frequently, the object easily goes out of the search range, and the same object cannot be continuously recognized.
[0011]
SUMMARY An advantage of some aspects of the invention is to provide an object recognition device and a recognition method capable of continuously and accurately recognizing the same preceding vehicle with a simple configuration.
[0012]
[Means for Solving the Problems]
In order to achieve the above object, an object recognition device according to the present invention is an object recognition device for recognizing a preceding vehicle traveling in front of an own vehicle. While irradiating while scanning in the direction, receives reflected light from a reflection point existing in front of the vehicle, detects a plurality of the reflection points, and detects the object from the plurality of reflection points detected by the laser radar. Deriving a position, predicting the next position of the object based on the derived position and relative speed of the object, setting a predetermined search range including the predicted position, and moving the set search range to the position of the object After deflecting in the vector direction, it is determined whether or not the object is a preceding vehicle running ahead of the host vehicle based on the reflection point detected next time within the search range after deflection. It is (claim 1).
[0013]
According to such a configuration, the position of the object existing in front of the own vehicle is derived from the data of the reflection point from the object in front of the own vehicle detected by the laser radar, and the position and relative speed of the derived object are calculated. The position of the next object is predicted based on the predicted position, a predetermined search range including the predicted position is set, this search range is deflected in the direction of the movement vector of the object, and the reflection detected next time within the deflected search range is set. Based on the points, it is determined whether the object is a preceding vehicle traveling ahead of the own vehicle.
[0014]
Therefore, reflection points of roadside objects such as guardrails rarely coexist with reflection points detected next time within the search range after deflection, and only data of reflection points of the preceding vehicle can be extracted. Unlike the fusion of the radar device and the imaging means, there is no need to separately provide an imaging means, and the same preceding vehicle can be continuously and accurately recognized with a simple configuration.
[0015]
Further, the object recognition device according to the present invention is an object recognition device for recognizing a preceding vehicle traveling in front of the own vehicle. A laser radar that receives reflected light from a reflection point of an object existing in the vehicle and detects a plurality of the reflection points; a vehicle speed detection unit that detects a vehicle speed; and the plurality of reflection points detected by the laser radar. Position deriving means for deriving the position of an object present in front of the vehicle from the vehicle, moving vector deriving means for deriving a moving vector of the object, the position of the object by the position deriving means, and Setting means for predicting the next position of the object based on the relative speed derived from the vehicle speed, and setting a predetermined search range including the predicted position; and setting by the setting means A deflecting means for deflecting the search range in the direction of the movement vector by the movement vector deriving means; and, within the search range deflected by the deflecting means, the object moves forward based on the reflection point detected next time. And a judgment means for judging whether or not the vehicle is a preceding vehicle running on the vehicle (claim 2).
[0016]
According to such a configuration, the position of the object existing in front of the own vehicle is derived by the position deriving means from the data of the reflection points detected by the laser radar, and the position is set based on the derived position of the object and the own vehicle speed. Means for predicting the position of the next object, setting a predetermined search range including the predicted position, and deflecting the search range in the direction of the movement vector of the object derived by the movement vector derivation means. Then, the determining means determines whether or not the object is a preceding vehicle traveling ahead of the own vehicle based on the reflection point detected next time within the search range after the deflection.
[0017]
Therefore, reflection points of roadside objects such as guardrails rarely coexist with reflection points detected next time within the search range after deflection, and only data of reflection points of the preceding vehicle can be extracted. Unlike the fusion of the radar device and the imaging means, the same preceding vehicle can be continuously and accurately recognized with a simple configuration without providing the imaging means.
[0018]
Also, in the object recognition device according to the present invention, the movement vector deriving means may detect the movement of the object based on a change in a distance between the own vehicle and the object by the laser radar, and the own vehicle speed by the vehicle speed detecting means. It is characterized in that a vector is derived (claim 3). According to such a configuration, the movement vector of the object corresponding to the preceding vehicle can be easily derived.
[0019]
In the object recognition device according to the present invention, the search range is a rectangular range projected on a road surface, and the deflecting unit deflects a direction of a center line passing through the center of the square in the direction of the movement vector. (Claim 4).
[0020]
According to such a configuration, since the road surface projection shape of the vehicle is a quadrangle, the relationship between the preceding vehicle and the search range can always be kept substantially constant even after the deflection, so that the vehicle can maintain the relationship with the preceding vehicle after the deflection. It is possible to prevent a reflection point of a roadside object such as a guardrail from being mixed with a reflection point detected next time in the search range.
[0021]
Further, in the object recognition device according to the present invention, the determination means may be arranged such that, within the search range deflected by the deflection means, a predetermined distance or less along the movement vector direction based on the reflection point detected next time. A plurality of the objects existing side by side are determined as guardrails (claim 5).
[0022]
According to such a configuration, even when the preceding vehicle enters a curved road, the preceding vehicle and the guardrail can be accurately distinguished and detected.
[0023]
In the object recognition method according to the present invention, the laser radar periodically irradiates a laser beam in front of the own vehicle while scanning the laser beam in a horizontal direction, receives reflected light from a reflection point, and generates a plurality of the reflection points. A reflection point detection step of detecting, a position deriving means for deriving a position of an object existing in front of the vehicle from the plurality of reflection points detected by the laser radar, a vehicle speed detection step of detecting a vehicle speed, A movement vector deriving step of deriving a movement vector of the object, a position of the object derived in the position deriving step, and a next position of the object based on a relative speed derived from the own vehicle speed in the vehicle speed detecting step And a setting step of setting a predetermined search range including the predicted position; and setting the search range set in the setting step to the movement vector direction by the movement vector deriving step. A deflecting step of deflecting, and a judging step of judging whether or not the object is a preceding vehicle traveling ahead of the own vehicle based on the reflection point detected next time within the search range deflected by the deflecting step. (Chart 6).
[0024]
According to such a configuration, the position of the object existing in front of the own vehicle is derived in the position deriving step from the data of the reflection point detected by the laser radar, and the position is set based on the derived position and relative speed of the object. In the step, the position of the next object is predicted and a predetermined search range including the predicted position is set, and in the deflection step, this search range is deflected in the direction of the movement vector of the object derived by the movement vector deriving means, In the deriving step, it is determined whether or not the object is a preceding vehicle traveling ahead of the host vehicle based on the reflection point detected next time within the search range after the deflection.
[0025]
Therefore, reflection points of roadside objects such as guardrails rarely coexist with reflection points detected next time within the search range after deflection, and only data of reflection points of the preceding vehicle can be extracted. Unlike the combination of the radar device and the imaging means, the same preceding vehicle can be continuously and accurately recognized with a simple configuration without providing the imaging means.
[0026]
Also, in the object recognition method according to the present invention, the movement vector deriving step includes the step of: moving the object based on a change in a distance between the own vehicle and the object by the laser radar and the own vehicle speed by the vehicle speed detecting means. The method includes a step of deriving a vector (claim 7). According to such a configuration, the movement vector of the object corresponding to the preceding vehicle can be easily derived.
[0027]
In the object recognition device according to the present invention, the search range is a rectangular range projected on a road surface, and the deflecting step deflects a direction of a center line passing through the center of the square in the direction of the movement vector. (Claim 8).
[0028]
According to such a configuration, since the road surface projection shape of the vehicle is a quadrangle, the relationship between the preceding vehicle and the search range can always be kept substantially constant even after the deflection, so that the vehicle can maintain the relationship with the preceding vehicle after the deflection. It is possible to prevent a reflection point of a roadside object such as a guardrail from being mixed with a reflection point detected next time in the search range.
[0029]
Further, in the object recognition method according to the present invention, in the determination step, within the search range deflected by the deflection step, the adjacency is made at a predetermined interval or less along the direction of the movement vector based on the reflection point detected next time. And determining a plurality of the objects existing side by side as guardrails (claim 9).
[0030]
According to such a configuration, even when the preceding vehicle enters a curved road, the preceding vehicle and the guardrail can be accurately distinguished and detected.
[0031]
BEST MODE FOR CARRYING OUT THE INVENTION
One embodiment in which the present invention is applied to a follow-up traveling device will be described with reference to FIGS. However, FIG. 1 is a block diagram, FIGS. 2 and 3 are operation explanatory diagrams, and FIG. 4 is a flowchart for operation explanation.
[0032]
As shown in FIG. 1, a scan laser radar 1 including a laser such as a semiconductor laser, a scanning mechanism thereof, and a light receiver is mounted on the own vehicle, and the laser beam is scanned in front of the own vehicle by the laser radar 1 in a horizontal direction. The reflected light from the reflection point of the object existing in front of the own vehicle is received, the distance to the plurality of reflection points is measured, each position is specified, and the position data of the obtained reflection point is obtained. The main ECU 3 stores the data in a memory 5 such as a RAM.
[0033]
By the way, the laser radar 1 irradiates a laser beam in front of the own vehicle, and at this time, the laser beam is horizontally scanned by a predetermined angle (for example, 0.1 °) by a scanning mechanism, and is reflected from an object in front of the own vehicle. The inter-vehicle distance between the host vehicle and a preceding vehicle traveling in the same lane is detected from the time from when the light is received by the light receiver and when the laser light is emitted to when the reflected light is received. The time required for such one inter-vehicle distance detection process is a short time of about 100 ms, and this detection operation is repeated at regular intervals.
[0034]
Further, as shown in FIG. 1, a vehicle speed sensor 5 comprising an encoder as a vehicle speed detecting means is provided, and the output of the vehicle speed sensor 5 is taken into the main ECU 3 to detect the own vehicle speed. Is derived from the change in the vehicle speed. Such detection processing of the own vehicle speed corresponds to a vehicle speed detection step in the present invention.
[0035]
Further, as shown in FIG. 1, a throttle ECU 9 for performing throttle control and a brake ECU 11 for performing automatic brake control are provided. Based on a command signal from the main ECU 3, the throttle ECU 9 is controlled to control the opening degree of the electronic throttle 7. At the same time, the brake ECU 11 is controlled to execute the drive control of the brake actuator.
[0036]
Incidentally, in addition to the control functions described above, the main ECU 3 also has the following functions. That is, the main ECU 3 derives the position (and distance) of an object such as a preceding vehicle or a guardrail existing in front of the own vehicle from a plurality of reflection points detected by the laser radar 1, and The movement vector of the object is derived based on the change in the distance and the own vehicle speed. Then, based on the derived position and relative speed of the object, the next position of the object is predicted, and a search range in which the shape when projected on the road surface is a rectangle centering on the predicted position is set.
[0037]
At this time, a search range is set for all the objects whose objects are estimated. Specifically, as shown in FIG. 2, when the object is the preceding vehicle Cs, one search range A is set for the preceding vehicle Cs, and for the discrete reflection points from the guardrail G, One search range A is set for each. The arrows in FIG. 2 represent the movement vector of the preceding vehicle, and the black circles in FIGS.
[0038]
The process of deriving the position of the object by the main ECU 3 corresponds to the position deriving means and the position deriving step in the present invention, and the process of deriving the moving vector by the main ECU 3 corresponds to the moving vector deriving means and the moving vector deriving step in the present invention. Correspondingly, the setting processing of the search range by the main ECU 3 corresponds to the setting means and the setting step in the present invention.
[0039]
Further, the main ECU 3 determines whether or not the object ahead of the own vehicle has entered the curved road from the change in the movement vector, and when it determines that the object has entered the curved road, as shown in FIG. The direction of the reference line passing through the center of the square A is deflected to the direction of the movement vector, and the object travels in front of the host vehicle Cj in the search range A after the deflection based on the next detected reflection point. It is determined whether the preceding vehicle Cs or another guardrail G or the like.
[0040]
Here, in the case of the vehicle, the reflection point from the rear reflector is separated only by about the vehicle width, and as shown in FIG. 2, the reflection point from the body of the preceding vehicle Cs entering the curve is at most about 3 m. Since the reflection point exists within the range, the reflection point from the preceding vehicle Cs can be specified relatively easily.
[0041]
On the other hand, as shown in FIG. 2, when the preceding vehicle Cs enters a curved road, the reflection point from the guardrail G may be erroneously recognized as the reflection point from the preceding vehicle Cs. By deflecting the center lines of all the set search ranges A in parallel with the direction of the vector, as shown in FIG. Can be prevented from being mixed. Then, as shown in FIG. 3, the main ECU 3 determines that there are a plurality of objects that are adjacently arranged at a predetermined interval or less along the movement vector direction based on the reflection point detected next time. Then, they are recognized as the same guardrail G.
[0042]
Note that such a deflection process by the main ECU 3 corresponds to a deflection unit and a deflection step in the present invention, and a determination process by the main ECU 3 corresponds to a determination unit and a determination step in the present invention.
[0043]
Then, following the object determined to be the preceding vehicle, when the distance to the own vehicle, that is, the inter-vehicle distance, or the inter-vehicle time becomes shorter than the target inter-vehicle distance or the target inter-vehicle time according to the own vehicle speed at that time, the main ECU 3 Controls the throttle ECU 9 or the brake ECU 11, and controls the slot opening or the automatic brake so that the inter-vehicle distance or inter-vehicle time becomes the target inter-vehicle distance or target inter-vehicle time.
[0044]
Next, a series of operations will be described with reference to the flowchart of FIG. Now, as shown in FIG. 4, the reflection point is detected by the laser radar 1 (S1), the own vehicle speed is detected based on the output of the vehicle speed sensor 5, and the relative speed is derived (S2). A movement vector of the object is derived based on the change in the distance to the moving object and the vehicle speed (S3).
[0045]
Further, the position and speed of the object in front of the own vehicle are derived from the reflection point detected by the laser radar 1 (S4), and the next position of the object is predicted based on the previous position and the relative speed of the object (S5). A search range is set in which the shape when projected on the road surface is a square centered on the predicted position (S6).
[0046]
Then, from the change in the movement vector derived in step S3, it is determined whether the object has entered a curved road (S7). If the determination result is YES, the search range set in step S6 is determined. The object is deflected in the direction of the movement vector (S8), and within the search range after the deflection, it is recognized whether the object is a preceding vehicle traveling in front of the own vehicle or a guardrail based on a reflection point detected next time. (S9), then return to start. On the other hand, if the decision result in the step S7 is NO, the process shifts to the step S9 described above.
[0047]
As described above, the position of the preceding vehicle candidate is derived from the data of the reflection point detected by the laser radar 1, and the position of the preceding vehicle candidate exists in front of the own vehicle from the data of the reflection point from the object in front of the own vehicle detected by the laser radar 1. The position of the object is derived, the position of the next object is predicted based on the derived position and relative speed of the object, a predetermined search range including the predicted position is set, and the search range is determined by the movement vector of the object. It is deflected in the direction, and it is determined whether or not the object is a preceding vehicle traveling ahead of the host vehicle based on a reflection point detected next time within the search range after the deflection.
[0048]
Therefore, according to the above-described embodiment, reflection points of roadside objects such as guardrails hardly exist at the reflection points detected next time within the search range after deflection, and only the data of the reflection points of the preceding vehicle are included. It is possible to extract the same preceding vehicle continuously and accurately with a simple configuration without the need to separately provide an imaging means unlike the fusion of the conventional radar device and the imaging means. In addition, it is possible to realize a stable and accurate following running.
[0049]
In addition, since the road surface projection shape of the vehicle is square, the relationship between the preceding vehicle and the search range can always be kept substantially constant even after deflection, and the next detection within the search range for the preceding vehicle after deflection is performed. It is possible to prevent a reflection point of a roadside object such as a guardrail from being mixed with the reflection point to be performed.
[0050]
Further, in the deflected search range, a plurality of objects existing side by side at predetermined intervals or less along the movement vector direction are determined as guardrails based on the reflection points detected next time. Even when the vehicle enters the road, the preceding vehicle candidate and the guardrail can be accurately distinguished and detected.
[0051]
The present invention is not limited to the above-described embodiment, and various changes other than those described above can be made without departing from the gist of the present invention.
[0052]
For example, in the above-described embodiment, the case where the search range is a rectangular range projected on a road surface has been described, but the search range is not necessarily limited to such a rectangular shape.
[0053]
Further, in the above-described embodiment, an example in which the present invention is applied to the following travel device has been described. However, the scope of the present invention is not limited to the following travel device, and is applied to other vehicle travel assist devices. Accordingly, the same effect as in the above-described embodiment can be obtained.
[0054]
【The invention's effect】
As described above, according to the first, second, and sixth aspects of the invention, it is almost impossible for a reflection point detected next time within the search range after deflection to include a reflection point of a roadside object such as a guardrail. And it is possible to extract only the data of the reflection point of the preceding vehicle, and it is not necessary to separately provide an imaging unit as in the fusion of the conventional radar device and the imaging unit. It becomes possible to recognize continuously and accurately.
[0055]
According to the third and seventh aspects of the present invention, it is possible to easily derive a movement vector of an object corresponding to a preceding vehicle.
[0056]
According to the fourth and eighth aspects of the present invention, since the road surface projection shape of the vehicle is quadrangular, the relationship between the preceding vehicle and the search range can always be kept substantially constant even after deflection. In addition, it is possible to prevent a reflection point of a roadside object such as a guardrail from being mixed with a reflection point detected next time within the search range for the preceding vehicle after the deflection.
[0057]
According to the fifth and ninth aspects of the invention, even when the preceding vehicle enters a curved road, the preceding vehicle and the guardrail can be accurately distinguished and detected.
[Brief description of the drawings]
FIG. 1 is a block diagram according to an embodiment of the present invention.
FIG. 2 is an operation explanatory diagram of one embodiment of the present invention.
FIG. 3 is an operation explanatory diagram of one embodiment of the present invention.
FIG. 4 is a flowchart for explaining the operation of the embodiment of the present invention;
FIG. 5 is an operation explanatory diagram of a conventional example.
FIG. 6 is an operation explanatory diagram of a conventional example.
[Explanation of symbols]
1 Scan Laser Radar 3 Main ECU (Position Deriving Means, Movement Vector Deriving Means, Setting Means, Deflection Means, Judging Means)
7 Vehicle speed sensor (vehicle speed detection means)

Claims (9)

In an object recognition device that recognizes a preceding vehicle traveling in front of the own vehicle,
With a laser radar, regularly irradiating laser light in front of the vehicle while scanning horizontally in the horizontal direction and receiving light reflected from a reflection point of an object existing in front of the vehicle and detecting a plurality of the reflection points,
Deriving the position of the object from the plurality of reflection points detected by the laser radar, predicting the next position of the object based on the derived position and relative speed of the object, and including the predicted position The search range is set, the set search range is deflected in the direction of the movement vector of the object, and the object travels ahead of the own vehicle based on the reflection point detected next time in the search range after the deflection. An object recognizing device for determining whether a vehicle is a preceding vehicle. In an object recognition device that recognizes a preceding vehicle traveling in front of the own vehicle,
A laser radar that periodically irradiates laser light in front of the vehicle in the horizontal direction while irradiating the laser light and receives light reflected from a reflection point of an object existing in front of the vehicle and detects a plurality of the reflection points,
Vehicle speed detection means for detecting the vehicle speed;
Position deriving means for deriving the position of the object from the plurality of reflection points detected by the laser radar,
A movement vector deriving unit for deriving a movement vector of the object,
Setting for predicting the next position of the object based on the position of the object by the position deriving unit and the relative speed derived from the own vehicle speed by the vehicle speed detecting unit, and setting a predetermined search range including the predicted position Means,
Deflecting means for deflecting the search range set by the setting means in the direction of the movement vector by the movement vector deriving means;
Within the search range deflected by the deflecting unit, a determination unit that determines whether the object is a preceding vehicle traveling ahead of the host vehicle based on the reflection point detected next time, Object recognition device. The moving vector deriving means derives the moving vector of the object based on a change in the distance between the own vehicle and the object by the laser radar and the own vehicle speed by the vehicle speed detecting means. 3. The object recognition device according to 2. 4. The search range is a rectangular range projected on a road surface, and the deflecting unit deflects a direction of a center line passing through the center of the square in the direction of the movement vector. An object recognition device according to claim 1. The determining means is:
Within the search range deflected by the deflecting unit, judging a plurality of objects that are adjacent to each other and adjacent to each other at a predetermined interval or less along the movement vector direction based on the reflection point detected next time, as a guardrail. The object recognition device according to any one of claims 1 to 4, wherein: In an object recognition method for recognizing a preceding vehicle traveling in front of an own vehicle,
The laser radar periodically irradiates laser light forward in the horizontal direction while scanning the laser light in front of the own vehicle, and receives light reflected from a reflection point of an object existing in front of the own vehicle to detect a plurality of the reflection points. A point detection step;
Position deriving means for deriving the position of the object from the plurality of reflection points detected by the laser radar,
A vehicle speed detection step of detecting the own vehicle speed,
A motion vector deriving step of deriving a motion vector of the object,
The position of the object derived in the position deriving step, and the next position of the object is predicted based on the relative speed derived from the own vehicle speed in the vehicle speed detecting step, a predetermined search range including the predicted position A setting step for setting
A deflection step of deflecting the search range set in the setting step in the direction of the movement vector in the movement vector deriving step,
Within the search range deflected by the deflection step, a determination step of determining whether the object is a preceding vehicle traveling ahead of the host vehicle based on the reflection point detected next time, Object recognition method. The moving vector deriving step includes a step of deriving the moving vector of the object based on a change in a distance between the own vehicle and the object by the laser radar, and the own vehicle speed by the vehicle speed detecting means. 7. The object recognition method according to claim 6, wherein: 8. The method according to claim 7, wherein the search range is a rectangular area projected on a road surface, and the deflecting step deflects a direction of a center line passing through the center of the square in the direction of the movement vector. 3. The object recognition method according to 1. The determining step includes:
Determining, within the search range deflected by the deflecting step, a plurality of the objects that are adjacently arranged at predetermined intervals or less along the direction of the movement vector based on the reflection points detected next time as guardrails; The object recognition method according to any one of claims 6 to 8, comprising:

Images