Method for determining object type of reflective object on track
First Claim
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1. A method for determining an object type of a reflective object on a track, comprising:
- a reflective point detecting step of detecting a plurality of reflective point in front of one'"'"'s vehicle in a traveling direction;
a first detecting step of grouping the plurality of reflective points detected in the reflective point detecting step by a predetermined standard and regarding the grouped reflective points as detection objects;
a relative speed measuring step of measuring relative speeds of the detection objects detected by the first detecting step with respect to one'"'"'s vehicle; and
a first determining step of determining types of the detection objects based on the relative speeds detected in the relative speed measuring step.
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Abstract
A plurality of reflective points in front of one'"'"'s vehicle in a traveling direction are detected by a radar device. The plurality of detected reflective points are grouped based on a predetermined standard, and the grouped reflective points are regarded as detection objects. Relative speeds of the detected detection objects are measured with respect to one'"'"'s vehicle. Types of the detection objects are determined based on the measured relative speeds.
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Citations
14 Claims
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1. A method for determining an object type of a reflective object on a track, comprising:
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a reflective point detecting step of detecting a plurality of reflective point in front of one'"'"'s vehicle in a traveling direction;
a first detecting step of grouping the plurality of reflective points detected in the reflective point detecting step by a predetermined standard and regarding the grouped reflective points as detection objects;
a relative speed measuring step of measuring relative speeds of the detection objects detected by the first detecting step with respect to one'"'"'s vehicle; and
a first determining step of determining types of the detection objects based on the relative speeds detected in the relative speed measuring step. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. The method for determining an object type according to clam 10, further comprising:
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a selecting step of obtaining a shape of a running lane in front of one'"'"'s running vehicle, of extracting only detection objects having widths equal to/less than a predetermined width and existing outside of the running lane from detection objects existing in a region determined to have road relating structural objects in the first setting step, and of selecting the detection objects having the width equal to/less than the predetermined width as the same road relating structural objects belonging to the region;
an operating step of operating to calculate distances from the detection objects to the running lane and of obtaining a center of gravities of the operated distances in a case where the number of the detection objects selected in the selecting step is equal to/more than a predetermined number; and
a third setting step of setting the region after the object determination in the second setting step at a position moved from the running lane to an outside thereof by a distance to the center of gravities, the center being obtained in the operating step. - View Dependent Claims (14)
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Specification