VEHICLE SURROUNDINGS MONITORING APPARATUS AND VEHICLE TRAVELING CONTROL SYSTEM INCORPORATING THE APPARATUS
First Claim
1. A vehicle surroundings monitoring apparatus for monitoring traveling circumstances of an own vehicle, comprising:
- traveling condition detecting means for detecting a traveling condition of said own vehicle;
front information detecting means for detecting front information of at least data of a solid object, data of a side wall and data of a lane marker;
lane marker position establishing means for estimating a traveling path of said own vehicle according to at least either of said front information and said traveling condition of said own vehicle and for establishing a position of said lane marker in said traveling path of said own vehicle;
solid object and side wall position establishing means for establishing a position of said solid object and a position of said side wall in terms of said position of said lane marker;
own vehicle traveling trace detecting means for detecting a traveling trace of said own vehicle;
preceding vehicle extracting means for extracting a preceding vehicle traveling ahead of said own vehicle; and
preceding vehicle traveling trace detecting means for detecting a traveling trace of said preceding vehicle.
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Accused Products
Abstract
A vehicle surroundings monitoring apparatus inputs images from a stereoscopic camera and signals of vehicle speeds, steering angle and yaw rate and detects front information such as solid object data, sidewall data and lane marker data to estimate a traveling path of an own vehicle from the front information and traveling conditions of the own vehicle. Further, the apparatus establishes the position of lane markers on the traveling path of the own vehicle and determines the position of solid objects and side walls in terms of the traveling path of the own vehicle. Further, the apparatus extracts a preceding vehicle traveling ahead of the own vehicle and outputs information about the preceding vehicle to a traveling control unit for controlling a traveling of the own vehicle.
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Citations
10 Claims
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1. A vehicle surroundings monitoring apparatus for monitoring traveling circumstances of an own vehicle, comprising:
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traveling condition detecting means for detecting a traveling condition of said own vehicle;
front information detecting means for detecting front information of at least data of a solid object, data of a side wall and data of a lane marker;
lane marker position establishing means for estimating a traveling path of said own vehicle according to at least either of said front information and said traveling condition of said own vehicle and for establishing a position of said lane marker in said traveling path of said own vehicle;
solid object and side wall position establishing means for establishing a position of said solid object and a position of said side wall in terms of said position of said lane marker;
own vehicle traveling trace detecting means for detecting a traveling trace of said own vehicle;
preceding vehicle extracting means for extracting a preceding vehicle traveling ahead of said own vehicle; and
preceding vehicle traveling trace detecting means for detecting a traveling trace of said preceding vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vehicle surroundings monitoring method of monitoring traveling circumstances of an own vehicle, comprising the steps of:
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detecting a traveling condition of said own vehicle;
detecting front information of at least data of a solid object, data of a side wall and data of a lane marker;
estimating a traveling path of said own vehicle according to at least either of said front information and said traveling condition of said own vehicle and for establishing a position of said lane marker in said traveling path of said own vehicle;
establishing a position of said solid object and a position of said side wall in terms of said position of said lane marker;
detecting a traveling trace of said own vehicle;
extracting a preceding vehicle traveling ahead of said own vehicle; and
detecting a traveling trace of said preceding vehicle.
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Specification