Vehicle surroundings monitoring apparatus and traveling control system incorporating the apparatus
First Claim
1. A vehicle surroundings monitoring apparatus, comprising:
- frontal information detecting means for detecting at least solid object information and traveling road information in front of an own vehicle;
preceding vehicle trace calculating means for calculating a trace of a preceding vehicle from past data of said preceding vehicle;
first own traveling path calculating means for calculating a first traveling path of said own vehicle based on said traveling road information;
second own traveling path calculating means for calculating a second traveling path of said own vehicle based on said trace of said preceding vehicle; and
final own traveling path calculating means for calculating a final traveling path of said own vehicle based on said first traveling path and said second traveling path;
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Accused Products
Abstract
A vehicle surroundings monitoring apparatus inputs images taken by a stereoscopic camera, vehicle speeds, steering wheel rotation angles, yaw rates and ON-OFF signals of a turn signal switch. An own traveling path C is calculated from an own traveling path A obtained from lane markers and side walls and an own traveling path B obtained from yaw rates of the own vehicle. Further, a new own traveling path E is calculated from the own traveling path C and a trace of a preceding vehicle, in case where there is no possibility of evacuation of the preceding vehicle and the turn signal switch is turned off and the absolute value of the steering wheel rotation angle is smaller than a specified value and a present own traveling path is calculated from the own traveling path E and the previous own traveling path. In other cases, the present own traveling path is calculated from the own traveling path C and the previous own traveling path.
160 Citations
21 Claims
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1. A vehicle surroundings monitoring apparatus, comprising:
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frontal information detecting means for detecting at least solid object information and traveling road information in front of an own vehicle;
preceding vehicle trace calculating means for calculating a trace of a preceding vehicle from past data of said preceding vehicle;
first own traveling path calculating means for calculating a first traveling path of said own vehicle based on said traveling road information;
second own traveling path calculating means for calculating a second traveling path of said own vehicle based on said trace of said preceding vehicle; and
final own traveling path calculating means for calculating a final traveling path of said own vehicle based on said first traveling path and said second traveling path;
- View Dependent Claims (9, 13, 17, 18)
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2. A vehicle surroundings monitoring apparatus, comprising:
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frontal information detecting means for detecting at least solid object information and traveling road information in front of an own vehicle;
first own traveling path calculating means for calculating a first traveling path of said own vehicle based on said traveling road information;
third own traveling path calculating means for calculating a third traveling path of an own vehicle based on traveling conditions of said own vehicle; and
final own traveling path calculating means for calculating a final traveling path of said own vehicle based on said first traveling path and said third traveling path;
- View Dependent Claims (6, 10, 14, 19)
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3. A vehicle surroundings monitoring apparatus, comprising:
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frontal information detecting means for detecting at least solid object information and traveling road information in front of an own vehicle;
preceding vehicle trace calculating means for calculating a trace of a preceding vehicle from past data of said preceding vehicle;
first own traveling path calculating means for calculating a first traveling path of said own vehicle based on said traveling road information;
second own traveling path calculating means for calculating a second traveling path of said own vehicle based on said trace of said preceding vehicle;
third own traveling path calculating means for calculating a third traveling path of said own vehicle based on traveling conditions of said own vehicle; and
final own traveling path calculating means for calculating a final traveling path of said own vehicle based on said first traveling path, said second traveling path and said third traveling path. - View Dependent Claims (7, 11, 15, 20)
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4. A vehicle surroundings monitoring apparatus, comprising:
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frontal information detecting means for detecting at least solid object information and traveling road information in front of an own vehicle;
preceding vehicle trace calculating means for calculating a trace of a preceding vehicle from past data of said preceding vehicle;
first own traveling path calculating means for calculating a first traveling path of said own vehicle based on said traveling road information;
second own traveling path calculating means for calculating a second traveling path of said own vehicle based on said trace of said preceding vehicle;
third own traveling path calculating means for calculating a third traveling path of said own vehicle based on traveling conditions of said own vehicle;
fourth own traveling path calculating means for calculating a fourth traveling path of said own vehicle based on said first own traveling path and said third own traveling path; and
final own traveling path calculating means for calculating a final traveling path of said own vehicle based on said fourth traveling path and said second traveling path when a preestablished condition is satisfied. - View Dependent Claims (5, 8, 12, 16, 21)
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Specification