ON-VEHICLE APPARATUS, PRECEDING VEHICLE POSITION DETERMINING APPARATUS, AND PRECEDING VEHICLE POSITION DETERMINING METHOD
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Abstract
An ECU acquires relative position information related to a relative position between a host vehicle and another vehicle (A, B, C) traveling ahead of the host vehicle, and error information related to an error in the relative position, detects the position of a preceding vehicle (A) traveling in front of the host vehicle, identifies the position of the preceding vehicle (A) by comparing the relative position based on the acquired relative position information with the detected position, and if relative position information oh a plurality of other vehicles (A, B, C) is acquired, identifies the position of the preceding vehicle (A) by comparing the relative position based on the acquired relative position information with the detected position, by using a threshold that is varied in accordance with the error information.
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Citations
14 Claims
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1-7. -7. (canceled)
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8. An on-vehicle apparatus, comprising:
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an object sensor that detects a first position of an other vehicle preceding a host vehicle; an acquiring device that acquires a second position on the other vehicle by communication; and a controller that compares a difference between the first position and the second position with a threshold to recognize a positional relationship between the host vehicle and the other vehicle, and change the threshold on the basis of error information related to an error in the relative position between the host vehicle and the other vehicle. - View Dependent Claims (9, 10, 11)
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12. A preceding vehicle position determining apparatus comprising:
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a relative position information acquiring device that acquires relative position information related to a relative position between a host vehicle and another vehicle that is traveling ahead of the host vehicle, and error information related to an error in the relative position, via communication; a preceding vehicle detecting device that detects a position of a preceding vehicle that is traveling in front of the host vehicle; and a preceding vehicle identifying device that identifies the position of the preceding vehicle, by comparing the relative position based on the relative position information acquired by the relative position information acquiring device, with the position detected by the preceding vehicle position detecting device, wherein if the relative position information on a plurality of the vehicles is acquired by the relative position information acquiring device, the preceding vehicle identifying device identifies the position of the preceding vehicle by comparing the relative position based on the relative position information acquired by the relative position information acquiring device, with the position detected by the preceding vehicle detecting device, by using a threshold varied in accordance with the error information. - View Dependent Claims (13)
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14. A method of identifying a preceding vehicle, comprising:
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acquiring relative position information related to a relative position between a host vehicle and another vehicle that is traveling ahead of the host vehicle, and error information related to an error in the relative position, via communication; detecting a position of a preceding vehicle that is traveling in front of the host vehicle, by using an object sensor; determining whether the relative position information is acquired from a plurality of the vehicles; identifying the position of the preceding vehicle by comparing the relative position based on the relative position information with the detected position, by using a predetermined threshold, if the relative position information on a single vehicle is acquired; and identifying the position of the preceding vehicle by comparing the relative position based on the relative position information with the detected position, by using a threshold varied in accordance with the error information, if the relative position information on the plurality of the vehicles is acquired.
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Specification