RAILROAD CROSSING BARRIER ESTIMATING APPARATUS AND VEHICLE
First Claim
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1. A vehicle comprising:
- an avoidance controller for performing an avoidance control process for avoiding a collision between the vehicle and an external object, if the external object is present on a route of the vehicle, or if the external object is about to enter the route;
the avoidance controller comprising;
an external object position judger for judging a three-dimensional position of the external object with respect to a position of the vehicle; and
a railroad crossing barrier estimator for estimating the presence of a railroad crossing barrier;
wherein, if the external object is estimated as the railroad crossing barrier, the avoidance controller cancels the avoidance control process with respect to the railroad crossing barrier; and
if at least one of an external object the transverse width of which increases over time and an external object having a given length at a certain height from the ground is detected, the railroad crossing barrier estimator estimates the detected external object as the railroad crossing barrier.
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Abstract
A railroad crossing barrier estimating apparatus and a vehicle that incorporates therein such a railroad crossing barrier estimating apparatus are provided. When at least one of an external object the transverse width of which increases over time and an external object having a given length at a certain height from the ground is detected, the vehicle or the railroad crossing barrier estimating apparatus estimates the detected external object as a railroad crossing barrier.
33 Citations
3 Claims
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1. A vehicle comprising:
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an avoidance controller for performing an avoidance control process for avoiding a collision between the vehicle and an external object, if the external object is present on a route of the vehicle, or if the external object is about to enter the route; the avoidance controller comprising; an external object position judger for judging a three-dimensional position of the external object with respect to a position of the vehicle; and a railroad crossing barrier estimator for estimating the presence of a railroad crossing barrier; wherein, if the external object is estimated as the railroad crossing barrier, the avoidance controller cancels the avoidance control process with respect to the railroad crossing barrier; and if at least one of an external object the transverse width of which increases over time and an external object having a given length at a certain height from the ground is detected, the railroad crossing barrier estimator estimates the detected external object as the railroad crossing barrier. - View Dependent Claims (2)
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3. A railroad crossing barrier estimating apparatus, which is adapted to be installed on a mobile body, for detecting external objects using a radar for scanning at least two layers having different heights from the ground, or using an image capturing device for capturing an image of an area including the at least two layers, and estimating a railroad crossing barrier from among the external objects,
wherein, if at least one of an external object the transverse width of which increases over time and an external object having a given length at a certain height from the ground is detected, the detected external object is estimated as the railroad crossing barrier.
Specification