PRECEDING VEHICLE SELECTION APPARATUS
First Claim
1. A preceding vehicle selection apparatus comprising:
- curvature estimating means that estimates a curvature of a traveling road on which an own vehicle is traveling;
object position detecting means that detects an object ahead of the own vehicle, and determines a relative position in relation to the own vehicle, for each object ahead;
instantaneous probability calculating means that repeatedly determines an own vehicle lane probability instantaneous value for each object ahead, based on the estimated curvature estimated by the curvature estimating means and the relative position determined by the object position detecting means, the own vehicle lane probability instantaneous value being an instantaneous value of a probability of an object ahead being present in the same vehicle lane as the own vehicle;
filter calculating means that determines an own vehicle lane probability by performing a filter calculation on the own vehicle lane probability instantaneous value calculated by the instantaneous probability calculating means;
preceding vehicle selecting means that selects a preceding vehicle based on the own vehicle lane probability determined by the filter calculating means; and
filter characteristics setting means that sets characteristics of the filter calculation such that an object ahead associated with a preceding vehicle selected by the preceding vehicle selecting means in a previous processing cycle is relatively less affected by the own vehicle lane probability instantaneous value than an object ahead associated with an object other than the preceding vehicle.
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Accused Products
Abstract
A preceding vehicle selection apparatus estimates a curvature of a traveling road on which an own vehicle is traveling, detects an object ahead of the own vehicle, and determines a relative position in relation to the own vehicle, for each object ahead. Based on the estimated curvature and the determined relative position, an own vehicle lane probability instantaneous value for each object ahead is repeatedly determined. An own vehicle lane probability is determined by performing a filter calculation on the calculated own vehicle lane probability instantaneous value. Based on the determined own vehicle lane probability, a preceding vehicle is selected. Characteristics of the filter calculation are set such that an object ahead associated with a preceding vehicle selected in a previous processing cycle is relatively less affected by the own vehicle lane probability instantaneous value than an object ahead associated with an object other than the preceding vehicle.
44 Citations
12 Claims
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1. A preceding vehicle selection apparatus comprising:
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curvature estimating means that estimates a curvature of a traveling road on which an own vehicle is traveling; object position detecting means that detects an object ahead of the own vehicle, and determines a relative position in relation to the own vehicle, for each object ahead; instantaneous probability calculating means that repeatedly determines an own vehicle lane probability instantaneous value for each object ahead, based on the estimated curvature estimated by the curvature estimating means and the relative position determined by the object position detecting means, the own vehicle lane probability instantaneous value being an instantaneous value of a probability of an object ahead being present in the same vehicle lane as the own vehicle; filter calculating means that determines an own vehicle lane probability by performing a filter calculation on the own vehicle lane probability instantaneous value calculated by the instantaneous probability calculating means; preceding vehicle selecting means that selects a preceding vehicle based on the own vehicle lane probability determined by the filter calculating means; and filter characteristics setting means that sets characteristics of the filter calculation such that an object ahead associated with a preceding vehicle selected by the preceding vehicle selecting means in a previous processing cycle is relatively less affected by the own vehicle lane probability instantaneous value than an object ahead associated with an object other than the preceding vehicle. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A preceding vehicle selection method comprising:
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estimating, by a preceding vehicle selection apparatus, a curvature of a traveling road on which an own vehicle is traveling; detecting, by the preceding vehicle selection apparatus, an object ahead of the own vehicle, and determining a relative position in relation to the own vehicle, for each object ahead; repeatedly determining, by the preceding vehicle selection apparatus, an own vehicle lane probability instantaneous value for each object ahead, based on the estimated curvature and the determined relative position, the own vehicle lane probability instantaneous value being an instantaneous value of a probability of an object ahead being present in the same vehicle lane as the own vehicle; determining, by the preceding vehicle selection apparatus, an own vehicle lane probability by performing a filter calculation on the calculated own vehicle lane probability instantaneous value; selecting, by the preceding vehicle selection apparatus, a preceding vehicle based on the determined own vehicle lane probability; and setting, by the preceding vehicle selection apparatus, characteristics of the filter calculation such that an object ahead associated with a preceding vehicle selected in a previous processing cycle is relatively less affected by the own vehicle lane probability instantaneous value than an object ahead associated with an object other than the preceding vehicle. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification