BRANCHING AND MERGING DETERMINATION APPARATUS
First Claim
1. A branching and merging determination apparatus comprising:
- a recognizer that recognizes a target present in front of an own vehicle; and
a determiner that determines, based on a result of the recognition of the target by the recognizer, presence or absence of branching and merging of roads,whereinthe determiner is configured toestimate a traveling section where branching or merging of roads is probably present, anddetermine that no branching or merging of roads is present in a region of the estimated traveling section where there is a preceding vehicle traveling at a higher speed than the own vehicle.
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Accused Products
Abstract
A branching and merging determination apparatus includes a recognizer and a determiner. The recognizer recognizes a target present in front of an own vehicle. The determiner determines, based on a result of the recognition of the target by the recognizer, presence or absence of branching and merging of roads. Specifically, the determiner is configured to: estimate a traveling section where branching or merging of roads is probably present; and determine that no branching or merging of roads is present in a region of the estimated traveling section where there is a preceding vehicle traveling at a higher speed than the own vehicle.
15 Citations
30 Claims
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1. A branching and merging determination apparatus comprising:
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a recognizer that recognizes a target present in front of an own vehicle; and a determiner that determines, based on a result of the recognition of the target by the recognizer, presence or absence of branching and merging of roads, wherein the determiner is configured to estimate a traveling section where branching or merging of roads is probably present, and determine that no branching or merging of roads is present in a region of the estimated traveling section where there is a preceding vehicle traveling at a higher speed than the own vehicle. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A branching and merging determination apparatus comprising:
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a recognizer that recognizes a target present in front of an own vehicle; and a determiner that determines, based on a result of the recognition of the target by the recognizer, presence or absence of branching and merging of roads, wherein the determiner is configured to estimate a traveling section where branching or merging of roads is probably present, and determine that no branching or merging of roads is present in a region of the estimated traveling section where there is an oncoming vehicle traveling in a direction opposite to a traveling direction of the own vehicle. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A branching and merging determination apparatus comprising:
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a recognizer that recognizes a target present in front of an own vehicle; and a determiner that determines, based on a result of the recognition of the target by the recognizer, presence or absence of branching and merging of roads, wherein the determiner is configured to estimate a traveling section where branching or merging of roads is probably present, and determine that branching or merging of roads is present in a region of the estimated traveling section where there is a lane boundary line not parallel to a traveling direction of the own vehicle. - View Dependent Claims (14, 15, 16, 17, 18)
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19. A branching and merging determination apparatus comprising:
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a recognizer that recognizes a target present in front of an own vehicle; and a determiner that determines, based on a result of the recognition of the target by the recognizer, presence or absence of branching and merging of roads, wherein the determiner is configured to estimate a traveling section where branching or merging of roads is probably present, and determine that branching of roads is present in a region of the estimated traveling section where the distance between two adjacent preceding vehicles in a left-right direction is greater than a predetermined value. - View Dependent Claims (20, 21, 22, 23, 24)
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25. A branching and merging determination apparatus comprising:
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a recognizer that recognizes a target present in front of an own vehicle; and a determiner that determines, based on a result of the recognition of the target by the recognizer, presence or absence of branching and merging of roads, wherein the determiner is configured to estimate a traveling section where branching or merging of roads is probably present, and determine that merging of roads is present in a region of the estimated traveling section where the distance between two adjacent preceding vehicles in a left-right direction is less than a predetermined value. - View Dependent Claims (26, 27, 28, 29, 30)
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Specification