Obstacle recognition system for vehicle
First Claim
1. An obstacle recognition system for a vehicle, comprising:
- radar means for irradiating transmission wave over a given angle around the subject vehicle and, based on reflected wave of the transmission wave, detecting angles and distances of a reflecting object relative to the subject vehicle;
recognition means for recognizing an obstacle around the subject vehicle based on the angles and the distances detected by said radar means;
position estimating means for estimating a position of the obstacle to be recognized by said recognition means, based on a position of the obstacle previously recognized;
identity determining means for comparing the position of the obstacle estimated by said position estimating means and a position of the obstacle recognized by said recognition means so as to determine whether the obstacle currently recognized by said recognition means is identical with the obstacle previously recognized;
acceleration deriving means for deriving relative acceleration of the obstacle determined plural times by said identity determining means to be identical with the previously recognized obstacle; and
excluding means for, when the relative acceleration derived by said acceleration deriving means is outside a given range, excluding the corresponding obstacle from objects of subsequent position estimation performed by said position estimating means and subsequent identity determination performed by said identity determining means.
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Abstract
In an obstacle recognition system for a vehicle, transmission wave is irradiated per given angle for recognizing an obstacle ahead of the subject vehicle based on angle/distance data obtained from received reflected wave. A position of the obstacle is estimated based on a previously recognized position of the obstacle. The estimated position of the obstacle and an actually recognized position of the obstacle are compared so as to determine whether the obstacle currently recognized is identical with the obstacle previously recognized. Relative acceleration is derived for the obstacle which has been determined plural times to be identical with the previously recognized obstacle. When the derived relative acceleration is outside a given range, the corresponding obstacle is excluded from objects of further obstacle recognition.
98 Citations
4 Claims
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1. An obstacle recognition system for a vehicle, comprising:
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radar means for irradiating transmission wave over a given angle around the subject vehicle and, based on reflected wave of the transmission wave, detecting angles and distances of a reflecting object relative to the subject vehicle; recognition means for recognizing an obstacle around the subject vehicle based on the angles and the distances detected by said radar means; position estimating means for estimating a position of the obstacle to be recognized by said recognition means, based on a position of the obstacle previously recognized; identity determining means for comparing the position of the obstacle estimated by said position estimating means and a position of the obstacle recognized by said recognition means so as to determine whether the obstacle currently recognized by said recognition means is identical with the obstacle previously recognized; acceleration deriving means for deriving relative acceleration of the obstacle determined plural times by said identity determining means to be identical with the previously recognized obstacle; and excluding means for, when the relative acceleration derived by said acceleration deriving means is outside a given range, excluding the corresponding obstacle from objects of subsequent position estimation performed by said position estimating means and subsequent identity determination performed by said identity determining means. - View Dependent Claims (2, 3, 4)
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Specification